Gripping device

Abstract

The application relates to a grabbing device, which comprises: a plurality of grabbing components, the plurality of grabbing components being relatively close and far away; a first driving component, the first driving component being connected with at least part of the grabbing components, so that the plurality of grabbing components are relatively close or far away through the first driving component; when the first driving component drives the plurality of grabbing components to be relatively close, the plurality of grabbing components can be in contact with the outer side surface of a first object to be grabbed, so that the first object to be grabbed is clamped; when the first driving component drives the plurality of grabbing components to be relatively far away, the plurality of grabbing components can be in contact with the inner side surface of a second object to be grabbed, so that the second object to be grabbed is supported. The grabbing device solves the technical problem that the grabbing device in the prior art is difficult to meet the requirement of grabbing workpieces with different shapes due to the single grabbing function.

Description

Technical Field

[0001] This application relates to the field of gripping equipment technology, and more particularly to a gripping device. Background Technology

[0002] In production operations, gripping devices such as mechanical grippers are typically used to grasp workpieces, facilitating their transfer or assembly with other workpieces. However, gripping devices in related technologies are usually designed only for workpieces of specific shapes, thus limiting their application scenarios. They typically have limited gripping capabilities, unable to grasp workpieces of other shapes, or exhibiting poor success rates and reliability when grasping other shapes.

[0003] It is evident that the gripping devices in the relevant technologies suffer from a single gripping function, making it difficult to grip workpieces of different shapes. Currently, no effective solution has been proposed to address this technical problem.

[0004] The information disclosed in the background section is only intended to enhance the understanding of the background art described herein. Therefore, the background art may contain information that would not be considered part of the prior art by those skilled in the art. Utility Model Content

[0005] This application provides a gripping device to solve the technical problem that gripping devices in the related art are difficult to grip workpieces of different shapes due to their limited gripping function.

[0006] To achieve the above objectives, according to a first aspect of this application, a gripping device is provided, comprising: a plurality of gripping components disposed relatively close to and relatively far apart; a first driving component connected to at least some of the gripping components to drive the plurality of gripping components to move relatively close to or relatively far apart; wherein, when the first driving component drives the plurality of gripping components to move relatively close, the plurality of gripping components may contact the outer surface of a first object to be gripped to grasp the first object; and when the first driving component drives the plurality of gripping components to move relatively far apart, the plurality of gripping components may contact the inner surface of a second object to be gripped to support the second object.

[0007] Optionally, there are two gripping components, which can be arranged relatively close to or far apart along the first direction; the first driving component is a servo drive structure, which is driven by a servo motor. The servo drive structure has two output ends, and the servo motor is configured to drive the two output ends relatively close to or far apart along the first direction. The two gripping components are connected to the two output ends in a one-to-one correspondence.

[0008] Optionally, the gripping component includes: a main body structure; a protective structure disposed on the main body structure. When the gripping component grips the first object to be gripped or the second object to be gripped, the protective structure contacts the first object to be gripped or the second object to be gripped, and the position of the protective structure in contact with the first object to be gripped or the second object to be gripped is compressed and undergoes elastic deformation.

[0009] Optionally, the number of gripping components is two, and the two gripping components can be arranged relatively close to each other and far apart along the first direction; there are two sets of protective structures, one set of protective structures is arranged on the two facing sides of the two gripping components, and the other set of protective structures is arranged on the two opposing sides of the two gripping components.

[0010] Optionally, the protective structure includes at least one of the following: a protective pad made of an elastic material; a spring plunger including a spring and a contact portion for contacting a first object to be grasped or a second object to be grasped, wherein the contact portion can compress the spring when squeezed by the first object to be grasped or the second object to be grasped.

[0011] Optionally, the gripping device includes a suction component configured to suction a third object to be gripped via negative pressure suction.

[0012] Optionally, the gripping device includes a negative pressure generating component, which is connected to the suction component to provide negative air pressure to the suction component.

[0013] Optionally, the suction component is also connected to the positive pressure generating component to provide positive air pressure to the suction component through the positive pressure generating component. The gripping device further includes a valve structure having a first working state and a second working state. When the valve structure is in the first working state, the valve structure opens the air passage between the suction component and the negative pressure generating component and cuts off the air passage between the suction component and the positive pressure generating component. When the valve structure is in the second working state, the valve structure opens the air passage between the suction component and the positive pressure generating component and cuts off the air passage between the suction component and the negative pressure generating component.

[0014] Optionally, the suction component is movably disposed along a second direction to approach a third object to be gripped. The gripping device includes: a second driving component connected to the suction component to drive the suction component to move along the second direction; and / or, the gripping device includes: a pushing component movably disposed to push a workpiece at a target position away from the target position; and a detection component for detecting the workpiece at the target position.

[0015] Optionally, the gripping device has a structure that satisfies at least one of the following: the gripping device includes a robotic arm with multiple degrees of freedom, a first driving component and multiple gripping components are disposed on the robotic arm to drive the first driving component and multiple gripping components to move; the gripping device includes an electromagnet component that can attract a fourth object to be gripped when energized; the gripping component includes a first part and a second part, the first part is connected to the second part, the first driving component is connected to the first part, the gripping component also includes a reinforcing member disposed at the connection between the first part and the second part, and both the first part and the second part are connected to the reinforcing member; the gripping component is provided with an anti-slip structure, which contacts the first object to be gripped or the second object to be gripped when the gripping component grips the first object to be gripped or the second object to be gripped.

[0016] The gripping device of this application embodiment includes: a plurality of gripping components, which can be arranged relatively close to or far apart; a first driving component, which is connected to at least some of the gripping components to drive the plurality of gripping components to move relatively close to or far apart from each other; wherein, when the first driving component drives the plurality of gripping components to move relatively close, the plurality of gripping components can contact the outer surface of a first object to be gripped to clamp the first object to be gripped; when the first driving component drives the plurality of gripping components to move relatively far apart, the plurality of gripping components can contact the inner surface of a second object to be gripped to support the second object to be gripped. With this structural design, the gripping device can drive the plurality of gripping components to move relatively close to or far apart. When the plurality of gripping components are driven to move relatively close, they can contact the outer surface of the first object to be gripped, thereby gripping the first object to be gripped in a clamping manner. When the plurality of gripping components are driven to move relatively far apart, they can contact the inner surface of the second object to be gripped, thereby gripping the second object to be gripped by internal expansion. In this way, the gripping device can grasp objects through external clamping or internal expansion, making its gripping function richer and adaptable to gripping objects of more shapes. This effectively expands its application scenarios and solves the technical problem in related technologies where gripping devices with limited gripping functions are unable to meet the requirements for gripping workpieces of different shapes.

[0017] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] To gain a more complete understanding of this application and its beneficial effects, the following description will be provided in conjunction with the accompanying drawings, wherein the same reference numerals in the following description denote the same parts.

[0020] Figure 1 This is a schematic diagram of the structure of a gripping device according to an embodiment of this application;

[0021] Figure 2 This is a schematic diagram of the relevant structure of the robotic arm of the grasping device according to an embodiment of this application;

[0022] Figure 3 This is a schematic diagram of the gripping component of the gripping device according to an embodiment of this application from a first-view perspective;

[0023] Figure 4 This is a schematic diagram of the gripping component of the gripping device according to an embodiment of this application from a second perspective;

[0024] Figure 5 This is a cross-sectional structural schematic diagram of the gripping component of the gripping device according to an embodiment of this application;

[0025] Figure 6 This is a schematic diagram of the relevant structure of the suction component of the gripping device according to an embodiment of this application;

[0026] Figure 7 This is a schematic diagram of the gripping device according to another embodiment of this application.

[0027] Explanation of reference numerals in the attached figures:

[0028] 1. Gripping component; 11. Body structure; 12. Protective structure; 121. Protective pad; 122. Spring plunger; 13. First part; 14. Second part; 15. Reinforcing member; 16. Anti-slip structure;

[0029] 2. First driving component;

[0030] 3. Suction component;

[0031] 4. Negative pressure generating component;

[0032] 5. Second drive component; 51. Drive end;

[0033] 6. Pushing components;

[0034] 7. Robotic arm;

[0035] 10. First connector; 20. Second connector. Detailed Implementation

[0036] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the protection scope of this application.

[0037] The structure of this application will be described in detail below with reference to the accompanying drawings.

[0038] See Figures 1 to 7 As shown, the gripping device of this application embodiment includes: a plurality of gripping components 1, which can be arranged relatively close to each other and relatively far apart; a first driving component 2, which is connected to at least some of the gripping components 1, so as to drive the plurality of gripping components 1 to move relatively close to each other or relatively far apart; wherein, when the first driving component 2 drives the plurality of gripping components 1 to move relatively close to each other, the plurality of gripping components 1 can contact the outer surface of a first object to be gripped, so as to grip the first object to be gripped; when the first driving component 2 drives the plurality of gripping components 1 to move relatively far apart, the plurality of gripping components 1 can contact the inner surface of a second object to be gripped, so as to support the second object to be gripped.

[0039] This gripping device, with its structural design, uses a first driving component 2 to drive multiple gripping components 1 to move closer or further apart. When the gripping components 1 move closer, they contact the outer surface of the first object to be gripped, thus gripping it in a clamping manner. When the gripping components 1 move further apart, they contact the inner surface of the second object to be gripped, thus lifting it through internal expansion. In this way, the gripping device can grip objects through external clamping or internal expansion, offering richer gripping functions and adapting to gripping objects of more shapes. This effectively expands its application scenarios and solves the technical problem in related technologies where gripping devices with limited gripping functions are unable to grip workpieces of different shapes.

[0040] In this system, the aforementioned multiple gripping components 1 contact the outer surface of the first object to be gripped to clamp it. This is achieved by the multiple gripping components 1 moving relatively close together, applying a clamping force to the outer surface of the first object and thus lifting it. The aforementioned multiple gripping components 1 also contact the inner surface of the second object to be gripped to support it. This is achieved by the multiple gripping components 1 moving relatively far apart, applying an outward supporting force to the inner surface of the second object and thus lifting it. The aforementioned inner surface can be the surface through which the multiple gripping components 1 expand and support the object. Specifically, it can take various forms, such as the inner wall of a hole of various shapes, a slotted inner wall, or two surfaces of two components moving close together. In actual implementation, the first and second objects to be gripped can be the same object or different objects.

[0041] In one specific embodiment, there are two gripping components 1, which are arranged relatively close to or far apart along a first direction. The first driving component 2 is a servo drive structure driven by a servo motor. The servo drive structure has two output terminals, and the servo motor is configured to drive the two output terminals relatively close to or far apart along the first direction. The two gripping components 1 are connected to the two output terminals in a one-to-one correspondence. By using the servo drive structure, the two gripping components 1 can be accurately driven to move relatively close to or far apart along the first direction, thereby accurately grasping the first or second object to be grasped, ensuring the gripping effect of the gripping device. In other optional embodiments, the number of gripping components 1 can also be increased, thereby improving the reliability of gripping by simultaneously grasping objects with a larger number of gripping components 1. The servo drive structure is an existing mature structure, which is usually a high-precision linear actuator integrating a servo motor, driver, encoder, and mechanical gripper structure. It can be driven by a servo motor, and internally, it can be driven by a screw nut, worm gear, or other structure to convert the rotational drive of the servo motor into a linear drive of the gripping component 1. For example, it can be a servo electric gripper.

[0042] In some optional embodiments, the gripping component 1 includes: a body structure 11; and a protective structure 12. The protective structure 12 is disposed on the body structure 11. When the gripping component 1 grips the first object to be gripped or the second object to be gripped, the protective structure 12 contacts the first object to be gripped or the second object to be gripped, and the contact point between the protective structure 12 and the first object to be gripped or the second object to be gripped undergoes elastic deformation under pressure. By providing the protective structure 12, when the gripping component 1 grips the first object to be gripped or the second object to be gripped, the protective structure 12 contacts the first object to be gripped or the second object to be gripped and undergoes elastic deformation under pressure. This not only applies a clamping force to the first object to be gripped or the second object to be gripped, but also protects the first object to be gripped or the second object to be gripped through the elastic deformation of the protective structure 12, preventing damage to the first object to be gripped or the second object to be gripped.

[0043] In this embodiment, there are two gripping components 1, which are arranged relatively close to or far apart along a first direction. There are two sets of protective structures 12: the first set is located on the two facing sides of the two gripping components 1, and the second set is located on the two opposing sides of the two gripping components 1. By providing two sets of protective structures 12, when the gripping device grips the first object to be gripped using an external clamping method, the first object to be gripped can be protected by the aforementioned first set of protective structures 12. When the gripping device grips the second object to be gripped using an internal expansion method, the second object to be gripped can be protected by the aforementioned second set of protective structures 12.

[0044] In some alternative embodiments, the protective structure 12 includes at least one of the following: a protective pad 121 made of an elastic material; a spring plunger 122 including a spring and a contact portion for contacting a first object to be grasped or a second object to be grasped, wherein the contact portion compresses the spring when pressed by the first object to be grasped or the second object to be grasped. Figure 1As shown, in this embodiment, the first set of protective structures 12 consists of multiple spring plungers 122, which are disposed on two opposing surfaces of the two gripping components 1. When the gripping device grips the first object to be gripped using an external clamping method, the multiple spring plungers protect the first object to be gripped. The second set of protective structures 12 consists of protective pads 121, which are disposed on two opposing surfaces of the two gripping components 1. When the gripping device grips the second object to be gripped using an internal expansion method, the protective pads 121 protect the second object to be gripped. Specifically, the specific structure of the protective pads 121 can be flexibly selected according to the actual situation, as long as they can generate elastic deformation under pressure to achieve protection of the object to be gripped. For example, in an optional embodiment, the protective pads 121 are made of rubber material.

[0045] As an optional embodiment, the gripping device includes a suction component 3, configured to suction a third object to be gripped via negative pressure. By providing the suction component 3, the gripping device can use it to grip the third object by suction, thereby better gripping structures such as sheets, packaging films, and cardboard boxes, facilitating operations such as loading / unloading or unpacking. Specifically, the shape and number of suction components 3 can be flexibly adjusted. In a preferred embodiment, the suction component 3 is a vacuum suction cup, and there are multiple suction components 3, allowing for more stable suction of the third object. Similarly, the first, second, and third objects to be gripped can be the same object or different objects in actual implementation.

[0046] In order to generate negative pressure in the suction component 3 and thus realize the function of adsorption gripping, the gripping device in this embodiment includes: negative pressure generating component 4, which is connected to the suction component 3 so as to provide negative air pressure to the suction component 3 through the negative pressure generating component 4.

[0047] In another embodiment, the suction component 3 is also connected to a positive pressure generating component to provide positive air pressure to the suction component 3. The gripping device further includes a valve structure having a first working state and a second working state. When the valve structure is in the first working state, it connects the air passage between the suction component 3 and the negative pressure generating component 4 and disconnects the air passage between the suction component 3 and the positive pressure generating component. When the valve structure is in the second working state, it connects the air passage between the suction component 3 and the positive pressure generating component and disconnects the air passage between the suction component 3 and the negative pressure generating component 4. In this way, the connection pipeline of the suction component 3 can be switched by the valve structure, so that it can selectively connect to the negative pressure generating component 4 or to the positive pressure generating component. When it is connected to the negative pressure generating component 4, the above-mentioned negative pressure adsorption gripping operation can be realized. When it is connected to the positive pressure generating component, the air jet function can be realized, thereby cleaning dust, particles, debris and other debris by air jet, making the gripping device more flexible and convenient to use. Specifically, the valve structure can take many forms, as long as it enables the switching of the pipeline connected to the suction component 3. For example, in one optional embodiment, the valve structure includes a three-way valve, with its three ports respectively connected to the suction component 3, the negative pressure generating component 4, and the positive pressure generating component. Thus, controlling the three-way valve controls the connection between the suction component 3 and the negative pressure generating component 4, or between the suction component 3 and the positive pressure generating component. In another embodiment, the valve structure includes a first valve and a second valve. The first valve is located in the pipeline connecting the suction component 3 and the negative pressure generating component 4, and the second valve is located in the pipeline connecting the suction component 3 and the positive pressure generating component. By controlling one valve to open and the other valve to close, the switching of the pipeline connected to the suction component 3 can be achieved.

[0048] In this embodiment, the suction component 3 is movably arranged along the second direction to approach the third object to be grasped. The grasping device includes: a second driving component 5, which is connected to the suction component 3 to drive the suction component 3 to move along the second direction; and / or, the grasping device includes: a pushing component 6, which is movably arranged to push the workpiece at the target position away from the target position; and a detection component for detecting the workpiece at the target position. By setting the second driving component 5, the suction component 3 can be driven to move along the second direction to approach the third object to be grasped, so as to grasp the third object to be grasped. Specifically, the second driving component 5 has a driving end 51, which is movably arranged along the second direction. Multiple suction components 3 are distributed on the driving end 51, which is a plate-like structure. By setting the pushing component 6, the workpiece at the target position can be pushed away by the pushing component 6. When used in conjunction with the detection component, when the detection component detects an unqualified workpiece, it can be pushed away from the target position by the pushing component 6, thereby achieving the screening of workpieces.

[0049] In this embodiment, the gripping device includes a robotic arm 7 with multiple degrees of freedom. A first driving component 2 and multiple gripping components 1 are mounted on the robotic arm 7, allowing the robotic arm 7 to drive the first driving component 2 and the multiple gripping components 1 to move, thereby flexibly extending the gripping components 1 to different positions to grasp objects at different locations. The gripping device also includes an electromagnet component, which can attract a fourth object to be grasped when energized. By including the electromagnet component, the fourth object to be grasped can be grasped using magnetic force, further enriching the gripping methods of the device and making it more flexible and convenient to use, adapting to the grasping of more objects. The gripping component 1 includes a first part 13 and a second part 14, which are connected. A first driving component 2 is connected to the first part 13. The gripping component 1 also includes a reinforcing member 15, which is disposed at the connection between the first part 13 and the second part 14. Both the first part 13 and the second part 14 are connected to the reinforcing member 15. By providing the reinforcing member 15, the connection reliability between the first part 13 and the second part 14 can be improved, thereby ensuring that the second part 14 grips the object more smoothly and ensuring gripping reliability. The reinforcing member 15 can be a separate structure, i.e., it is separately disposed from the first part 13 and the second part 14. Alternatively, the reinforcing member 15 can be an integral structure with the first part 13 and connected to the second part 14, or it can be an integral structure with the second part 14 and connected to the first part 13. In this embodiment, the gripping component 1 is provided with an anti-slip structure 16. When the gripping component 1 grips the first object to be gripped or the second object to be gripped, the anti-slip structure contacts the first object to be gripped or the second object to be gripped. In actual implementation, the anti-slip structure 16 can take many forms, as long as it can provide anti-slip protection. For example, it can be a series of protrusions, recesses, a frosted structure, etc. In this embodiment, the anti-slip structure 16 includes multiple strip-shaped grooves, and both the gripping component 1 and the aforementioned protective pad 121 are provided with these strip-shaped grooves.

[0050] To achieve better connection between the above components, the gripping device in this embodiment includes a first connector 10, which connects the robotic arm 7 and the first drive component 2, and a negative pressure generating component 4 is disposed on the first connector 10. The gripping device also includes a second connector 20, which connects the first drive component 2 and the second drive component 5.

[0051] Based on the above embodiments, it can be seen that the grasping device of this application has at least the following technical effects:

[0052] The gripping device of this application embodiment includes: a plurality of gripping components 1, which can be arranged relatively close to or far apart; a first driving component 2, which is connected to at least a portion of the gripping components 1, so as to drive the plurality of gripping components 1 to move relatively close to or far apart from each other; wherein, when the first driving component 2 drives the plurality of gripping components 1 to move relatively close, the plurality of gripping components 1 can contact the outer surface of a first object to be gripped, so as to grip the first object to be gripped; when the first driving component 2 drives the plurality of gripping components 1 to move relatively far apart, the plurality of gripping components 1 can contact the inner surface of a second object to be gripped, so as to support the second object to be gripped. With this structural design, the gripping device can drive the plurality of gripping components 1 to move relatively close to or far apart through the first driving component 2. When the plurality of gripping components 1 are driven relatively close, the plurality of gripping components 1 can contact the outer surface of the first object to be gripped, thereby gripping the first object to be gripped in a clamping manner. When the multiple gripping components 1 are driven relatively far apart, they can contact the inner surface of the second object to be gripped, thereby gripping the object through internal expansion. In this way, the gripping device can grasp objects through external clamping or internal expansion, enriching its gripping functions and adapting to the gripping of objects of more shapes. This effectively expands its application scenarios and solves the technical problem in related technologies where gripping devices with limited gripping functions are unable to meet the requirements for gripping workpieces of different shapes.

[0053] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0054] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0055] The embodiments, implementation methods, and related technical features of this application can be combined and substituted for each other without conflict.

[0056] The above are merely preferred embodiments of this application and are not intended to limit this application in any way. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of this application without departing from the scope of the technical solution of this application shall still fall within the scope of the technical solution of this application.

Claims

1. A gripping device, characterized in that, include: Multiple gripping components (1) are provided, which may be arranged relatively close to or far apart from each other. A first driving component (2) is connected to at least a portion of the gripping components (1) to drive the plurality of gripping components (1) to move relatively close or away from each other via the first driving component (2); When the first driving component (2) drives the plurality of gripping components (1) to move closer to each other, the plurality of gripping components (1) can contact the outer surface of the first object to be gripped in order to grip the first object to be gripped; when the first driving component (2) drives the plurality of gripping components (1) to move away from each other, the plurality of gripping components (1) can contact the inner surface of the second object to be gripped in order to support the second object to be gripped.

2. The gripping device according to claim 1, characterized in that, The number of gripping components (1) is two, and the two gripping components (1) can be arranged relatively close to each other and far apart along the first direction; The first driving component (2) is a servo driving structure, which is driven by a servo motor. The servo driving structure has two output terminals. The servo motor is configured to drive the two output terminals to move closer and further away from each other along the first direction. The two gripping components (1) are connected to the two output terminals one-to-one.

3. The gripping device according to claim 1, characterized in that, The gripping component (1) includes: Body structure (11); The protective structure (12) is disposed on the main body structure (11). When the gripping component (1) grips the first object to be gripped or the second object to be gripped, the protective structure (12) contacts the first object to be gripped or the second object to be gripped. The position of the protective structure (12) in contact with the first object to be gripped or the second object to be gripped is squeezed and undergoes elastic deformation.

4. The gripping device according to claim 3, characterized in that, The number of gripping components (1) is two, and the two gripping components (1) can be arranged relatively close to each other and far apart along the first direction; the protective structure (12) is in two sets, one set of the protective structure (12) is arranged on the two facing sides of the two gripping components (1), and the other set of the protective structure (12) is arranged on the two opposing sides of the two gripping components (1).

5. The gripping device according to claim 3, characterized in that, The protective structure (12) includes at least one of the following: A protective pad (121) is made of an elastic material; A spring plunger (122) includes a spring and a contact portion for contacting the first object to be grasped or the second object to be grasped. When the contact portion is squeezed by the first object to be grasped or the second object to be grasped, it can compress the spring.

6. The gripping device according to any one of claims 1 to 5, characterized in that, The grasping device includes: The suction component (3) is configured to suction a third object to be grasped by means of negative pressure suction.

7. The gripping device according to claim 6, characterized in that, The grasping device includes: A negative pressure generating component (4) is connected to the suction component (3) to provide negative pressure to the suction component (3) through the negative pressure generating component (4).

8. The gripping device according to claim 7, characterized in that, The suction component (3) is also connected to a positive pressure generating component to provide positive air pressure to the suction component (3) through the positive pressure generating component. The gripping device further includes: The valve structure has a first working state and a second working state. When the valve structure is in the first working state, the valve structure opens the air passage between the suction component (3) and the negative pressure generating component (4) and cuts off the air passage between the suction component (3) and the positive pressure generating component. When the valve structure is in the second working state, the valve structure opens the air passage between the suction component (3) and the positive pressure generating component and cuts off the air passage between the suction component (3) and the negative pressure generating component (4).

9. The gripping device according to claim 6, characterized in that, The suction component (3) is movably disposed along a second direction to approach the third object to be grasped. The grasping device includes: a second driving component (5) connected to the suction component (3) to drive the suction component (3) to move along the second direction; and / or, The gripping device includes: a pushing component (6) movably disposed to push a workpiece at a target position away from the target position; and a detection component for detecting the workpiece at the target position.

10. The gripping device according to any one of claims 1 to 5, characterized in that, The structure of the gripping device satisfies at least one of the following: The gripping device includes a robotic arm (7) with multiple degrees of freedom. The first driving component (2) and multiple gripping components (1) are both disposed on the robotic arm (7) so that the first driving component (2) and multiple gripping components (1) can be driven to move by the robotic arm (7). The grasping device includes an electromagnet component, which can attract a fourth object to be grasped when energized. The gripping component (1) includes a first part (13) and a second part (14), the first part (13) and the second part (14) are connected, the first driving component (2) is connected to the first part (13), the gripping component (1) also includes a reinforcing member (15), the reinforcing member (15) is disposed at the connection between the first part (13) and the second part (14), and both the first part (13) and the second part (14) are connected to the reinforcing member (15); The gripping component (1) is provided with an anti-slip structure (16). When the gripping component (1) grips the first object to be gripped or the second object to be gripped, the anti-slip structure contacts the first object to be gripped or the second object to be gripped.

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