gripper device

Abstract

This utility model belongs to the field of battery manufacturing technology and discloses a gripper device. The gripper device includes a support structure, a gripper structure, and an overpressure alarm component. The gripper structure includes multiple gripper assemblies arranged side-by-side and spaced apart. Each gripper assembly includes a connector that is slidably mounted on the support structure along a first direction. Each gripper assembly also includes two grippers arranged symmetrically and spaced apart along a second direction. The grippers are connected to the connector, and the two grippers can approach each other to grip the workpiece. The second direction and the first direction form an angle. Each gripper is equipped with an overpressure alarm component. When the gripper contacts the top surface of the workpiece and the pressure is greater than or equal to a preset pressure value, the overpressure alarm component emits an alarm signal. This utility model has high adaptability to the workpiece and high flexibility of use, and the workpiece is not easily damaged.

Description

Technical Field

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

[0002] In industrial processes such as battery production, testing, and assembly, mechanical grippers serve as core actuators, undertaking critical operations such as battery gripping, handling, and positioning. Their performance directly impacts battery production efficiency, product qualification rate, and production cost control. With the rapid development of the new energy industry, battery products are exhibiting a trend towards multi-specification and differentiation. Different battery models show significant differences in key dimensional parameters such as thickness, which places higher demands on the adaptability and functionality of mechanical grippers.

[0003] In existing technologies, mechanical grippers used for battery handling are mostly designed with a fixed structure. When the spacing between the batteries to be processed changes in the thickness direction, the gripper spacing cannot be adaptively adjusted according to the battery size. Operators must replace multiple core components of the grippers, including the gripper body, connecting components, and positioning components, to meet the gripping requirements of different battery sizes. This replacement method not only consumes a significant amount of manpower, leading to prolonged production downtime and reduced overall production efficiency, but also significantly increases equipment replacement and maintenance costs due to the repeated procurement and replacement of parts. Furthermore, during battery gripping, the lack of effective pressure detection and feedback devices means that when the grippers experience overpressure due to positioning deviation, protective measures cannot be triggered in time. This can easily cause problems such as battery casing deformation and damage to the internal electrode structure, directly leading to product scrap and increasing production losses.

[0004] Therefore, there is an urgent need for a gripper device to solve the above-mentioned technical problems. Utility Model Content

[0005] The purpose of this utility model is to provide a gripper device that solves the problems of existing gripper components being mostly fixed structures with poor flexibility of use and easy damage to the gripped parts during use. This gripper device has high adaptability to the gripped parts and high flexibility of use, and the gripped parts are not easily damaged.

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

[0007] According to one aspect of the present invention, a gripper device is provided, comprising:

[0008] Support structure;

[0009] The gripper structure includes multiple gripper assemblies arranged side by side and spaced apart. Each gripper assembly includes a connector that is slidably mounted on the support structure along a first direction. The gripper assembly also includes two grippers that are spaced apart and symmetrically arranged along a second direction. The grippers are connected to the connector, and the two grippers can approach each other to grip the object to be gripped. The second direction and the first direction are arranged at an angle.

[0010] An overpressure alarm component is provided on each of the grippers. When the gripper contacts the top surface of the object to be clamped and the pressure is greater than or equal to a preset pressure value, the overpressure alarm component emits an alarm signal.

[0011] The above technical solution has the following beneficial effects:

[0012] The gripper device provided by this utility model has a connecting member that is slidably installed on the support structure along a first direction, so that the distance between adjacent gripper assemblies installed on the support structure can be adjusted. The distance between adjacent gripper assemblies can be adaptively adjusted according to the different spacing of adjacent objects to be gripped, thereby improving the adaptability and flexibility of the gripper device. By setting an overpressure alarm component, when the gripper contacts the top surface of the object to be gripped and the pressure is greater than or equal to a preset pressure value, the overpressure alarm component will issue an alarm signal, so as to adjust the gripper position in time and avoid damage to the object to be gripped by the gripper. Attached Figure Description

[0013] Figure 1 This is a three-dimensional view of the gripper device from one perspective provided in this embodiment of the utility model;

[0014] Figure 2 This is a three-dimensional view of the gripper device from another perspective provided in this embodiment of the utility model;

[0015] Figure 3 yes Figure 2 A magnified view of a section at point A in the middle;

[0016] Figure 4 This is a front view of the gripper device provided in this embodiment of the utility model;

[0017] Figure 5 This is a side view of the gripper device provided in an embodiment of the present invention;

[0018] Figure 6 This is a three-dimensional view of the gripper provided in this embodiment of the utility model;

[0019] Figure 7 This is a three-dimensional view of the base plate from one perspective provided in an embodiment of the present invention;

[0020] Figure 8This is a three-dimensional view of the base plate from another perspective provided in this embodiment of the utility model;

[0021] Figure 9 This is a three-dimensional view of the slider from one perspective provided in this embodiment of the utility model;

[0022] Figure 10 This is a three-dimensional view of the slider from another perspective provided in this embodiment of the utility model.

[0023] In the picture:

[0024] 10. Gripper device; 20. Battery;

[0025] 100. Support structure; 110. Guide rail; 120. Integrated plate; 121. First branch plate; 122. Second branch plate; 130. Bracket; 123. Rib plate; 124. Weight reduction hole;

[0026] 200. Gripper structure; 210. Gripper assembly; 211. Connector; 2111. Top plate; 2112. Middle plate; 2113. Bottom plate; 2114. Guide groove; 2115. Waist-shaped hole; 2116. Positioning rail; 2117. Fifth drive component; 212. Gripper; 2121. Guide rail; 2122. Connecting block; 2123. Guide bar; 2124. Limiting support plate; 213. Slider; 2131. Limiting groove; 2132. Guide hole; 2133. Slide groove; 214. Spring; 215. Guide rod; 216. Third drive component;

[0027] 300. Overvoltage alarm assembly; 310. Slotted switch; 320. Linkage plate; 321. First connecting plate; 322. Second connecting plate; 330. Sensor sheet. Detailed Implementation

[0028] The embodiments of this utility model are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar parts or parts having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model.

[0029] 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 or a detachable connection; a mechanical connection or an electrical connection; a direct connection or an indirect connection through an intermediate medium; or 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 according to the specific circumstances.

[0030] In the description of this utility model, unless otherwise expressly 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.

[0031] The technical solution of this utility model will be further described below with reference to the accompanying drawings and specific embodiments.

[0032] Helium leak detectors are used to detect minute leaks in battery casings, covers, and tab seals, ensuring battery tightness and safety. A typical helium leak detector includes a leak detection core unit, a gas path system, a gripper device, and a control system. The gripper device holds the battery to secure it in a preset testing position.

[0033] A battery typically consists of a cell and a casing located on the outside of the cell. A gripper device secures or transfers the battery by clamping the casing.

[0034] like Figures 1 to 10 As shown, this utility model provides a gripper device 10, including a support structure 100, a gripper structure 200, and an overpressure alarm component 300. The gripper structure 200 includes multiple gripper assemblies 210 arranged side-by-side and spaced apart. Each gripper assembly 210 includes a connector 211, which is slidably mounted on the support structure 100 along a first direction, allowing the distance between adjacent gripper assemblies 210 to be adjusted. Each gripper assembly 210 also includes two grippers 212 spaced apart and symmetrically arranged along a second direction. The grippers 212 are connected to the connector 211, and the two grippers 212 can approach each other to grip a component (such as a battery 20). The second direction and the first direction are arranged at an angle. Each gripper 212 is equipped with an overpressure alarm component 300. When a gripper 212 contacts the top surface of the component to be gripped and the pressure is greater than or equal to a preset pressure value, the overpressure alarm component 300 emits an alarm signal. Taking battery 20 as an example, in this embodiment, the first direction corresponds to the thickness direction of battery 20, the second direction corresponds to the length direction of battery 20, and the top surface of battery 20 refers to the upper surface along the height direction (third direction) of battery 20.

[0035] Taking battery 20 as an example, the gripper device 10 provided in this embodiment is slidably installed on the support structure 100 along the first direction by setting the connector 211, so that the distance between adjacent gripper assemblies 210 installed on the support structure 100 can be adjusted. The distance between adjacent gripper assemblies 210 can be adaptively adjusted according to the different spacing of adjacent batteries 20 (along the thickness direction of battery 20), thereby improving the adaptability and flexibility of use of gripper device 10. By setting overpressure alarm assembly 300, when the gripper 212 contacts the top surface of battery 20 and the pressure is greater than or equal to the preset pressure value, the overpressure alarm assembly 300 issues an alarm signal, so as to adjust the position of gripper 212 in time and avoid the gripper 212 from damaging battery 20.

[0036] In this embodiment, the position of the gripper 212 relative to the connector 211 along the second direction can be adjusted, so that the distance between the two grippers 212 can be adaptively adjusted according to different battery 20 lengths, thereby improving the adaptability and flexibility of the gripper device 10.

[0037] In one possible implementation, the gripper 212 is slidably connected to the connector 211. The gripper assembly 210 also includes a first driving member, which is mounted on the connector 211. The gripper 212 is drive-connected to the output end of the first driving member. The first driving member (such as a cylinder or motor) replaces manual operation and can precisely control the sliding distance of the gripper 212 through the control system, thereby improving the adjustment efficiency of the gripper 212 position.

[0038] In another possible implementation, the top surface of the gripper 212 has a guide rail 2121, and the bottom surface of the connector 211 is provided with a guide groove 2114 that mates with the guide rail 2121. The guide rail 2121 has a first threaded hole, and the bottom of the guide groove 2114 is provided with a plurality of mounting through holes spaced apart along a second direction. A threaded component is screwed through the mounting through holes and the first threaded hole to lock the gripper 212 to the connector 211. By using a threaded component to lock the gripper 212 to the connector 211, the structure is simple and the manufacturing cost is reduced. The threaded connection locking method has strong fastening and can effectively resist the reaction force when the gripper 212 clamps the battery 20, preventing the gripper 212 from shifting during the testing process.

[0039] In another possible implementation, the connector 211 has an oblong hole 2115 extending along a second direction, and the top surface of the gripper 212 is provided with a second threaded hole. A locking member passes through the oblong hole 2115 and is screwed into the second threaded hole to lock the gripper 212 to the connector 211. By providing the oblong hole 2115, the gripper 212 can stop at any position within the entire length of the oblong hole 2115, which can accurately adapt to the spacing requirements of batteries 20 of different sizes, and the structure is simple and the operation efficiency is high.

[0040] Optionally, a slider 213 is slidably disposed on the inner side of the gripper 212. The slider 213 has a limiting groove 2131 for clamping and limiting the battery 20. The overpressure alarm assembly 300 includes a slotted switch 310 for detecting the position of the slider 213. The plane containing the first and second directions is set at an angle to the third direction. When the bottom of the slider 213 contacts the top surface of the battery 20, under the pressure of the battery 20, the slider 213 slides along the inner side of the gripper 212. When the pressure between the slider 213 and the battery 20 reaches a preset value, the slotted switch 310 issues an alarm signal.

[0041] Preferably, the gripper structure 200 also includes an elastic element disposed between the slider 213 and the gripper 212. The elastic element is used to give the slider 213 a downward tendency. The elastic element can buffer the impact force of the battery 20 on the slider 213, preventing excessive pressure from the battery 20 from causing the slider 213 to collide with the connector 211 and damage the battery 20.

[0042] In this embodiment, a connecting block 2122 protrudes from the inner side of the gripper 212. A guide rod 215 extending along a third direction is provided on the connecting block 2122. An elastic element is sleeved on the guide rod 215. One end of the elastic element is connected to the connecting block 2122, and the other end of the elastic element is connected to the slider 213. The slider 213 has a guide hole 2132 that mates with the guide rod 215. The guide rod 215 slides through the guide hole 2132. The sliding engagement between the guide rod 215 and the guide hole 2132 allows the slider 213 to move smoothly along a third direction, avoiding lateral deviation or tilting. At the same time, the guide rod 215 can also limit the elastic element, preventing twisting or bending during compression or reset, and ensuring that the elastic force is uniformly transmitted along a third direction.

[0043] Optionally, a linkage plate 320 is provided on the slider 213. A sensing element 330 is provided at the end of the linkage plate 320 away from the slider 213, and the sensing element 330 is located on the outside of the gripper 212. A slotted switch 310 is installed on the outer side of the gripper 212. The slotted switch 310 determines the position of the slider 213 by detecting the sensing element 330. That is, the sensing element 330 can trigger the slotted switch 310, causing the slotted switch 310 to issue an alarm signal. By setting the sensing element 330 to be located on the outside of the gripper 212 and the slotted switch 310 to be installed on the outer side of the gripper 212, the sensing element 330 and the slotted switch 310 are far away from the clamping area, avoiding interference from the battery 20 with the detection signal and reducing the probability of false alarms or missed alarms. At the same time, it does not occupy the space of the clamping area, does not interfere with the limiting clamping of the battery 20 by the slider 213, and does not affect the opening, closing and adjustment actions of the gripper 212. In this embodiment, the outer side of the gripper 212 refers to the relative outer side of the two grippers 212 of the same gripper assembly 210, and the inner side of the gripper 212 refers to the relative inner side of the two grippers 212 of the same gripper assembly 210.

[0044] Optionally, the initial distance between the sensing element 330 and the slotted switch 310 is 2mm-8mm. If the initial distance is too large, the pressure of the gripper 212 will squeeze the top surface of the battery 20, causing significant deformation of the battery casing and damage to the internal cells, leading to malfunctions such as leakage and short circuits. If the initial distance is too small, unevenness of the battery surface, positioning errors, or displacement of the sensing element 330 caused by the impact during clamping may trigger an alarm, causing frequent production line shutdowns and severely impacting production efficiency. For example, the initial distance between the sensing element 330 and the slotted switch 310 can be any value among 2mm, 3mm, 4mm, 5mm, 6mm, 7mm, 8mm, or 2mm-8mm.

[0045] Optionally, the linkage plate 320 includes a first connecting plate 321 and a second connecting plate 322 that are perpendicular to each other. The first connecting plate 321 is detachably connected to the slider 213. The first connecting plate 321 extends along a third direction, and the second connecting plate 322 extends along a second direction. A sensing plate 330 is disposed at the end of the second connecting plate 322 away from the first connecting plate 321, and the sensing plate 330 extends along the first direction. By detachably connecting the first connecting plate 321 to the slider 213, disassembly and assembly are facilitated. For example, the first connecting plate 321 and the slider 213 can be connected by screws.

[0046] Optionally, the limiting groove 2131 penetrates both ends of the slider 213 along the third direction. The limiting groove 2131 is U-shaped, and its width matches the thickness of the battery 20. This U-shaped limiting groove 2131, with its width matching the thickness of the battery 20, restricts the displacement of the battery 20 along the thickness direction, ensuring the consistency of the battery 20's position at the inspection station. Furthermore, the limiting groove 2131 penetrates both the upper and lower ends of the slider 213 (third direction), providing more comprehensive vertical limiting of the battery 20 and thus improving clamping stability. For example, the width of the limiting groove 2131 can be 80mm. In other embodiments, the width of the limiting groove 2131 can be set to other values, matching the corresponding battery 20 model.

[0047] Preferably, the inner side of the gripper 212 is provided with a guide bar 2123, and the outer side of the slider 213 is provided with a groove 2133 that slides in cooperation with the guide bar 2123. The bottom of the gripper 212 has a limiting plate 2124 for limiting the slider 213. The limiting plate 2124 is provided to prevent the slider 213 from falling off due to failure of the elastic element or assembly error, thereby avoiding equipment failure or loss of control of battery 20 clamping.

[0048] Optionally, the elastic element is a spring 214 or a rubber pad. The spring 214 has a fixed spring constant, and the compression and elastic force are linearly related. The buffering force and deformation of the spring 214 can be adjusted by setting springs 214 with different wire diameters and numbers of coils. The rubber pad has a good buffering effect and a low manufacturing cost.

[0049] In this embodiment, the connector 211 includes a top plate 2111, two intermediate plates 2112, and two bottom plates 2113. The two intermediate plates 2112 are symmetrically arranged at both ends of the top plate 2111 and perpendicular to the top plate 2111. The two bottom plates 2113 are respectively arranged at the bottom of the two intermediate plates 2112 and are parallel to the top plate 2111. The top plate 2111 is slidably connected to the support structure 100, and the two grippers 212 are respectively slidably arranged on the two bottom plates 2113. The top plate 2111, intermediate plates 2112, and bottom plates 2113 form a frame structure with high overall strength, which can resist the reaction force during clamping and avoid deformation. The top plate 2111, intermediate plates 2112, and bottom plates 2113 can be processed and assembled individually, reducing production difficulty and facilitating mass production. For example, the base plate 2113 is provided with a positioning rail 2116, and the intermediate plate 2112 is provided with a positioning groove that slides with the positioning rail 2116.

[0050] Optionally, the gripper assembly 210 further includes a fifth drive member 2117, which is disposed on the top plate 2111, and the bottom plate 2113 is connected to the output end of the fifth drive member 2117 via a transmission connection. By disposing the fifth drive member 2117 in the middle of the top plate 2111 and the bottom plate 2113, the space utilization rate is effectively improved.

[0051] In this embodiment, the support structure 100 includes a guide rail 110, and a top plate 2111 is slidably mounted on the guide rail 110 along a first direction. The guide rail 110 is provided with a second driving member, and the top plate 2111 is connected to the output end of the second driving member. The second driving member (such as a motor or cylinder) replaces manual operation and can precisely control the movement of the top plate 2111 through the equipment control system to achieve automated adjustment.

[0052] Optionally, the support structure 100 further includes an integrated plate 120, with a guide rail 110 slidably mounted on the integrated plate 120 along a first direction. The integrated plate 120 is provided with a third driving member 216, and the guide rail 110 is drive-connected to the output end of the third driving member 216. The position of the guide rail 110 is controlled by the third driving member 216, thereby adjusting the position of all gripper assemblies 210 in the first direction to adapt to the position of the battery 20 and improve position adjustment efficiency.

[0053] In this embodiment, the support structure 100 further includes a bracket 130. The integrated plate 120 is slidably disposed on the bracket 130 along a third direction. A fourth driving member is disposed on the bracket 130, and the integrated plate 120 is drively connected to the output end of the fourth driving member. The fourth driving member (such as a cylinder or motor) drives the integrated plate 120 and all the gripper assemblies 210 connected to the integrated plate 120 to move up and down along a third direction, accurately matching batteries 20 of different heights, and avoiding inadequate clamping or excessive compression due to differences in the height of the batteries 20.

[0054] Optionally, the integrated plate 120 has an L-shaped structure. The first branch plate 121 of the L-shaped structure is slidably connected to the bracket 130, and the second branch plate 122 of the L-shaped structure is connected to the guide rail 110. A rib 123 is provided between the first branch plate 121 and the second branch plate 122. The two branch plates of the L-shaped structure are vertically distributed. The first branch plate 121 supports sliding in the third direction, and the second branch plate 122 supports the guide rail 110 extending in the first direction. This allows for multi-dimensional adjustment of the spatial layout without additional adapters, resulting in a compact structure that does not occupy extra space. The first branch plate 121 and the second branch plate 122 are vertically connected and, together with the middle rib 123, form a triangular support structure 100, effectively improving the bending and torsional resistance of the integrated plate 120.

[0055] As a preferred option, the rib plate 123 is equipped with a weight-reducing structure, which reduces the weight of the rib plate 123, reduces the amount of raw materials used, and lowers processing and transportation costs; at the same time, it can reduce the intensity of manual installation.

[0056] Optionally, the weight reduction structure is a weight reduction hole 124 or a weight reduction groove. The weight reduction hole 124 and the weight reduction groove directly remove material from the non-stressed area of ​​the rib 123, resulting in a direct weight reduction effect and precise control over the overall weight of the rib 123. For example, both the weight reduction hole 124 and the weight reduction groove can be set to a circular, elongated, or irregular shape, as long as the weight reduction requirement is met.

[0057] 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 other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations 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 gripper device, characterized in that, include: Support structure (100); The gripper structure (200) includes a plurality of gripper assemblies (210), each gripper assembly (210) including a connector (211), the connector (211) being slidably mounted on the support structure (100) along a first direction; the gripper assembly (210) further includes two grippers (212) spaced apart along a second direction, the grippers (212) being connected to the connector (211), the two grippers (212) being able to approach each other to grip the object to be gripped, the second direction and the first direction being set at an angle; An overpressure alarm component (300) is provided on each of the grippers (212). When the gripper (212) contacts the top surface of the object to be clamped and the pressure is greater than or equal to a preset pressure value, the overpressure alarm component (300) issues an alarm signal.

2. The gripper device according to claim 1, characterized in that, The position of the gripper (212) relative to the connector (211) along the second direction is adjustable. The top surface of the gripper (212) has a guide rail (2121). The bottom surface of the connector (211) is provided with a guide groove (2114) that mates with the guide rail (2121). The guide rail (2121) has a first threaded hole. The bottom of the guide groove (2114) is provided with a plurality of mounting through holes spaced apart along the second direction. The threaded part passes through the mounting through holes and the first threaded hole to lock the gripper (212) to the connector (211).

3. The gripper device according to claim 1, characterized in that, The position of the gripper (212) relative to the connector (211) along the second direction is adjustable. The connector (211) has a waist-shaped hole (2115) extending along the second direction. The top surface of the gripper (212) is provided with a second threaded hole. The locking member passes through the waist-shaped hole (2115) and is screwed into the second threaded hole to lock the gripper (212) to the connector (211).

4. The gripper device according to claim 1, characterized in that, The inner side of the gripper (212) is slidably provided with a slider (213) along a third direction. The slider (213) has a limiting groove (2131) for clamping and limiting the clamped part. The overpressure alarm component (300) includes a slotted switch (310) for detecting the position of the slider (213). The plane containing the first direction and the second direction is set at an angle to the third direction.

5. The gripper device according to claim 4, characterized in that, The gripper structure (200) also includes an elastic element disposed between the slider (213) and the gripper (212), the elastic element being used to give the slider (213) a downward tendency.

6. The gripper device according to claim 5, characterized in that, The inner side of the gripper (212) is provided with a connecting block (2122). The connecting block (2122) is provided with a guide rod (215) extending along the third direction. The elastic element is sleeved on the guide rod (215). One end of the elastic element is connected to the connecting block (2122), and the other end of the elastic element is connected to the slider (213). The slider (213) has a guide hole (2132) that cooperates with the guide rod (215). The guide rod (215) slides through the guide hole (2132).

7. The gripper device according to claim 4, characterized in that, A linkage plate (320) is provided on the slider (213). A sensing plate (330) is provided at the end of the linkage plate (320) away from the slider (213). The sensing plate (330) is located on the outside of the gripper (212). The slotted switch (310) is installed on the outer side of the gripper (212). The sensing plate (330) can trigger the slotted switch (310) to emit an alarm signal.

8. The gripper device according to claim 7, characterized in that, The initial distance between the sensing element (330) and the slotted switch (310) is 2mm-8mm.

9. The gripper device according to claim 7, characterized in that, The linkage plate (320) includes a first connecting plate (321) and a second connecting plate (322) that are perpendicular to each other. The first connecting plate (321) is connected to the slider (213). The first connecting plate (321) extends along the third direction, and the second connecting plate (322) extends along the second direction. The sensing plate (330) is disposed at the end of the second connecting plate (322) away from the first connecting plate (321), and the sensing plate (330) extends along the first direction.

10. The gripper device according to claim 4, characterized in that, The limiting groove (2131) penetrates both ends of the slider (213) along the third direction. The limiting groove (2131) is U-shaped, and the width of the limiting groove (2131) matches the thickness of the part to be clamped.

11. The gripper device according to claim 4, characterized in that, The bottom of the gripper (212) has a limiting plate (2124) that limits the slider (213).

12. The gripper device according to claim 1, characterized in that, The connector (211) includes a top plate (2111), two intermediate plates (2112) and two bottom plates (2113). The two intermediate plates (2112) are symmetrically arranged at both ends of the top plate (2111) and perpendicular to the top plate (2111). The two bottom plates (2113) are respectively slidably arranged at the bottom of the two intermediate plates (2112) and are parallel to the top plate (2111). The top plate (2111) is slidably connected to the support structure (100). The two grippers (212) are respectively arranged on the two bottom plates (2113).

13. The gripper device according to claim 12, characterized in that, The gripper assembly (210) further includes a fifth drive member (2117), which is disposed on the top plate (2111), and the bottom plate (2113) is connected to the output end of the fifth drive member (2117) in a transmission connection.

14. The gripper device according to claim 1, characterized in that, The support structure (100) includes a guide rail (110), the connector (211) is slidably mounted on the guide rail (110) along a first direction, the guide rail (110) is provided with a second driving member, and the connector (211) is connected to the output end of the second driving member in a transmission connection.

15. The gripper device according to claim 14, characterized in that, The support structure (100) further includes an integrated plate (120), the guide rail (110) is slidably mounted on the integrated plate (120) along a first direction, the integrated plate (120) is provided with a third driving member (216), and the guide rail (110) is connected to the output end of the third driving member (216) in a transmission connection.

16. The gripper device according to claim 15, characterized in that, The support structure (100) further includes a bracket (130), the integrated plate (120) is slidably disposed on the bracket (130) along a third direction, a fourth driving member is disposed on the bracket (130), and the integrated plate (120) is connected to the output end of the fourth driving member.

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