CN214242838U - Snatch mechanism with function of bending - Google Patents

Abstract

The utility model discloses a snatch mechanism with function of bending belongs to automation equipment technical field. The method comprises the following steps: the device comprises a grabbing hand support, a plurality of adsorption mechanisms, a plurality of bending driving parts, a plurality of bending mechanisms and a distance measuring sensor. The grasping hand support can be close to or far away from the part. A plurality of adsorption apparatus construct and set up in snatching hand support, and adsorption apparatus constructs and is used for adsorbing spare part. The plurality of bending driving parts are arranged on the grabbing hand bracket. The bending mechanisms correspond to the bending driving parts one by one, the bending mechanisms are in driving connection with the corresponding bending driving parts, and the bending mechanisms are contacted with or separated from the parts after moving. The ranging sensor is arranged on one side of the grabbing hand support, which faces to the part, and the ranging sensor is opposite to the part. This snatch mechanism with function of bending is convenient for spare part and piles up with comparatively smooth form to increase the quantity of piling up, reduce the frequency of placing of operating personnel to spare part.

Description

Snatch mechanism with function of bending

Technical Field

The utility model relates to an automation equipment technical field specifically is a snatch mechanism with function of bending.

Background

With the improvement of the automation rate of the production line, the part loading process of the required parts gradually develops towards intellectualization and automation. Drawer feeding technology is one of the feeding technologies, and is widely used for feeding straight small parts. Traditional drawer technique of putting one's things on, set up a plurality of layers of baffles in the drawer and be used for accurate fixed part, nevertheless once the part number of placing in every drawer can not be too many so, needs operating personnel to frequently carry out the feed supplement for the drawer, and operating personnel intensity of labour is big, needs personnel's quantity more.

SUMMERY OF THE UTILITY MODEL

To the above-mentioned problem that exists among the prior art, aim at providing a snatch mechanism with function of bending, snatch the in-process that shifts to spare part and buckle to spare part, and then can be convenient for spare part piles up with comparatively smooth form, increases the quantity of piling up, reduces and places the frequency.

The specific technical scheme is as follows:

the utility model provides a snatch mechanism with function of bending, mainly includes: the device comprises a grabbing hand support, a plurality of adsorption mechanisms, a plurality of bending driving parts, a plurality of bending mechanisms and a distance measuring sensor.

The grasping hand support can be close to or far away from the part.

A plurality of adsorption apparatus construct and set up in snatching hand support, and adsorption apparatus constructs and is used for adsorbing spare part.

The plurality of bending driving parts are arranged on the grabbing hand bracket.

The bending mechanisms correspond to the bending driving parts one by one, the bending mechanisms are in driving connection with the corresponding bending driving parts, and the bending mechanisms are contacted with or separated from the parts after moving.

The ranging sensor is arranged on one side of the grabbing hand support, which faces to the part, and the ranging sensor is opposite to the part.

The grabbing mechanism with the bending function is characterized in that the grabbing hand support comprises at least two support cross beams, the support cross beams are fixedly connected, one support cross beam is connected with the adsorption mechanism and the bending driving part, and the other support cross beam is connected with the manipulator.

Foretell snatch mechanism with function of bending still has such characteristic, and the support crossbeam is the tubulose setting, and a plurality of pilot holes have been seted up to the circumference side of each support crossbeam.

Foretell snatch mechanism with function of bending still has such characteristic, and adsorption device constructs for vacuum adsorption, and vacuum adsorption device constructs including vacuum chuck and the vacuum source who is linked together with vacuum chuck.

Foretell snatch mechanism with function of bending still has such characteristic, and adsorption equipment constructs for electromagnetic adsorption, and electromagnetic adsorption equipment constructs including pneumatic magnet sucking disc and the external power source who links to each other with pneumatic magnet sucking disc.

The grabbing mechanism with the bending function further has the characteristics that the grabbing mechanism further comprises a plurality of positioning devices, the positioning devices are detachably connected with the grabbing hand support, the positioning devices are matched with positioning structures on parts, and the positioning structures are one or a combination of holes, grooves and protrusions.

Foretell snatch mechanism with function of bending still has such characteristic, still includes external control ware, and external control ware is connected with the manipulator communication, and range finding sensor is connected with external control ware communication, and range finding sensor is one of ultrasonic sensor, millimeter wave sensor, laser radar sensor.

Foretell snatch mechanism with function of bending still has such characteristic, still includes the counter, and the counter is connected with range sensor communication, and range sensor is close to and is kept away from a spare part again after, and the counter count adds one.

The grabbing mechanism with the bending function further has the characteristics that the grabbing mechanism further comprises a clamping mechanism and a clamping driving part in driving connection with the clamping mechanism, the clamping mechanisms and the clamping driving parts are arranged on the grabbing hand support, each clamping mechanism comprises a first chuck and a second chuck, the first chucks are fixedly arranged, the second chucks are driven by the clamping driving part to be clamped or separated from the first chucks, or the second chucks are fixedly arranged, and the first chucks are driven by the clamping driving part to be clamped or separated from the second chucks.

The grabbing mechanism with the bending function is further characterized in that the bending mechanism is arranged on one side of the part, and one end of the bending mechanism is continuously pushed or pulled along a preset direction after being contacted with a partial area of the part, so that a preset angle is formed between a plane where the partial area of the part is displaced and an initial plane where the partial area of the part is located.

The grabbing mechanism with the bending function is characterized in that the preset angle is any angle between zero and one hundred and eighty degrees.

The gripping mechanism with the bending function is further characterized in that the clamping driving part and the bending driving part are linear displacement actuators or rotary displacement actuators.

The grabbing mechanism with the bending function is characterized in that the linear displacement actuator is one of a linear air cylinder and a linear electric cylinder, and the rotary displacement actuator is one of a rotary air cylinder and a rotary electric cylinder.

The positive effects of the technical scheme are as follows:

the utility model provides a pair of snatch mechanism with function of bending, through increase the bending mechanism on traditional snatch mechanism, can buckle processing to comparatively level spare part, and comparatively level spare part is convenient for pile up in proper order and place, can place by producing the line with great quantity, reduce the placing frequency of operating personnel to the spare part, and then alleviate operating personnel's intensity of labour; under the condition of the same quantity of parts, the flat state can reduce the space occupation beside the production line, so that the space arrangement of the production line is more reasonable; in addition, after a certain number of grabbing steps are performed at intervals, the grabbing mechanism can compare the result of dividing the distance measurement difference value of the sensor at the initial position by the number of grabbing pieces with empirical data so as to ensure that the whole parts are normally stacked and improve the stability of the whole grabbing process; the grabbing hand support is provided with a plurality of assembling holes, and can carry out adaptive arrangement on positions such as a bending mechanism, an adsorption mechanism and a clamping mechanism so as to meet the clamping operation of different parts.

Drawings

Fig. 1 is a perspective view of an embodiment of a gripping mechanism with a bending function according to the present invention;

fig. 2 is a side view of an embodiment of a gripping mechanism with a bending function according to the present invention;

fig. 3 is a bottom view of an embodiment of a gripping mechanism with a bending function according to the present invention;

fig. 4 is a front view of an embodiment of the grabbing mechanism with a bending function according to the present invention.

1. Grabbing a hand support; 11. a bracket beam; 12. an assembly hole; 2. an adsorption mechanism; 3. a bending drive part; 4. a bending mechanism; 5. a clamping drive member; 6. a clamping mechanism; 61. a first chuck; 62. a second chuck; 7. a ranging sensor; 8. a component part; 9. and a positioning device.

Detailed Description

In order to make the utility model realize that technical means, creation characteristics, achievement purpose and efficiency are easily understood and known, following embodiment combines attached figure 1 to attached figure 4 right the utility model provides a mechanism of snatching with function of bending does specifically describe.

The numbering of the components themselves, such as "first", "second", etc., is used herein only to distinguish between the objects depicted and not to have any sequential or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings). In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In this grabbing mechanism with function of bending, snatch hand support 1 can be close to or keep away from spare part 8, specifically, spare part 8 piles up on the work or material rest, snatch hand support 1 and from initial position approaching gradually spare part 8 under the removal of manipulator (not shown in the figure), and pick up spare part 8, then snatch hand support 1 and move spare part 8 to the preset position on the production line, snatch hand support 1 and loosen this spare part 8, then return to initial position. A plurality of adsorption apparatus construct 2 and set up in snatching hand support 1, and adsorption apparatus constructs 2 and is used for adsorbing spare part 8, and adsorption apparatus constructs 2 towards spare part 8, produces the adsorption affinity when adsorption apparatus constructs 2 and is close to spare part 8 to inhale spare part 8, after spare part 8 was removed to predetermineeing the position, adsorption apparatus constructs 2 and stops producing the adsorption affinity, thereby puts down spare part 8. The plurality of bending driving parts 3 are arranged on the grabbing hand support 1, the bending driving parts 3 are used for moving or rotating the bending mechanism 4, and bending operation before production line is carried out on partial areas of the parts 8 through the bending mechanism 4. The bending mechanisms 4 correspond to the bending driving parts 3 one by one, namely each bending mechanism 4 is driven by an independent bending driving part 3, the bending mechanisms 4 are in driving connection with the corresponding bending driving parts 3, the bending mechanisms 4 are in contact with or separated from the parts 8 after moving (rotating or translating), namely when the parts 8 are moved to a preset position, the bending mechanisms 4 are in contact with the parts 8 to bend the parts 8, the bending mechanisms 4 are separated from the parts 8 after the bending step is completed, and then the parts 8 are placed at the preset position on the production line. The distance measuring sensor 7 is arranged on one side, facing the part 8, of the grabbing hand support 1, the distance measuring sensor 7 is opposite to the part 8, the distance measuring sensor 7 is used for monitoring the distance between the grabbing hand support 1 and the part 8 in real time, so that the distance between the adsorption mechanism 2 and the part 8 to be adsorbed is obtained, the moving speed of the grabbing hand support 1 is adjusted through the distance between the adsorption mechanism 2 and the part 8 to be adsorbed, namely when the distance between the adsorption mechanism 2 and the part 8 to be adsorbed is larger than a preset value, the moving speed of the grabbing hand support 1 is high, when the distance between the adsorption mechanism 2 and the part 8 to be adsorbed is smaller than or equal to the preset value, the moving speed of the grabbing hand support 1 is gradually reduced, when the adsorption mechanism 2 is in contact with the part 8 to be adsorbed, the moving speed of the grabbing hand support 1 is reduced to zero, so that the stability of the adsorption process is ensured, avoid causing the impact to piling up spare part 8, can also improve absorbent work efficiency in addition.

In a preferred embodiment, as shown in fig. 1 to 4, the grasping hand support 1 includes at least two support beams 11, specifically, a plurality of support beams 11 are parallel to each other and used as a mounting base for other components, the plurality of support beams 11 are fixedly connected, one of the support beams 11 is connected with the adsorption mechanism 2 and the bending driving component 3, generally, the adsorption mechanism 2 and the bending driving component 3 are detachably connected with the support beams 11, the types and the arrangement positions of the adsorption mechanism 2 and the bending driving component 3 can be adaptively adjusted according to the actual situation of the component 8, so that the support beams 11 can meet various use requirements, the other support beam 11 is connected with the manipulator, the adsorption mechanism 2 and the bending driving component 3 are moved by moving the support beams 11, so that the overall structure of the whole grasping mechanism is arranged more compactly, the manipulator is connected again when the suction mechanism 2 and the bending drive member 3 are mounted.

In a preferred embodiment, as shown in fig. 1 to 4, the support beam 11 is a tubular structure, specifically, the support beam 11 is formed by splicing a plurality of tube units, each tube unit is a hollow structure, so as to reduce the weight of the support beam 11 itself, while ensuring the structural strength of the support beam 11, the load of the manipulator can be reduced, and a plurality of assembling holes 12 are opened on the circumferential side of each support beam 11, and the assembling holes 12 are annularly and uniformly distributed on the circumferential side of the support beam 11, further, the assembling holes 12 can be used for splicing the tube units, and the assembling holes 12 can also be used for connecting and mounting the adsorption mechanism 2, the bending driving component 3 and the manipulator on the support beam 11, so that the adsorption mechanism 2, the bending driving component 3 and the manipulator can be arranged at a plurality of positions on the support beam 11 according to actual conditions, while the provision of the plurality of fitting holes 12 can further reduce the weight of the bracket beam 11.

In a preferred embodiment, as shown in fig. 1 to 4, adsorption mechanism 2 is a vacuum adsorption mechanism, the part 8 is adsorbed in the form of generating negative pressure through air exhaust, the vacuum adsorption mechanism comprises a vacuum chuck and a vacuum air source communicated with the vacuum chuck, the specific vacuum chuck is arranged on a support beam 11, the vacuum air source is arranged outside the grabbing mechanism, the vacuum chuck is communicated with the vacuum air source through a pipeline, the pipeline can be arranged in a hollow middle area in each pipe unit of the support beam 11, the pipeline is convenient to collect and place, the outside of the grabbing mechanism is tidier, the pipeline can be prevented from being influenced by the external environment in the moving process of the grabbing mechanism, and meanwhile, the interference influence caused by the relative motion among all the parts in the grabbing mechanism is avoided.

In a preferred embodiment, as shown in fig. 1 to 4, the adsorption means 2 is an electromagnetic adsorption means, the magnetic adsorption mechanism comprises a pneumatic magnet sucker and an external power supply connected with the pneumatic magnet sucker, a magnetic element in the electromagnetic adsorption mechanism is an electromagnet, the electromagnet generates magnetism after being electrified and disappears after being powered off, the on-off of the circuit between the electromagnet and the external power supply is controlled by a pneumatic element, and further the pneumatic element can be an air cylinder and the like, the cylinder is used as a pneumatic switch between the electromagnet and an external power supply, the pneumatic magnet sucker generates magnetic attraction after being electrified so as to grab the part 8, after the part 8 is placed at a preset position on a production line, the pneumatic magnet chuck loses magnetic attraction after being powered off, and the part 8 is left at the preset position.

In a preferred embodiment, as shown in fig. 1 to 4, the positioning device 9 is further included, the positioning device 9 is used for roughly positioning the component 8 to be adsorbed, because position deviation may occur during stacking of the component 8, the adsorbing mechanism 2 can adsorb the uniform position of the component 8 during subsequent grabbing by rough positioning to improve stability of the adsorbing process and precision of the component 8 during subsequent bending, the positioning devices 9 are detachably connected with the grabbing hand support 1, specifically, because the specific shapes and shapes of the components are different, the types and positions of the positioning devices can be adaptively adjusted according to features on different components, that is, the positioning device 9 can be matched with the positioning structure on the component 8, the positioning structure is one or a combination of a hole, a groove and a protrusion, further, when the positioning structure on the component 8 is an opening or a slot, the corresponding positioning device 9 is convex, and when the positioning structure on the component 8 is convex, the corresponding positioning device 9 is concave, and further, a part of the structure in the middle of the component 8 is generally selected as the positioning structure, so that the subsequent clamping mechanism 6 can clamp the edge of the component 8 conveniently.

In a preferred embodiment, as shown in fig. 1 to 4, the robot further includes an external controller (not shown in the figure), the external controller is in communication connection with the manipulator, the distance measuring sensor 7 is in communication connection with the external controller, the distance between the grasping hand support 1 and the component 8 is measured in real time through the distance measuring sensor 7, then the obtained measurement value is fed back to the external controller in real time, and then the moving speed of the manipulator is adjusted through the external controller, so as to form a closed-loop control, wherein the distance measuring sensor 7 may be one of an ultrasonic sensor, a millimeter wave sensor and a laser radar sensor, and can be selected according to the production environment and the requirement of production precision;

the ultrasonic sensor transmits ultrasonic waves with a certain frequency, transmits the ultrasonic waves by virtue of an air medium, reaches a measurement target or an obstacle, reflects the ultrasonic waves, receives pulses by the ultrasonic receiver after the pulses are reflected, and further calculates the distance between the sensor and parts, the ultrasonic sensor has strong electromagnetic interference resistance, good stability, good directivity and good penetrability on liquid and solid, but acoustic noise easily influences the signal output of the ultrasonic waves, the measurement range is limited, and the precision is relatively low;

an internal oscillator of the millimeter wave sensor can generate a signal with the frequency gradually increasing along with time, the signal can bounce back after encountering an obstacle, and then the distance between the sensor and a part is calculated, the detection distance of the millimeter wave sensor is long, the capacity of penetrating fog, smoke and dust is strong, the environmental adaptability is good, but the detection precision is relatively low and the electromagnetic interference is easily caused;

the laser radar sensor converts the distance between the laser radar sensor and a measured target object by emitting modulated near infrared light and reflecting the modulated near infrared light after encountering the object and calculating the phase difference generated after the modulated infrared light is emitted and reflected, so that the distance between the laser radar sensor and parts is calculated, the measurement precision of the laser radar sensor is higher, the size is small, the use cost is lower, but the measurement distance is limited, and the measurement distance can be influenced under the condition of severe environment;

a general laser radar sensor is preferable as the distance measuring sensor 7, and has high measurement accuracy in a case where a use environment is good.

In a preferred embodiment, as shown in fig. 1 to 4, a counter (not shown in the figure) is further included, the counter is in communication connection with the distance measuring sensor 7, after the distance measuring sensor 7 approaches and then moves away from a part 8, the counter 7 counts by one, generally, after the counter accumulates five to ten times, an external controller compares a result of dividing a distance measuring difference value measured when the distance measuring sensor is at an initial position by the number of grasping elements with empirical data to ensure that the stacking state of the whole part 8 is normal, so that grasping operation can be continued, and when the difference value with the empirical data exceeds a preset value, the external controller alarms to remind field workers that the part 8 is stacked abnormally, so as to improve the stability of the whole grasping mechanism in the grasping process.

In a preferred embodiment, as shown in fig. 1 to 4, the grasping device further includes a grasping mechanism 6 and a grasping driving component 5 drivingly connected to the grasping mechanism 6, the plurality of grasping mechanisms 6 and the plurality of grasping driving components 5 are disposed on the grasping hand support 1, specifically, after the component 8 is attracted and picked up by the attraction mechanism 2, the grasping mechanism 6 grasps an edge position of the component 8 to ensure its positional stability for facilitating a subsequent bending operation of the component 8, and to avoid its positional shift during the bending operation, wherein each grasping mechanism 6 includes a first grasping head 61 and a second grasping head 62, the first grasping head 61 is fixedly disposed, the second grasping head 62 is clamped or separated from the first grasping head 61 by driving of the grasping driving component 5, or the second grasping head 62 is fixedly disposed, the first grasping head 61 is clamped or separated from the second grasping head 62 by driving of the grasping driving component 5, specifically, when the clamping mechanism 6 is far from the component 8, the first chuck 61 and the second chuck 62 are separated from each other, and when the clamping mechanism 6 is close to the component and the adsorption mechanism 2 has completed adsorbing the component 8, the first chuck 61 and the second chuck 62 respectively compress two opposite side surfaces of the component 8, thereby completing the position locking of the component 8.

In a preferred embodiment, as shown in fig. 1 to 4, the bending mechanism 4 is disposed at one side of the component 8, one end of the bending mechanism 4 is in contact with a partial region of the component 8 and then continuously pushed or pulled along a preset direction, so that a preset angle is formed between a plane where the partial region of the component 8 is displaced and an initial plane where the partial region is located, in this application, the approximately sheet-shaped component 8 which is not folded is directly stacked, and after the component 8 is grabbed, the bending operation is performed and then the component is directly sent to a production line, so that the stacking number of the component 8 can be increased, the adding frequency of the components at the edge of the production line is reduced, the working strength of the personnel in the production line is reduced, and meanwhile, under the condition of the same number of components, the space occupation of the component 8 which is not bent can be reduced.

In a preferred embodiment, as shown in fig. 1 to 4, the predetermined angle is any angle between zero and one hundred and eighty degrees, and in this case, the edge of the component is bent by one hundred and eighty degrees.

In a preferred embodiment, as shown in fig. 1 to 4, the clamping driving part 5 and the bending driving part 3 are linear displacement actuators or rotary displacement actuators, and the type of the displacement actuator can be selected according to the specific structural arrangement of the clamping mechanism 6 and the bending mechanism 4, specifically, a linear displacement sensor is selected when the bending mechanism 4 bends by linear pushing, and a rotary displacement actuator is selected when the bending mechanism 4 bends by rotary folding; when clamping mechanism 6 is close to each other through on the linear distance then chooses for use linear displacement sensor, then chooses for use when clamping mechanism 6 adopts on the pitch arc distance each other close to and presss from both sides tight drive component 5, and the general selection is the rotary displacement executor, can make clamping mechanism 6 and 4 setting of bending mechanism more compact, and occupation space is less.

In a preferred embodiment, as shown in fig. 1 to 4, the linear displacement actuator is one of a linear air cylinder and a linear electric cylinder, the rotary displacement actuator is one of a rotary air cylinder and a rotary electric cylinder, preferably, the linear air cylinder, the rotary air cylinder and the like can be adopted, the displacement of the actuator is controlled by an air source, the structure is simple, and the equipment cost is low.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above is only a preferred embodiment of the present invention, and not intended to limit the scope of the invention, and it should be appreciated by those skilled in the art that various equivalent substitutions and obvious changes made in the specification and drawings should be included within the scope of the present invention.

Claims (13)

1. The utility model provides a snatch mechanism with function of bending which characterized in that includes:

the grabbing hand bracket can be close to or far away from the part;

the plurality of adsorption mechanisms are arranged on the grabbing hand bracket and are used for adsorbing the parts;

the bending driving parts are arranged on the grabbing hand bracket;

the bending mechanisms correspond to the bending driving parts one by one, the bending mechanisms are in driving connection with the corresponding bending driving parts, and the bending mechanisms are contacted with or separated from the parts after moving;

the distance measuring sensor is arranged on one side of the grabbing hand support facing to the part, and the distance measuring sensor is opposite to the part.

2. The grabbing mechanism with the bending function according to claim 1, wherein the grabbing hand support comprises at least two support beams, the support beams are fixedly connected, one support beam is connected with the adsorption mechanism and the bending driving part, and the other support beam is connected with an external manipulator.

3. The grabbing mechanism with a bending function as claimed in claim 2, wherein the support beams are tubular, and a plurality of assembling holes are formed in a circumferential side surface of each support beam.

4. The gripping mechanism with a bending function according to claim 1, wherein the suction mechanism is a vacuum suction mechanism, and the vacuum suction mechanism comprises a vacuum chuck and a vacuum air source communicated with the vacuum chuck.

5. The grabbing mechanism with the bending function according to claim 1, wherein the adsorption mechanism is an electromagnetic adsorption mechanism, and the electromagnetic adsorption mechanism comprises a pneumatic magnet chuck and an external power supply connected with the pneumatic magnet chuck.

6. The grabbing mechanism with the bending function according to claim 1, further comprising a plurality of positioning devices, wherein the plurality of positioning devices are detachably connected with the grabbing hand support, the positioning devices are matched with positioning structures on the parts, and the positioning structures are one or a combination of holes, grooves and protrusions.

7. The grabbing mechanism with the bending function according to claim 2, further comprising an external controller, wherein the external controller is in communication connection with the external manipulator, the distance measuring sensor is in communication connection with the external controller, and the distance measuring sensor is one of an ultrasonic sensor, a millimeter wave sensor and a laser radar sensor.

8. The grabbing mechanism with the bending function as claimed in claim 1, further comprising a counter, wherein the counter is in communication connection with the distance measuring sensor, and after the distance measuring sensor approaches and then moves away from one of the parts, the counter counts up by one.

9. The gripping mechanism with the bending function according to claim 1, further comprising a gripping mechanism and a gripping driving part in driving connection with the gripping mechanism, wherein the gripping mechanism and the gripping driving part are disposed on the gripping hand support, each gripping mechanism comprises a first chuck and a second chuck, the first chuck is fixedly disposed, the second chuck is driven by the gripping driving part to be clamped or separated from the first chuck, or the second chuck is fixedly disposed, and the first chuck is driven by the gripping driving part to be clamped or separated from the second chuck.

10. The grabbing mechanism with the bending function according to claim 1, wherein the bending mechanism is disposed at one side of the component, and one end of the bending mechanism is in contact with a partial region of the component and then continuously pushed or pulled along a preset direction, so that a preset angle is formed between a plane where the partial region of the component is displaced and an initial plane where the partial region of the component is located.

11. The gripping mechanism with bending function according to claim 10, wherein the preset angle is any angle between zero and one hundred and eighty degrees.

12. A gripping mechanism with a bending function according to claim 9, wherein the clamping driving part and the bending driving part are linear displacement actuators or rotary displacement actuators.

13. The grasping mechanism with bending function according to claim 12, wherein the linear displacement actuator is one of a linear air cylinder and a linear electric cylinder, and the rotary displacement actuator is one of a rotary air cylinder and a rotary electric cylinder.

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