CN109333569B

CN109333569B - Gripper device and industrial robot comprising same

Info

Publication number: CN109333569B
Application number: CN201811381228.4A
Authority: CN
Inventors: 赵德东; 韩德浩; 王俊强
Original assignee: Beijing Goldwind Science and Creation Windpower Equipment Co Ltd
Current assignee: Beijing Goldwind Science and Creation Windpower Equipment Co Ltd
Priority date: 2018-11-20
Filing date: 2018-11-20
Publication date: 2021-02-05
Anticipated expiration: 2038-11-20
Also published as: CN109333569A

Abstract

The invention relates to a gripper device and an industrial robot comprising the gripper device, wherein the gripper device comprises: the main body frame comprises a first plate and a second plate which are intersected, and the first plate is used for bearing a heavy object; the push-pull assembly comprises a push-pull rod and more than two clamping jaws positioned on two sides of the push-pull rod, each clamping jaw is rotatably connected with the push-pull rod, and the push-pull rod reciprocates between a first position and a second position of the first plate along a first direction to drive the more than two clamping jaws to clamp or release a heavy object. The gripper device can stably bear and carry heavy objects through the main body frame and the push-pull assembly with the clamping jaws, and is simple in structure and small in occupied space.

Description

Gripper device and industrial robot comprising same

Technical Field

The invention relates to the technical field of electromechanical equipment, in particular to a gripping device and an industrial robot comprising the same.

Background

In the current workshop, to the transport operation of heavy object, mainly go on through two kinds of modes, one kind is carried and is placed in the cabinet body by the operating personnel is directly carried on bare-handed, and operating strength is great, and has the potential safety hazard of injuring the operating personnel by a crashing object, damaging the product etc.. The other type is that a crane or an electric hoist is used for directly hanging heavy objects, and because some heavy objects have no hoisting position or uncertain hoisting point positions, the phenomenon of inclination after hoisting is hardly guaranteed, so that the position is inaccurate when the heavy objects are placed, and the placing process is not stable.

Disclosure of Invention

The invention aims to provide a gripper and an industrial robot comprising the gripper, wherein the gripper can stably bear and place heavy objects.

In one aspect, an embodiment of the present invention provides a gripper device, including: the main body frame comprises a first plate and a second plate which are intersected, and the first plate is used for bearing a heavy object; the push-pull assembly comprises a push-pull rod and more than two clamping jaws positioned on two sides of the push-pull rod, each clamping jaw is rotatably connected with the push-pull rod, and the push-pull rod reciprocates between a first position and a second position of the first plate along a first direction to drive the more than two clamping jaws to clamp or release a heavy object.

According to one aspect of the embodiment of the present invention, the first plate member is provided with a guide groove extending in the first direction, the push-pull rod is located in the guide groove, the second plate member is provided with a driving mechanism connected to the push-pull rod, and the push-pull rod is driven by the driving mechanism to reciprocate along the guide groove.

According to one aspect of the embodiment of the invention, the clamping jaws comprise connecting rods and swing rods, one ends of the connecting rods are pivotally connected with the push-pull rods, the other ends of the connecting rods are pivotally connected with the swing rods, one ends of the swing rods are provided with fixing blocks, the other ends of the swing rods are provided with supporting shafts which are rotatably connected with the first plate, and the more than two clamping jaws are horizontally moved relative to the first plate through the connecting rods and rotate to drive the swing rods to rotate around the respective supporting shafts, so that the fixing blocks are close to and clamp the heavy object together, or the fixing blocks.

According to one aspect of the embodiment of the invention, one end of the connecting rod is pivotally connected with the push-pull rod through a first rotating shaft, the other end of the connecting rod is pivotally connected with the oscillating bar through a second rotating shaft, and the second rotating shaft is arranged between the fixed block and the supporting shaft; the first plate is further provided with a first sliding groove corresponding to the first rotating shaft and a second sliding groove corresponding to the second rotating shaft, and the connecting rod is translated and rotated relative to the first plate through the movement of the first rotating shaft in the first sliding groove and the movement of the second rotating shaft in the second sliding groove.

According to an aspect of the embodiment of the present invention, the first sliding groove is an elongated groove extending along the first direction, the first plate is further provided with a fixing hole rotatably connected to the support shaft, the second sliding groove is an arc-shaped groove, and a center of the arc-shaped groove coincides with a central axis of the fixing hole.

According to an aspect of an embodiment of the present invention, the swing link is provided with a support shaft in a thickness direction thereof, and one end of the support shaft is in contact with the first plate to support the swing link.

According to an aspect of the embodiment of the present invention, the first plate member is further provided with a first stopper overlapping the push-pull rod in a thickness direction thereof, and a second stopper spaced apart from a first position of the first plate member by a predetermined distance in the first direction.

According to an aspect of the embodiment of the present invention, the first plate further has a spacer block, a height dimension of the spacer block is larger than height dimensions of the first stopper and the second stopper in a thickness direction of the push-pull rod itself, and the first plate supports the weight via the spacer block.

According to an aspect of the embodiment of the present invention, the second plate member is provided with a pair of side pressure plates on both sides in a second direction perpendicular to the first direction, the side pressure plates being provided with elastic members so that the weight is placed between the elastic members of the pair of side pressure plates.

According to an aspect of an embodiment of the present invention, the gripper further includes a detection assembly disposed on the second plate for determining a spatial position of the weight.

According to an aspect of an embodiment of the present invention, the gripper further includes a vacuum suction assembly disposed at a bottom of the first plate.

In another aspect, embodiments of the present invention further provide an industrial robot including any one of the grippers described above.

The gripper device provided by the embodiment of the invention can stably bear and carry heavy objects through the main body frame and the push-pull assembly with the jaws, and has the advantages of simple structure and small occupied space. In addition, the industrial robot provided by the embodiment of the invention adopts the gripper device, so that the heavy object can be accurately placed in any narrow space, and the operation is safe and reliable.

Drawings

Features, advantages and technical effects of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings.

Fig. 1 is a schematic structural diagram of a gripper according to an embodiment of the present invention;

fig. 2 is a schematic view showing the effect of the gripper shown in fig. 1 on carrying a heavy object;

FIG. 3 is an exploded view of the gripper shown in FIG. 1;

FIG. 4 is a schematic view of the trajectory of the jaws of the gripper shown in FIG. 1 with the push-pull rod in a first position and a second position on the first plate;

fig. 5 is a schematic structural view of a vacuum adsorption assembly in the gripper shown in fig. 1.

10-a main body frame; 11-a first plate; 111-a first runner; 112-a second runner; 113-a fixation hole; 114 — a first stop; 115-a second stop; 116-a cushion block; 12-a second plate; 121-side pressing plates; 122-a resilient member; 123-flange; h-weight; s-a support; x-a first direction; y-a second direction; l-displacement;

20-a push-pull assembly; 21-a push-pull rod; 22-a jaw; 221-connecting rod; 222-a swing rod; 222 a-fixed block; 222 b-a support shaft; 223-a first rotating shaft; 224-a second shaft; 23-a drive device;

30-a detection component; 40-a vacuum adsorption component; 41-a sucker; 42-fixing plate; 43-sealing ring; 44-a linker; 100-gripper means.

In the drawings, like parts are provided with like reference numerals. The figures are not drawn to scale.

Detailed Description

Features and exemplary embodiments of various aspects of the present invention will be described in detail below. In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present invention by illustrating examples of the present invention. In the drawings and the following description, at least some well-known structures and techniques have not been shown in detail in order to avoid unnecessarily obscuring the present invention; also, the dimensions of some of the structures may be exaggerated for clarity. Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

The following description is given with reference to the orientation words as shown in the drawings, and is not intended to limit the specific structure of the present invention. In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "mounted" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; can be directly connected or indirectly connected. The specific meaning of the above terms in the present invention can be understood as appropriate to those of ordinary skill in the art.

For a better understanding of the present invention, a gripper and an industrial robot including the gripper according to an embodiment of the present invention will be described in detail with reference to fig. 1 to 5.

Referring to fig. 1 and 2 together, an embodiment of the present invention provides a gripper 100 installed at an operation end of an industrial robot. The gripper 100 includes a main body frame 10 and a push-pull assembly 20.

The body frame 10 includes a first plate 11 and a second plate 12 intersecting with each other, and the first plate 11 is used for carrying a weight H. The first plate member 11 and the second plate member 12 may be disposed to intersect at any predetermined angle, for example, 90 °, for design and manufacture.

The push-pull assembly 20 comprises a push-pull rod 21 and more than two claws 22 distributed on two sides of the push-pull rod 21, each claw 22 is rotatably connected with the push-pull rod 21, and the push-pull rod 21 reciprocates between a first position and a second position of the first plate 11 along the first direction X to drive the more than two claws 22 to clamp or release the heavy object H.

As shown by the dotted lines in fig. 2, the weight H is provided with support members S along both sides of its width, the push-pull assembly 20 is located between the weight H and the first plate 11, and when the push-pull rod 21 extends in the first direction X to move to the first position of the first plate 11, the push-pull assembly drives two or more claws 22 to approach the inner sides of the support members S on both sides of the weight H, thereby clamping the weight H; when the push-pull rod 21 retracts and moves to the second position of the first plate 11 along the first direction X, the two or more claws 22 are driven away from the inner sides of the supports S on both sides of the weight H, thereby releasing the weight H. Preferably, the jaws 22 may be arranged in pairs on both sides of the push-pull rod 21 to balance the clamping force of the support S applied on both sides of the weight H.

For example, the industrial robot controls the gripper 100 to reach an initial placement position of the weight H, receives the weight through the first plate 11, clamps and fixes the weight H through the two or more jaws 22 of the push-pull assembly 20, controls the gripper 100 to smoothly transport the weight H to a predetermined placement position, and releases the weight H through the two or more jaws 22 of the push-pull assembly 20, thereby implementing the transport of the weight H. Generally, the width dimension of the first plate 11 along the second direction Y perpendicular to the first direction X is smaller than the width dimension of the weight H, and the fixing frame of the support member S for supporting the weight H is disposed at the initial placement position and the predetermined placement position of the weight H, so that the gripping device 100 extends into the fixing frame to receive the weight H, and the structure is simple and space-saving.

According to the gripper device 100 provided by the embodiment of the invention, the main body frame 10 and the push-pull assembly 20 with the jaws 22 are arranged, so that heavy objects can be stably loaded and carried, and the gripper device is simple in structure and small in occupied space.

The specific structure of the gripper 100 according to the embodiment of the present invention will be described in further detail with reference to the accompanying drawings.

Referring to fig. 3, the first plate 11 of the main body frame 10 is provided with a guide groove 110 extending along the first direction X, the push-pull rod 21 is located in the guide groove 110, the second plate 12 is provided with a driving mechanism 23 connected to the push-pull rod 21, and the push-pull rod 21 reciprocates along the guide groove 110 under the driving of the driving mechanism 23. The driving mechanism 23 may be any one of a pneumatic device, a hydraulic device, and a linear motor. The driving mechanism 23 is connected to the push-pull rod 21 through an adaptor having a pin shaft, so that the push-pull rod 21 can move flexibly on the first plate 11 to prevent the push-pull rod from being locked during moving.

As an alternative embodiment, a sliding assembly (not shown) is disposed between the push-pull rod 21 and the first plate 11, such as a guide rail and a sliding block slidably connected with the guide rail, the guide rail is fixed to the first plate 11, when the guide groove 110 is disposed on the first plate 11, the guide rail can be fixed in the guide groove 110, and the sliding block is connected with the push-pull rod 21, so as to reduce the frictional resistance to the push-pull rod 21 when the push-pull rod 21 reciprocates on the first plate 11 along the first direction X.

Further, the claw 22 includes a connecting rod 221 and a swing rod 222, one end of the connecting rod 221 is pivotally connected to the push-pull rod 21, the other end of the connecting rod 221 is pivotally connected to the swing rod 222, one end of the swing rod 222 is provided with a fixed block 222a, and the other end is provided with a supporting shaft 222b rotatably connected to the first plate 11. The two or more claws 22 are translated and rotated relative to the first plate 11 through the connecting rods 221 to drive the swing rods 222 to rotate around the respective supporting shafts 222b, so that the fixing blocks 222a are close to and clamp the weight H together, or are far away from and release the weight H.

Specifically, one end of the connecting rod 221 is pivotally connected to the push-pull rod 21 through a first rotating shaft 223, the other end of the connecting rod 221 is pivotally connected to the swing rod 222 through a second rotating shaft 224, and the second rotating shaft 224 is disposed between the fixed block 222a and the supporting shaft 222 b; the first plate 11 is further provided with a first sliding slot 111 corresponding to the first rotating shaft 223 and a second sliding slot 112 corresponding to the second rotating shaft 224, and the connecting rod 221 is translated and rotated relative to the first plate 11 by the movement of the first rotating shaft 223 in the first sliding slot 111 and the movement of the second rotating shaft 224 in the second sliding slot 112.

In addition, the first sliding chute 111 is a long-strip-shaped chute extending along the first direction X, the first plate 11 is further provided with a fixing hole 113 rotatably connected with the support shaft 222b, the second sliding chute 112 is an arc-shaped chute, and a center of the arc-shaped chute coincides with a central axis of the fixing hole 113. Specifically, one end of the support shaft 222b is fixed to the swing rod 222 through an oilless bushing and a circlip for the shaft, so that the rotation flexibility of the swing rod is ensured; the other end of the support shaft 222b is rotatably connected to the fixing hole 113 through a bearing. Thereby, the swing link 222 is rotated back and forth about the support shaft 222b by the reciprocating arc motion of the second rotating shaft 224 in the second slide slot 112, so that the fixed block 222a is moved closer to or away from the support S of the weight H.

Since the claws 22 on both sides of the push-pull rod 21 are arranged in pairs, the pair of second slide grooves 112 corresponding to the claws 22 arranged in pairs are arranged symmetrically with respect to the push-pull rod 21. In addition, in order to reduce the length of the first plate 11 along the first direction X, two pairs of adjacent claws 22 are arranged at intervals along the first direction X, and two pairs of second sliding grooves 112 corresponding to the two pairs of claws 22 are oppositely arranged, so that the rotation directions of the two pairs of swing rods 222 are different, thereby avoiding interference of the swing rods 222 in the movement process, and simultaneously reducing the overall size of the gripper 100 as much as possible, and reducing the weight.

Referring to fig. 4, a schematic diagram of the movement trace of the jaws 22 when the push-pull rod 21 of the gripper 100 is in the first position and the second position on the first plate 11 is shown. The push-pull assembly 20 is provided with two pairs of jaws 22, and two spaced jaws 22 are respectively arranged on two sides of the push-pull rod 21. Each pair of claws 22 is slightly different in structure according to the arrangement position and the movement locus thereof on the push-pull rod 21.

Wherein, the solid line in fig. 4 represents a schematic view of the state when the fixing blocks 222a on the swing links 222 of the two pairs of claws 22 clamp the support S of the weight H together when the push-pull rod 21 is extended to the first position relative to the first plate 11. When the push-pull rod 21 extends in the first direction X, one end of the connecting rod 221 of each jaw 22 translates in the first direction X through the linear motion of the first rotating shaft 223 in the first sliding slot 111, and the other end of the connecting rod 221 moves in an arc in the second sliding slot 112 through the second rotating shaft 224, so that the connecting rod 221 both translates and rotates relative to the first plate 11 to drive the swing link 222 to rotate around the supporting shaft 222b through the rotation of the second rotating shaft 224 in the second sliding slot 112, so that the four fixed blocks 222a on each swing link 222 respectively approach the support S and gradually apply a clamping force to limit the motion of the weight H in the XY plane.

The magnitude of the clamping force is only related to the frictional force between the fixing block 222a and the support S of the weight H, and in order to prevent the fixing block 222a from being worn due to contact friction with the support S of the weight H, the fixing block 222a may be made of a wear-resistant material, such as, but not limited to, copper, nylon, rubber, etc.

The dashed lines in fig. 4 represent the state when the fixed blocks 222a on the swing links 222 of the two pairs of claws 22 release the supports S of the weights H respectively when the push-pull rod 21 in the push-pull assembly 20 is retracted to the second position relative to the first plate 11. When the push-pull rod 21 retracts in the first direction X in the opposite direction, one end of the connecting rod 221 of each jaw 22 translates in the opposite direction along the first direction X through the linear motion of the first rotating shaft 223 in the first sliding chute 111, and the other end of the connecting rod 221 moves in the opposite arc motion in the second sliding chute 112 through the second rotating shaft 224, so that the connecting rod 221 translates in the opposite direction and rotates in the opposite direction along the first direction X relative to the first plate 11, so as to drive the swing rod 222 to rotate in the opposite direction around the supporting shaft 222b through the rotation of the second rotating shaft 224 in the second sliding chute 112, so that the four fixing blocks 222a are respectively away from the support S and gradually release the clamping force, so as to place the weight H in the predetermined position and withdraw the gripper 100. The displacement L between the first position and the second position of the first plate 11 is the displacement of the push-pull rod 21 moving along the first direction X.

In addition, the swing rods 221 of the pair of claws 22 located at the foremost end of the push-pull rod 21 may be provided with hook portions, so that when the fixing blocks 222a of the respective swing rods 222 clamp the weight H together along the second direction Y, the weight H is further clamped by the hook portions in the first direction X, thereby preventing the weight H from shaking during the transportation process, and further improving the reliability of the gripper 100.

Referring to fig. 3 again, the first plate 11 is further provided with a first limiting member 114 and a second limiting member 115, the first limiting member 114 is overlapped on the push-pull rod 21 along the thickness direction of the push-pull rod 21 to prevent the push-pull rod 21 from moving in the thickness direction, and the second limiting member 115 is disposed at a predetermined distance from the first position of the first plate 11 along the first direction X to prevent the movement displacement of the push-pull rod 21 along the first direction X from exceeding the limiting position when the driving mechanism 23 fails.

Preferably, the second limiting member 115 is fixed to the first plate member 11 through a long hole so as to adjust the limit position of the push-pull rod 21 according to the size of the different weights H. When the hand grab 100 is used for carrying heavy objects H with different sizes, the heavy objects H with different sizes can be clamped by replacing the swing rod 222 or only adjusting the position of the fixing block 222a on the swing rod 222, so that the universality of the hand grab 100 is improved.

In addition, the first plate 11 is further provided with a spacer 116, in the thickness direction of the push-pull rod 21, the height dimension of the spacer 116 is greater than the height dimensions of the first stopper 114, the second stopper 115 and the push-pull assembly 20, and the first plate 11 supports the weight H through the spacer 116, so that the push-pull assembly 20 can move at the bottom of the weight H and perform a corresponding clamping or releasing action.

Since the weight H has a certain height, in order to further improve the stability of the gripping device 100 in the process of carrying the weight H, a pair of side pressing plates 121 are disposed on both sides of the second plate 12 in a second direction Y perpendicular to the first direction X, the pair of side pressing plates 121 are spaced apart from the first plate 11 by a predetermined distance, an elastic member 122 is disposed on the side pressing plates 121, and a spring is disposed in the elastic member 122 to place the weight H between the elastic members 122 of the pair of side pressing plates 121, so that the weight H is buffered from being damaged due to the vibration impact of hitting an obstacle or the like during the carrying process, and the driving mechanism 23 in the gripping device 10 is prevented from generating a large reverse moment failure due to the external impact such as collision.

In addition, a flange 123 is further provided on the second plate 12, and the gripper 100 is connected to an external device through the flange 123. For example to the handling end of an industrial robot by means of a flange 123.

The gripper 100 further comprises a detection assembly 30, the detection assembly 30 includes, but is not limited to, an infrared detector and a scanner, and the detection assembly 30 is disposed on the second plate 12 for determining a spatial position of the weight H and feeding the spatial position back to the industrial robot, so as to control the gripper 100 to accurately grip the weight H and stack the weight H.

The gripper 100 further includes a vacuum suction assembly 40, and the vacuum suction assembly 40 is disposed at the bottom of the first plate 11 and is used for sucking the object with a flat surface. Because in the assembly process of heavy object H, the spare part of heavy object H that needs the line, for example the surface is comparatively level shell, if adopt other fixture with this shell on-line, need more change gripper 100 with fixture after the heavy object H has been assembled, the operation is more loaded down with trivial details, and work efficiency is low, so attach vacuum adsorption component 40 on gripper 100, can compatible line spare part and carry two kinds of functions, overall structure is more optimized, and weight is lighter.

Referring to fig. 5, the vacuum sucking assembly 40 includes a sucking disc 41 and a fixing plate 42 connected to each other, the fixing plate 42 is a steel plate with a groove, and a sealing ring 43 is disposed between the fixing plate and the bottom of the first plate 11 to ensure vacuum tightness and prevent air leakage. The fixing plate 42 is provided with a joint 44, one end of the joint 44 is connected with an air pipe, and the vacuum adsorption assembly 40 realizes vacuum adsorption of the object surface through a pneumatic element such as an air pump. Compared with the vacuum adsorption device with larger volume in the prior art, the space utilization rate is improved.

In addition, the embodiment of the present invention further provides an industrial robot, which includes any one of the gripper devices 100 described above. The industrial robot can accurately place the heavy object in any narrow space, and is safe and reliable to operate.

While the invention has been described with reference to a preferred embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, the technical features mentioned in the embodiments can be combined in any way as long as there is no structural conflict. It is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.

Claims

1. A gripper (100) characterized by comprising:

the main body frame (10) comprises a first plate (11) and a second plate (12) which are intersected, the first plate (11) is used for bearing a heavy object (H), and supporting pieces (S) are arranged on two sides of the heavy object (H) along the width direction of the heavy object (H);

the push-pull assembly (20) comprises a push-pull rod (21) and more than two claws (22) distributed on two sides of the push-pull rod (21), each claw (22) comprises a connecting rod (221) and a swing rod (222), one end of each connecting rod (221) is pivotally connected with the push-pull rod (21) through a first rotating shaft (223), the other end of each connecting rod (221) is pivotally connected with the swing rod (222) through a second rotating shaft (224), one end of each swing rod (222) is provided with a fixing block (222a), the other end of each swing rod is provided with a supporting shaft (222b) rotatably connected with the first plate (11), and the second rotating shaft (224) is arranged between the fixing block (222a) and the supporting shaft (222 b);

a first sliding chute (111) corresponding to the first rotating shaft (223) and a second sliding chute (112) corresponding to the second rotating shaft (224) are further arranged on the first plate (11), and the connecting rod (221) translates and rotates relative to the first plate (11) through the movement of the first rotating shaft (223) in the first sliding chute (111) and the movement of the second rotating shaft (224) in the second sliding chute (112);

the push-pull rod (21) moves back and forth between a first position and a second position of the first plate (11) along a first direction (X), the two or more clamping jaws (22) are driven to translate and rotate relative to the first plate (11) through the connecting rods (221), and then the swing rods (222) are driven to rotate around the supporting shafts (222b) respectively, so that the fixing blocks (222a) clamp or release the heavy object (H) together.

2. The gripper (100) as claimed in claim 1, wherein the first plate member (11) is provided with a guide slot (110) extending along the first direction (X), the push-pull rod (21) is located in the guide slot (110), the second plate member (12) is provided with a driving mechanism (23) connected to the push-pull rod (21), and the push-pull rod (21) is driven by the driving mechanism (23) to reciprocate along the guide slot (110).

3. The gripper (100) as claimed in claim 1, wherein the first sliding slot (111) is an elongated slot extending along the first direction (X), the first plate (11) is further provided with a fixing hole (113) rotatably connected to the support shaft (222b), and the second sliding slot (112) is an arc-shaped slot having a center coinciding with a central axis of the fixing hole (113).

4. The gripper (100) as claimed in claim 1, wherein a first stop member (114) and a second stop member (115) are further provided on the first plate member (11), the first stop member (114) overlapping the push-pull rod (21) in a thickness direction thereof, the second stop member (115) being provided at a predetermined distance from the first position of the first plate member (11) in the first direction (X).

5. The gripper (100) as claimed in claim 4, wherein a spacer block (116) is further provided on the first plate member (11), a height dimension of the spacer block (116) in a thickness direction of the push-pull rod (21) itself is larger than height dimensions of the first stopper (114), the second stopper (115) and the push-pull assembly (20), and the first plate member (11) supports the weight (H) through the spacer block (116).

6. The gripper (100) as claimed in claim 1, wherein said second plate member (12) is provided with a pair of side pressing plates (121) on both sides of a second direction (Y) perpendicular to said first direction (X), said side pressing plates (121) being provided with elastic members (122) such that said weight (H) is placed between said elastic members (122) of said pair of side pressing plates (121).

7. The hand grip (100) according to claim 1, wherein the hand grip (100) further includes a sensing assembly (30), the sensing assembly (30) being disposed on the second plate (12) for determining a spatial position of the weight (H).

8. The hand grip (100) according to claim 1, wherein the hand grip (100) further includes a vacuum suction assembly (40), the vacuum suction assembly (40) being disposed at a bottom of the first plate (11).

9. An industrial robot, characterized in that it comprises a gripper device (100) according to any one of claims 1-8.