CN114212520A

CN114212520A - Gripping device, manipulator and material taking method

Info

Publication number: CN114212520A
Application number: CN202111509085.2A
Authority: CN
Inventors: 张重高; 苏润华; 黄志威
Original assignee: Dongguan Chuangfeng Technology Development Co ltd
Current assignee: Dongguan Chuangfeng Technology Development Co ltd
Priority date: 2021-12-10
Filing date: 2021-12-10
Publication date: 2022-03-22

Abstract

The invention relates to the technical field of mechanical equipment, and discloses a gripping device, a manipulator and a material taking method, wherein the gripping device comprises a support; the clamping mechanism is connected with the bracket; the visual mechanism is connected with the bracket; the induction mechanism is connected with the bracket and detects the position of the grabbed object in the clamping mechanism; the self-adaptive mechanism is connected with the support, and the self-adaptive mechanism drives the support to move in the vertical direction. According to the gripping device provided by the invention, the cloth is gripped by the clamping mechanism, the direction of the cloth is judged by the vision mechanism, the gripping direction of the clamping mechanism is further adjusted, the position of the cloth in the clamping mechanism is judged by the sensing mechanism, so that accurate gripping is realized, and the flexibility of the gripping device can be increased by the self-adaptive mechanism. The gripping device provided by the invention has the advantages of precise gripping and good stability.

Description

Gripping device, manipulator and material taking method

Technical Field

The invention relates to the technical field of mechanical equipment, in particular to a gripping device, a manipulator and a material taking method.

Background

In the textile industry, the feeding of many devices requires manual feeding by workers, and since the material is mostly in the shape of a roll (cloth), more than two people are required to carry the material. In order to realize automatic feeding, a manipulator needs to be installed beside the equipment, and a matched jig is installed at the movable tail end of the manipulator, as shown in fig. 1, cloth needs to be regularly stacked on a tray, and the tray needs to be placed in a designated area to realize continuous feeding.

However, the manual feeding mode has the problem of low efficiency, and the mechanical feeding mode has the problems of inaccurate grabbing, unstable grabbing and poor flexibility.

Disclosure of Invention

The invention mainly aims to provide a grabbing device, and aims to solve the technical problems of instability and inaccuracy of grabbing cloth by the existing machine.

In order to achieve the above object, the present invention provides a grasping apparatus including:

a support;

the clamping mechanism is connected with the bracket;

the visual mechanism is connected with the bracket;

the induction mechanism is connected with the bracket and detects the position of the grabbed object in the clamping mechanism;

the self-adaptive mechanism is connected with the support, and the self-adaptive mechanism drives the support to move in the vertical direction.

Optionally, the clamping mechanisms are distributed at two ends of the bracket, and each clamping mechanism comprises a first clamping plate, a second clamping plate and a first power device;

one end of the first clamping plate is fixedly connected with the bracket, and the other end of the first clamping plate is provided with a first roller;

one end of the second clamping plate is movably connected with the bracket, and the first power device drives the second clamping plate to move close to or far away from the first clamping plate.

Optionally, the surface of the first clamping plate is provided with a first arc-shaped surface, the other end of the second clamping plate is provided with a second arc-shaped surface, and the first arc-shaped surface and the second arc-shaped surface are arranged oppositely.

Optionally, the sensing mechanism is located in a clamping area of the clamping mechanism, and the sensing mechanism includes a second roller, a spring, a support frame, a connecting rod, a connecting plate, and a first sensor;

the support frame is fixedly connected with the bracket, the connecting rod is movably connected with the support frame, and the connecting rod can do telescopic motion in the support frame;

one end of the connecting rod is connected with the second roller, the spring is sleeved in the connecting rod, and the spring is positioned between the second roller and the supporting frame;

the other end of connecting rod is connected the connecting plate, first sensor with support frame fixed connection, first sensor is located the connecting plate top.

Optionally, the adaptive mechanism is located in the middle of the support, and the adaptive mechanism includes a rotating shaft, a base station, and a first telescopic mechanism;

the base station is positioned in the middle of the support and is connected with the support through a rotating shaft, and the support can rotate up and down around the rotating shaft;

the first telescopic mechanism is symmetrically arranged on two sides of the base platform, one end of the first telescopic mechanism is connected with the base platform, the other end of the first telescopic mechanism is a telescopic end, and the telescopic end is hinged to the support.

Optionally, the adaptive mechanism further comprises a second telescopic mechanism, the second telescopic mechanism is located between the base platform and the support, one end of the second telescopic mechanism is connected with the base platform, the other end of the second telescopic mechanism is a telescopic end, and the telescopic end and the support are arranged oppositely.

Optionally, the device comprises a second sensor and a turnover mechanism, wherein the second sensor mechanism is connected with the bracket through the turnover mechanism.

Optionally, the bottom supporting mechanism comprises a second power device, a rotating mechanism and a baffle, the second power device is connected with the support, the second power device is connected with the rotating mechanism, and the rotating mechanism is connected with the baffle.

Correspondingly, a material taking method is further provided, the method is used for realizing the grabbing and moving of the cloth, the method is realized through the grabbing device, and the method comprises the following steps:

the gripping device moves to a first preset position;

the visual mechanism acquires the direction of the cloth, and the gripping device adjusts the direction of the clamping mechanism according to the direction of the cloth;

the gripping device moves downwards to enable the cloth to enter the clamping mechanism;

the sensing mechanism detects whether the cloth is located at a second preset position, if so, the clamping mechanism is closed, and the gripping device moves upwards;

the self-adaptive mechanism is started to enable the cloth to be parallel to the horizontal plane, and the bottom supporting mechanism supports the bottom of the cloth;

and the gripping device moves to a third preset position, and the clamping mechanism is opened.

Correspondingly, still a manipulator, including manipulator body and foretell grabbing device, the manipulator body with grabbing device is connected, the manipulator body removes grabbing device.

Compared with the prior art, the invention has the following beneficial effects:

according to the gripping device provided by the invention, the cloth is gripped by the clamping mechanism, the direction of the cloth is judged by the vision mechanism, the gripping direction of the clamping mechanism is further adjusted, the position of the cloth in the clamping mechanism is judged by the sensing mechanism, so that accurate gripping is realized, and the flexibility of the gripping device can be increased by the self-adaptive mechanism. The gripping device provided by the invention has the advantages of precise gripping and good stability.

Drawings

One or more embodiments are illustrated in drawings corresponding to, and not limiting to, the embodiments, in which elements having the same reference number designation may be represented as similar elements, unless specifically noted, the drawings in the figures are not to scale.

FIG. 1 is a schematic view of a stack of pieces of cloth;

FIG. 2 is a schematic structural diagram of an embodiment of the grasping apparatus according to the present invention;

FIG. 3 is a front view of an embodiment of the grasping device according to the present invention;

FIG. 4 is an enlarged view of a portion of an embodiment of the grasping device according to the present invention;

FIG. 5 is a side view of an embodiment of the grasping device according to the present invention;

FIG. 6 is a schematic view of a gripping mechanism separating a piece of cloth according to an embodiment of the gripping device of the present invention;

FIG. 7 is a schematic view of a clamping mechanism of an embodiment of the gripping device of the present invention;

FIG. 8 is a schematic diagram of the operation of the adaptive mechanism of the embodiment of the gripping device of the present invention;

FIG. 9 is a schematic view of the operation of the bottom supporting mechanism of the embodiment of the gripping device of the present invention;

FIG. 10 is a schematic diagram of a second sensor in an inverted configuration for a grasping device according to an embodiment of the present invention; FIG. 11 is a schematic view of a robot arm embodiment of the present invention;

fig. 12 is a schematic flow chart of a material extracting method according to an embodiment of the present invention.

Reference numerals:

100-a gripping device; 110-a scaffold; 120-a clamping mechanism; 121-a first splint; 122-a second splint; 123-a first power plant; 124-a first roller; 130-a sensing mechanism; 131-a second roller; 132-a spring; 133-a support frame; 134-connecting rod; 135-a connecting plate; 136-a first sensor; 140-an adaptive mechanism; 141-a rotating shaft; 142-a base station; 143-a first telescoping mechanism; 144-a second telescoping mechanism; 150-a bottom supporting mechanism; 151-second power means; 152-a rotation mechanism; 153-a baffle; 160-a vision mechanism; 170-a second sensor; 180-turnover mechanism; 200-a manipulator body; 300-piece goods.

Detailed Description

In order to facilitate an understanding of the invention, the invention is described in more detail below with reference to the accompanying drawings and specific examples. It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. The terms "vertical," "horizontal," "left," "right," "inner," "outer," and the like as used herein are for descriptive purposes only. In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating relative importance or as implicitly indicating the number of technical features indicated. Thus, unless otherwise specified, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature; "plurality" means two or more. The terms "comprises" and "comprising," and any variations thereof, are intended to cover a non-exclusive inclusion, such that one or more other features, integers, steps, operations, elements, components, and/or combinations thereof may be present or added.

Furthermore, unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly and may include, for example, fixed connections, removable connections, and integral connections; can be mechanically or electrically connected; either directly or indirectly through intervening media, or through both elements. All technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.

Fig. 1-5 illustrate a gripping device according to an embodiment.

Referring to fig. 1-5, the embodiment is used for grabbing a piece of cloth 300, and includes a support 110, a clamping mechanism 120, a sensing mechanism 130, an adaptive mechanism 140, a bottom holding mechanism 150, and a vision mechanism 160.

The gripping device of the present embodiment has a symmetrical structure, wherein the bracket 110 is used for mounting and supporting each component mechanism; the clamping mechanisms 120 are distributed on two sides of the support 110, the clamping mechanisms 120 are connected with the support 110, and the clamping mechanisms 120 are used for clamping the cloth 300; the sensing mechanisms 130 are correspondingly distributed at adjacent positions of the clamping mechanism 120, the sensing mechanisms 130 are connected with the bracket 110, and the sensing mechanisms 130 are used for detecting the position of the cloth 300 in the clamping mechanism 120; the self-adaptive mechanism 140 is positioned in the middle of the support 110, the self-adaptive mechanism 140 is connected with the support 110, and the self-adaptive mechanism 140 drives the support 110 to move in the vertical direction, so that the flexibility of the grabbing device is improved; the bottom supporting mechanism 150 is arranged corresponding to the clamping mechanism 120, the bottom supporting mechanism 150 is connected with the support 110, and the bottom supporting mechanism 150 is used for supporting the bottom of the cloth 300 so as to increase the stability of the grabbing process of the cloth 300; the vision mechanism 160 is arranged corresponding to the clamping mechanism 120, the vision mechanism 160 is connected with the bracket 110, and the vision mechanism 160 is used for detecting the placing direction of the cloth 300 and further controlling the grabbing direction of the grabbing device.

Specifically, in the present embodiment, the clamping mechanism 120 is distributed at two ends of the bracket 110, and the clamping mechanism 120 includes a first clamping plate 121, a second clamping plate 122 and a first power device 123. One end of the first clamping plate 121 is fixedly connected with the support 110, the other end of the first clamping plate 121 is provided with a first roller 124, one end of the second clamping plate 122 is movably connected with the support 110, the first power device 123 drives the second clamping plate 122 to move close to or far away from the first clamping plate 121, and the cloth 300 is clamped through the first clamping plate 121 and the second clamping plate 122. The first power device 123 may be an air cylinder, the air cylinder is fixedly connected to the bracket 110, a telescopic end of the air cylinder is connected to the second clamping plate 122, and the air cylinder pushes the second clamping plate 122 to open or close, so as to cooperate with the first clamping plate 121 to realize a clamping action.

In the opened state of the clamping mechanism 120, the height of the first clamping plate 121 is higher than the protruding height of the second clamping plate 122, so that the first roller 124 protrudes a certain distance, and when the gripping device moves downwards, the first roller 124 is inserted between the two pieces of cloth 300 to separate the two pieces of cloth. As shown in fig. 6, since the two sides of the cloth 300 are close to each other during stacking, when the clamping mechanism 120 descends, the first roller 124 is driven by the motor to start rolling, the first roller 124 contacts the cloth 300 first, and after the first roller 124 drives the cloth 300 to roll for a certain distance, the cloth 300 is separated from the cloth 300.

Further, the medial surface of first splint 121 is first arcwall face 121a, and the other end of second splint 122 is equipped with second arcwall face 122b, and first arcwall face 121a sets up with second arcwall face 122b relatively, and this kind of arcwall face laminates with columniform cloth 300 surface mutually, can further promote the stability when cloth 300 snatchs, and is more firm when snatching, avoids the cloth to drop at the transfer in-process.

As shown in fig. 7, in the initial state, the cylinder is in the contracted state, and the clamping mechanism 120 is in the expanded state; after the clamping mechanism 120 is in place, the sensing mechanism 130 senses the cloth 300, the cylinder is pushed out, and the clamping mechanism 120 is in a closed state.

Specifically, in the present embodiment, the sensing mechanism 130 includes a second roller 131, a spring 132, a support bracket 133, a connecting rod 134, a connecting plate 135 and a first sensor 136, the sensing mechanism 130 is located in the clamping zone of the clamping mechanism 120, that is, the second roller 131 in the sensing mechanism 130 is located between the first clamping plate 121 and the second clamping plate 122 of the clamping mechanism 120, and the first sensor 136 is a proximity sensor. The support bracket 133 is fixedly connected with the bracket 110, the support bracket 133 is connected with the upper surface of the bracket 110, and the support bracket 133 is higher than the bracket 110 by a certain distance; the connecting rod 134 is movably connected with the support frame 133, specifically, a sleeve is additionally arranged on the surface of the support frame 133, then the connecting rod 134 is inserted into the sleeve, and the connecting rod 134 extends and retracts up and down in the sleeve.

The lower end of the connecting rod 134 is connected with the second roller 131, the spring 132 is sleeved in the connecting rod 134, the spring 132 is located between the second roller 131 and the supporting frame 133, and under the elastic action of the spring 132, the connecting rod 132 makes up-and-down telescopic motion in the sleeve. The upper end of the connecting rod 134 is higher than the supporting frame 133, the upper end is connected with the connecting plate 135, the first sensor 136 is arranged above the connecting plate 135, the first sensor 136 is arranged on the connecting plate 135 in a suspending mode and is arranged oppositely, the first sensor 136 is fixedly connected with the supporting frame 133, the distance between the connecting plate 135 and the first sensor 136 is variable under the elastic action, and when the distance between the first sensor and the first sensor meets the preset distance, the first sensor 136 sends a corresponding control command to the control terminal of the grabbing device.

In this embodiment, the operation principle of the sensing mechanism 130 is as follows:

when the second roller 131 is not acted by external force, it is higher than the lower surface of the bracket 110, i.e. it extends a distance, and the spring 132 is in a relaxed state. When the clamping mechanism 120 moves downwards, the cloth 300 enters a clamping area between the first clamping plate 121 and the second clamping plate 122 of the clamping mechanism 120, and along with the entering of the cloth 300, the surface of the cloth 300 contacts with the second roller 131 in the clamping area, and the friction force contacting with the cloth 300 can be reduced by adopting the roller design. At this time, the second roller 131 is acted by the external force of the cloth 300 to compress the spring 132, and drives the connecting plate 135 connected with the connecting rod 134 to move upwards, the distance between the connecting plate 135 and the first sensor 136 is reduced, when the distance is reduced to a predetermined range, the first sensor 136 sends a closing signal to the clamping mechanism 120, and the first clamping plate 121 and the second clamping plate 122 of the clamping mechanism 120 are closed to clamp the cloth 300. After the cloth 300 is put down by the gripper 120, the second roller 131 and the connecting plate 135 are restored to their original positions by the elasticity of the spring 132.

Specifically, in the present embodiment, the adaptive mechanism 140 is located in the middle of the support 110, the adaptive mechanism 140 includes a rotating shaft 141, a base 142, a first telescopic mechanism 143, and a second telescopic mechanism 144, and the first telescopic mechanism 143 and the second telescopic mechanism 144 may both be air cylinders.

The base 142 is located in the middle of the support 110, the lower portion of the base 142 is connected with the support 110 through the rotating shaft 141, the support 110 can rotate up and down around the rotating shaft 141 to form a structure similar to a seesaw, a flange is arranged above the base 142, and the flange can be connected with moving mechanisms such as a manipulator. The first telescopic mechanisms 143 are symmetrically disposed on the left and right sides of the base 142, the first telescopic mechanisms 143 are mounted on the two sides of the base 142, and telescopic ends of the first telescopic mechanisms 143 are hinged to the bracket 110. The inclination of the support 110 is changed by changing the stroke of the first telescoping mechanism 143 on both sides. The second telescopic mechanism 144 is located between the base 142 and the support 110, the second telescopic mechanism 144 is installed below the base 142, the telescopic ends of the second telescopic mechanism 144 are arranged opposite to the support 110, the number of the second telescopic mechanisms 144 is four, the four telescopic mechanisms are arranged in four corners, and when the second telescopic mechanism 144 extends out simultaneously to abut against the surface of the support 110 below, the support is in a horizontal state at the moment.

In practical situations, the cloth 300 may be inclined in the vertical direction due to the inconsistent roll diameter of the cloth 300 during placement of the cloth 300, improper manual operation, and the like. The inclination of the cloth 300 can be automatically adapted by the adaptation mechanism 140. As shown in fig. 8, when the clamping mechanism 120 is close to the cloth 300, the first stretching mechanism 143 and the second stretching mechanism 144 on both sides of the base 142 of the adaptive mechanism 140 are in a free state, and the clamping mechanism 120 can adapt to the inclination of the cloth 300 and can be attached to the cloth 300. When the gripping mechanism 120 grips the cloth 300 and lifts the cloth into the air, the first stretching mechanism 143 and the second stretching mechanism 144 are simultaneously pushed out, so that the cloth 300 is kept horizontal.

Specifically, the bottom holding mechanism 150 includes a second power device 151, a rotating mechanism 152, and a baffle 153. The second power device 151 is connected to the bracket 110, the second power device 151 is connected to the rotating mechanism 152, and the rotating mechanism 152 is connected to the baffle 153. The second power unit 151 may be a cylinder.

As shown in fig. 9, after the clamping mechanism 120 clamps the cloth 300, the baffle 153 of the bottom supporting mechanism 150 of the cloth 300 rotates to the bottom of the cloth 300 under the action of the rotating mechanism 152, and then the second power device 151 lifts the baffle 153, so that the baffle 153 supports the cloth 300 and prevents the cloth 300 from falling off accidentally.

Specifically, in this embodiment, the vision mechanism 160 is connected to the bracket 110, the vision mechanism 160 may be a camera device, and the vision mechanism 160 may obtain an image of the cloth 300 facing vertically downward, determine the placement direction of the cloth 300, and further adjust the clamping direction of the clamping mechanism 120.

In other embodiments, the device further comprises a second sensor 170 and a turnover mechanism 180, the second sensor 170 is connected to the bracket 110 through the turnover mechanism 180, the second sensor 170 may be a distance sensor, and the turnover mechanism 180 may be a turnover cylinder. The turnover mechanism 180 can drive the second sensor 170 to turn over for a certain angle, so as to obtain coordinate data of the cloth. As shown in fig. 10, the left side of the drawing shows that the second sensor 170 is turned downward to acquire Z-axis coordinates of the cloth, and the right side of the drawing shows that the second sensor 170 is turned 90 degrees to be horizontal along with the turning device 180 to acquire Y-axis coordinates of the cloth.

As shown in fig. 11, an embodiment of a robot according to the present invention is provided.

Referring to fig. 11, the embodiment includes the gripping device 100 in the above embodiment, and further includes a robot body 300, the robot body 300 is connected to the gripping device 100, specifically, connected through a flange, and the robot body 300 is used for moving the gripping device 100 to a designated position.

The invention also provides an embodiment of a material taking method, which is used for realizing the grabbing and moving of the cloth and is realized by the embodiment of the grabbing device, and the method comprises the following steps:

the grabbing device moves to a first preset position through the manipulator body;

Specifically, in this embodiment, a specific flow of the material taking method is shown in fig. 12, and includes the following steps:

s100, moving the grabbing device to a transition point by the manipulator body;

s200, moving the gripping device until the visual mechanism moves right above the cloth stacking material;

s300, the data processing terminal judges the direction of the cloth according to the image acquired by the vision mechanism;

s400, moving the grabbing device by the manipulator body until the second sensor moves to be close to the position right above the first cloth roll, and measuring the Z-axis coordinate of the cloth roll;

s500, moving the grabbing device by the manipulator body until the second sensor moves to a position close to the side of the first cloth roll, and turning the second sensor for 90 degrees through the turning mechanism to enable the second sensor to be horizontally placed and measure the Y-axis coordinate of the cloth roll;

s600, the first roller starts to roll, the manipulator body moves the grabbing device to the coordinate position of the cloth, the first roller separates out a first roll of cloth, and then the clamping mechanism is attached to the cloth;

s700, closing the clamping mechanism to clamp the cloth, lifting the clamping mechanism by the manipulator body, pushing out the cloth by the self-adaptive mechanism cylinder to enable the cloth to be parallel to a horizontal plane, and supporting the bottom of the cloth by the bottom supporting mechanism;

s800, moving the grabbing device to a specified feed inlet by the manipulator body;

s900, opening the clamping mechanism, placing the cloth at the specified feed inlet, returning to the step S100, and repeating the steps.

In summary, in the embodiments provided by the present invention, the gripping mechanism grips the cloth, the visual mechanism determines the direction of the cloth, and further adjusts the gripping direction of the gripping mechanism, and the sensing mechanism determines the position of the cloth in the gripping mechanism, so as to achieve accurate gripping. The embodiment provided by the invention has the advantages of accurate grabbing, good stability and high automation degree.

The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A grasping apparatus, characterized in that the grasping apparatus comprises:

a support;

the clamping mechanism is connected with the bracket;

the visual mechanism is connected with the bracket;

2. The gripping device of claim 1, wherein the clamping mechanism is disposed at two ends of the support, and the clamping mechanism comprises a first clamping plate, a second clamping plate and a first power device;

3. The grasping apparatus according to claim 2, wherein a surface of the first clamping plate is provided with a first arc-shaped surface, and the other end of the second clamping plate is provided with a second arc-shaped surface, and the first arc-shaped surface is opposite to the second arc-shaped surface.

4. The gripping device of claim 1, wherein the sensing mechanism is located in a gripping region of the gripping mechanism, the sensing mechanism comprising a second roller, a spring, a support bracket, a connecting rod, a connecting plate, and a first sensor;

5. The grasping device according to claim 1, wherein the adaptive mechanism is located in the middle of the support, and the adaptive mechanism includes a rotating shaft, a base and a first telescopic mechanism;

6. The grasping device according to claim 5, wherein the adaptive mechanism further includes a second telescopic mechanism, the second telescopic mechanism is located between the base and the support, one end of the second telescopic mechanism is connected to the base, the other end of the second telescopic mechanism is a telescopic end, and the telescopic end is opposite to the support.

7. The grasping apparatus according to claim 1, comprising a second sensor and a flipping mechanism, the second sensor mechanism being connected to the support via the flipping mechanism.

8. The grasping apparatus according to claim 1, comprising a base supporting mechanism, wherein the base supporting mechanism comprises a second power device, a rotating mechanism and a baffle, the second power device is connected with the support, the second power device is connected with the rotating mechanism, and the rotating mechanism is connected with the baffle.

9. A method for taking a material, characterized in that the method is used for gripping and moving a piece of cloth, the method being carried out by a gripping device according to any one of claims 1-8, the method comprising the steps of:

the gripping device moves to a first preset position;

10. A manipulator, characterized by comprising a manipulator body and a gripping device according to any of claims 1-8, the manipulator body being connected to the gripping device, the manipulator body moving the gripping device.