CN211700226U - Boat moving gripper of boat moving device - Google Patents

Abstract

A boat moving gripper of a boat moving device comprises a gripper sliding seat, a gripper angle adjusting block, a gripper rotating plate, a gripper base plate, an anti-collision detection plate and a boat support detection plate; the grip base plate is arranged on the anti-collision detection plate; the anti-collision detection plate is arranged on one side of the boat support detection plate; the boat support detection plate is arranged between the anti-collision detection plate and the gripper sliding seat; the gripper rotating plate is hinged with the gripper sliding seat, arranged above the boat support detection plate and hinged with the anti-collision detection plate; the utility model discloses in, through set up micro-gap switch cooperation anticollision detection board and boat support detection board in moving the boat tongs and realize the automatic adjustment to the angle of tongs backing plate and whether to have the automated inspection of load to the tongs backing plate.

Description

Boat moving gripper of boat moving device

Technical Field

The utility model relates to a semiconductor and solar cell make the field, especially relate to a remove boat tongs of boat device.

Background

In the manufacturing process of semiconductors and solar photovoltaic cells, the boat needs to be transferred by the boat moving mechanism from a paddle loading station, a streamline station and a boat caching station. The conventional motor-controlled boat moving head moves up and down on the Z axis and moves horizontally on the X axis, and a set distance exists between the paddle loading station and the boat caching station, so that a second-level arm is usually selected to control the movement on the X axis, the space is saved, and the extension length is also reached. In the prior art, two motors are required to be arranged for the movement of the boat moving mechanism on the X axis, wherein one motor drives the secondary arm, and the other motor drives the boat moving head. But the second grade arm height that is provided with two motors is higher, is difficult to use in the lower board of interlamellar spacing, and operating personnel is at the in-process of two motors of manual operation simultaneously, and the possibility that produces the risk improves greatly.

Disclosure of Invention

The utility model aims at solving the defects of the prior art, providing a boat removing gripper of a boat removing device, simple structure and convenient use.

A boat moving gripper of a boat moving device comprises a gripper sliding seat, a gripper angle adjusting block, a gripper rotating plate, a gripper base plate, an anti-collision detection plate and a boat support detection plate; the grip base plate is arranged on the anti-collision detection plate; the anti-collision detection plate is arranged on one side of the boat support detection plate; the boat support detection plate is arranged between the anti-collision detection plate and the gripper sliding seat; the tongs rotating plate is hinged with the tongs sliding seat, the tongs rotating plate is arranged above the boat support detection plate, and the tongs rotating plate is further hinged with the anti-collision detection plate.

Furthermore, the gripper rotating plate comprises two bearings, namely a Y-axis bearing and an X-axis bearing, wherein the Y-axis bearing and the X-axis bearing are fixedly arranged; the bearing rod end of the Y-axis bearing is fixedly connected with the anti-collision detection plate, and the gripper rotating plate is hinged with the anti-collision detection plate through the Y-axis bearing; the gripper rotating plate is hinged with the gripper sliding seat through an X-axis bearing.

Furthermore, a hand grip angle adjusting block is arranged on the side face of the X-axis bearing and is arranged on one side, close to the hand grip sliding seat, of the X-axis bearing.

Furthermore, the upper side of the gripper rotating plate extends in the direction close to the boat support anti-collision detection plate, and an induction plate adjusting spring is arranged at the extending part.

Furthermore, the number of the induction plate adjusting springs is two, and each group comprises at least one induction plate adjusting spring; the two groups of induction plate adjusting springs are respectively arranged on two sides of the Y-axis bearing; the upper surface of the anti-collision detection plate is provided with a cylindrical hollow part for arranging an induction plate adjusting spring.

Further, the boat support detection plate is provided with a microswitch.

Furthermore, the number of the micro switches is four, and the micro switches are a first micro switch, a second micro switch, a third micro switch and a fourth micro switch respectively; the second microswitch and the third microswitch are fixedly arranged on one side, close to the anti-collision detection plate, of the boat support detection plate, and the anti-collision detection plate is correspondingly provided with a hollow part; an induction plate is further arranged in the middle of the hollow part of the anti-collision detection plate; the contact points of the micro switch II and the micro switch III are positioned on the opposite surfaces of the micro switch II and the micro switch III; hollowing is also arranged in the boat support detection plate, the hollowing of the boat support detection plate is divided into two parts, and a pressing block is arranged in the middle of the two hollowing parts; the first microswitch and the fourth microswitch are respectively arranged in the hollows on the two sides of the pressing block; the contact points of the first micro switch and the fourth micro switch face the gripper sliding seat.

Furthermore, a groove is formed in one side, close to the boat support detection plate, of the gripper sliding seat; the belt pressing plate is arranged between the pressing block of the boat support detection plate and the gripper sliding seat, and the belt pressing plate is fixedly connected with the gripper sliding seat.

Furthermore, a second spring is arranged on a pressing block of the boat support detection plate, and a cylindrical hollow part is correspondingly arranged on the gripper sliding seat and used for arranging the second spring.

Furthermore, a sliding seat fixing hole fixedly connected with the gripping seat sliding block is further formed in the gripping seat sliding seat.

The utility model has the advantages that:

in the utility model, the movement of the second-level arm and the boat-carrying gripper is controlled by one motor through the matching of the belt and the X-axis servo motor, so that the risk of misoperation is reduced;

the height of the second-stage arm in the utility model is small, which is suitable for the space transportation of the floor height;

the utility model discloses in, through set up micro-gap switch cooperation anticollision detection board and boat support detection board in moving the boat tongs and realize the automatic adjustment to the angle of tongs backing plate and whether to have the automated inspection of load to the tongs backing plate.

Drawings

Fig. 1 is a perspective view of the present invention;

FIG. 2 is an enlarged fragmentary perspective view of FIG. 1;

FIG. 3 is a connection diagram of the first-stage arm and the second-stage arm of the present invention;

FIG. 4 is a schematic view of the second-stage arm and the boat-carrying gripper of the present invention;

FIG. 5 is a structural diagram of a second arm of the present invention;

FIG. 6 is a diagram showing the connection relationship between the second-stage arm and the boat-carrying gripper of the present invention;

FIG. 7 is a schematic view of the boat-carrying gripper of the present invention;

FIG. 8 is a connection diagram of the anti-collision detection plate and the boat support detection plate of the present invention;

FIG. 9 is a connection diagram of the boat support detection plate, the hand rotating plate and the hand sliding seat of the present invention;

fig. 10 is a connection diagram of the belt pressing plate, the boat support detection plate and the gripper slide seat according to the present invention.

The attached drawings indicate the following: the boat carrying support column 1, a first transmission rod 11, a first-stage arm 2, a second-stage arm support wheel 21, a belt fixing block 22, a second-stage arm 3, a second-stage arm base 31, a first side 311, a second side 312, a third side 313, a fourth side 314, a rack 321, a gear 322, a belt 33, a driven wheel 34, a tension wheel 35, a tension wheel adjusting device 36, a fixing block guide rail 371, a fixing block slider 372, a gripper slider 381, a gripper guide rail 382, a second transmission rod 39, a boat carrying gripper 4, a gripper slider 41, a belt pressing plate 411, a slider fixing hole 412, a gripper rotating plate 42, an X-axis bearing 421, a gripper angle adjusting block 422, a Y-axis bearing 423, a sensing plate adjusting spring 424, a gripper pad plate 43, an anti-collision sensing plate 44, a sensing plate 441, a boat holding sensing plate 45, a first microswitch 451, a second microswitch 452, a microswitch 453, a microswitch four 454, a pressing block 455, an X-axis servomotor 52.

Detailed Description

The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will be readily apparent to those skilled in the art from the disclosure herein. The present invention can also be implemented or applied through other different specific embodiments, and various details in the present specification can be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.

It should be noted that the drawings provided in the following embodiments are only for illustrating the basic concept of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the form, amount and ratio of the components in actual implementation may be changed at will, and the layout of the components may be more complicated.

The first embodiment is as follows:

as shown in fig. 1 and 2, the boat carrying device comprises a boat carrying support column 1, a transmission rod, a first-stage arm 2, a second-stage arm 3, a boat carrying gripper 4 and a kinetic energy device. The boat carrying support columns 1 are two in number, and the two boat carrying support columns 1 are symmetrically arranged; the first-stage arms 2 are symmetrically arranged on the two boat carrying support columns 1; the kinetic energy device is fixedly arranged on the boat carrying support column 1 and the first-stage arm 2; the transmission rod is arranged between the first-stage arms 2 and between the boat carrying support columns 1, and one end of the transmission rod is connected with the kinetic energy device; the secondary arm 3 is arranged on the primary arm 2; the boat carrying gripper 4 is arranged on the second-stage arm 3. In the present embodiment, the kinetic energy device includes a Z-axis servomotor 51 and an X-axis servomotor 52, and the direction of the X, Y, Z axis is shown in fig. 1 and 2.

The boat carrying support columns 1 are perpendicular to the ground, the boat carrying support columns 1 are two, and the two boat carrying support columns 1 are symmetrically arranged. Move and be provided with one-level arm 2 on the boat support column 1, be provided with guide rail and slider between one-level arm 2 and the boat support column 1 of moving, the guide rail sets up in the one side that the support column deviates from each other in this embodiment, and the slider sets up in one-level arm 2. A Z-axis servo motor 51 is provided at the tip of one of the two boat support columns 1, and in the present embodiment, is provided at the right boat support column 1. A first transmission rod 11 is further arranged between the two boat carrying support columns 1, and the first transmission rod 11 is arranged at the tops of the boat carrying support columns 1. One end of the first transmission rod 11 is connected with an output shaft of the Z-axis servo motor 51. In this embodiment, the rotation of the Z-axis servo can drive the sliding of the sliders on the guide rails, and the first transmission rod 11 can ensure that the sliding speeds of the sliders on the two boat-carrying support columns 1 are the same, so that the first-stage arms 2 on the two boat-carrying support columns 1 can move up and down at the same speed.

As shown in fig. 3, the first-stage arms 2 are perpendicular to the boat carrying support columns 1, the number of the first-stage arms 2 is two, and the two first-stage arms 2 are symmetrically arranged on the two boat carrying support columns 1. A second-stage arm 3 is arranged on the first-stage arm 2, and the second-stage arm 3 is movably connected with the first-stage arm 2. The number of the secondary arms 3 is two, the two secondary arms 3 are respectively arranged on one side opposite to the two primary arms 2, the primary arms 2 and the secondary arms 3 are connected and arranged the same, and the connection of the primary arms 2 and the secondary arms 3 on the right side is used as an example. The bottom of the first-stage arm 2 is provided with two second-stage arm supporting wheels 21, the number of the second-stage arm supporting wheels 21 is at least two, and a connecting line of circle centers of the two second-stage arm supporting wheels 21 is parallel to the ground. The top of the second-stage arm 3 is provided with a second transmission rod 39, the second transmission rod 39 is arranged at one end of the first-stage arm 2 far away from the boat carrying support column 1, and the second-stage arm 3 is arranged between the second transmission rod 39 and the second-stage arm support wheel 21. A gear 322 and a rack 321 are arranged between the second transmission rod 39 and the second stage arm 3, wherein the rack 321 is arranged on the upper surface of the second stage arm 3, the gear 322 is arranged on the second transmission rod 39, and the gear 322 is meshed with the rack 321. The lower surface of the secondary arm 3 is provided with a corresponding supporting wheel track, and the supporting wheel track is attached to the secondary arm supporting wheel 21. A belt 33 fixing block 22 is further arranged between the first-stage arm 2 and the second-stage arm 3, the belt 33 fixing block 22 is fixedly arranged on one side of the two first-stage arms 2 opposite to each other, and meanwhile, the belt 33 fixing block 22 is arranged at one end, far away from the boat carrying support column 1, of the first-stage arm 2. The X-axis servo motor 52 is disposed on the first-stage arm 2 on one side, and in this embodiment, the X-axis servo motor 52 is disposed on one end of the upper surface of the first-stage arm 2 on the right side, which is far away from the boat carrying support column 1. One end of the second transmission rod 39 is connected with an output shaft of the X-axis servo motor 52. With the rotation of the X-axis servo motor 52, the gear 322 drives the rack 321 to move, so that the secondary arm 3 moves.

As shown in fig. 4 to 6, the secondary arm 3 includes a secondary arm base 31, a rack 321, a belt 33, a driven pulley 34, a tension pulley 35, a tension pulley adjusting device 36, and a boat gripper 4. The whole secondary arm base 31 is a rectangular plate, the secondary arm base 31 comprises a first edge 311, a second edge 312, a third edge 313 and a fourth edge 314, the first edge 311 and the third edge 313 are arranged in parallel, the second edge 312 and the fourth edge 314 are arranged in parallel, the lengths of the first edge 311 and the third edge 313 are smaller than those of the second edge 312 and the fourth edge 314, and the second edge 312 is attached to the primary arm 2 in the implementation process. The rack 321 is disposed on the upper side of the second stage arm base 31. A fixed block guide rail 371 and a fixed block sliding block 372 are arranged between the secondary arm 3 and the belt 33 fixed block 22. The fixed block slider 372 is fixedly arranged on the belt 33 and fixed block 22. Fixed block guide 371 sets up in second grade arm base 31, and fixed block guide 371 is parallel with rack 321, and fixed block slider 372 can slide on fixed block guide 371. The number of the driven wheels 34 is four, and the four driven wheels 34 are respectively arranged at four corners of the secondary arm base 31. A tension wheel 35 is arranged between the two driven wheels 34 arranged at the first side 311, a tension wheel 35 is arranged between the two driven wheels 34 arranged at the third side 313, and correspondingly, tension wheel adjusting devices 36 are arranged on the first side 311 and the third side 313. The tensioning wheel adjusting device 36 can adjust the position of the tensioning wheel 35, and further adjust the distance between the two driven wheels 34 on the first side 311 and the distance between the two driven wheels 34 on the third side 313. The belt 33 is arranged on the four driven wheels 34, the belt 33 surrounds the four driven wheels 34 for one circle, meanwhile, the belt 33 also penetrates through the belt 33 fixing block 22 and the boat carrying handle 4, the belt 33 is fixed by the belt 33 fixing block 22, and the belt 33 is fixedly connected with the boat carrying handle 4. The belt 33 is a flexible transmission belt, and the belt 33 may be made of steel belt, steel wire, or the like. The boat-carrying gripper 4 is disposed on the first side 311, and a gripper slider 381 and a gripper guide rail 382 are disposed between the boat-carrying gripper 4 and the second-stage arm base 31. The hand grip guide rails 382 are arranged on the second-stage arm base 31, and in this embodiment, the hand grip guide rails 382 and the fixed block guide rails 371 are arranged on two sides of the rack 321; the gripper slider 381 is disposed on the boat gripper 4. In this embodiment, the driven wheel 34 drives the belt 33 to move along with the movement of the secondary arm 3, so that the boat-carrying gripper 4 and the secondary arm 3 move relatively, the moving speed of the boat-carrying gripper 4 is twice that of the secondary arm 3, and the tightness of the belt 33 can be adjusted by adjusting the tension wheel adjusting device 36.

As shown in fig. 7 to 10, the boat gripper 4 includes a gripper slide 41, a gripper angle adjusting block 422, a gripper rotating plate 42, a gripper backing plate 43, an anti-collision detection plate 44, and a boat-holding detection plate 45. The hand grip backing plate 43 and the crash detection plate 44 are vertically arranged, the hand grip backing plate 43 and the crash detection plate 44 are integrally made, and the hand grip backing plate 43 is made of a ceramic material in the embodiment. The anti-collision detection plate 44 is arranged on one side of the boat support detection plate 45; the boat receiving detection plate 45 is disposed between the collision detection plate 44 and the hand grip slide 41. The gripper rotating plate 42 is hinged to the gripper sliding base 41, the gripper rotating plate 42 is arranged above the boat support detection plate 45, and the gripper rotating plate 42 is further hinged to the anti-collision detection plate 44. The gripper rotation plate 42 includes two bearings, which are an X-axis bearing 421 and a Y-axis bearing 423, respectively, the Y-axis bearing 423 and the X-axis bearing 421 are fixed and vertically disposed, wherein an initial state of the X-axis bearing 421 is parallel to the rack 321, and an initial state of the Y-axis bearing 423 is perpendicular to the rack 321. The bearing rod end of the Y-axis bearing 423 is fixedly connected with the anti-collision detection plate 44, the gripper rotating plate 42 is hinged with the anti-collision detection plate 44 through the Y-axis bearing 423, the anti-collision detection plate 44 rotates along with the rotation of the Y-axis bearing 423, and the rotating direction is parallel to the anti-collision detection plate 44. The finger rotation plate 42 is hinged to the finger slider 41 through the X-axis bearing 421, and when the X-axis bearing 421 rotates, the Y-axis bearing 423 rotates around the bearing rod of the X-axis bearing 421, and thus the collision detecting plate 44 also rotates, with the rotation direction being perpendicular to the collision detecting plate 44 and the finger pad plate 43. The side of the X-axis bearing 421 is provided with a hand grip angle adjusting block 422, the hand grip angle adjusting block 422 is arranged on one side of the X-axis bearing 421 close to the hand grip sliding seat 41, and the angle of the X-axis bearing 421 can be adjusted by the hand grip angle adjusting block 422, so that the angle of the hand grip backing plate 43 is adjusted. The Y-axis bearing 423 is provided with a sensing plate 441 and an adjusting spring 424. The upper side of the gripper rotating plate 42 extends in a direction approaching the boat and tray collision-prevention detection plate 44, and the extension part is provided with two groups of sensing plate 441 adjusting springs 424, wherein the number of the sensing plate 441 adjusting springs 424 is two, and each group is at least one, and in the embodiment, each group is two. The two sets of sensing plates 441 and the adjusting springs 424 are respectively disposed at two sides of the Y-axis bearing 423, and the sensing plates 441 and the adjusting springs 424 are disposed perpendicular to the Y-axis bearing 423. Correspondingly, a columnar hollow is arranged on the upper surface of the anti-collision detection plate 44 and used for arranging the induction plate 441 and the adjusting spring 424. The sensing column adjusting spring can adjust the swing angle and the force of the collision detection plate 44 around the Y-axis bearing 423.

The boat support detection plate 45 is arranged between the boat support anti-collision plate and the hand grip sliding seat 41, and the boat support detection plate 45 is arranged below the hand grip rotating plate 42. The boat support detection plate 45 is provided with four microswitches, namely a first microswitch 451, a second microswitch 452, a third microswitch 453 and a fourth microswitch 454. The second micro switch 452 and the third micro switch 453 are fixedly arranged on one side, close to the anti-collision detection plate 44, of the boat support detection plate 45, the anti-collision detection plate 44 is correspondingly provided with a hollow part, the second micro switch 452 and the third micro switch 453 are located inside the anti-collision detection plate 44 in the connection process of the anti-collision detection plate 44 and the boat support detection plate 45, and contacts of the second micro switch 452 and the third micro switch 453 are located on the opposite surfaces of the two. The middle part of the hollowed-out part of the anti-collision detection plate 44 is further provided with a sensing plate 441, the sensing plate 441 is perpendicular to the hand grip base plate 43, in the connection process of the anti-collision detection plate 44 and the boat and support detection plate 45, the sensing plate 441 is located between the second micro switch 452 and the third micro switch 453, the second micro switch 452 and the third micro switch 453 are symmetrically arranged on two sides of the sensing plate 441, when the anti-collision detection plate 44 deflects around the Y-axis bearing 423, the sensing plate 441 can touch the contact of the second micro switch 452 or the third micro switch 453, the Y-axis bearing 423 is enabled to rotate correspondingly, and the deflection of the anti-collision detection plate 44 is corrected. The inside of the boat support detection plate 45 is also provided with a hollow, the hollow of the boat support detection plate 45 is divided into two parts, the middle parts of the two hollow parts are pressing blocks 455, the pressing blocks 455 and the boat support detection plate 45 are integrally manufactured, and the pressing blocks 455 are arranged inside the boat support detection plate 45. The first micro-switch 451 and the fourth micro-switch 454 are respectively arranged in the hollow parts at two sides of the pressing block 455, and the contact points of the first micro-switch 451 and the fourth micro-switch 454 face the gripper sliding seat 41. When the boat support is loaded on the hand-grip backing plate 43, the hand-grip backing plate 43 sinks downwards, and the boat support detection plate 45 is driven to deflect around the X-axis bearing 421, so that the contact of the first micro switch 451 or the fourth micro switch 454 contacts the hand-grip sliding base 41, and the boat support loaded on the hand-grip backing plate 43 is known.

As shown in fig. 9 and 10, a groove is formed on the side of the hand slide 41 close to the boat stock detection plate 45, the groove is used for arranging the belt 33, and a belt pressing plate 411 is further arranged between the boat stock detection plate 45 and the hand slide 41 to prevent the belt 33 from sliding. The belt pressing plate 411 is arranged between the pressing block 455 of the boat support detection plate 45 and the hand grip sliding base 41, the belt pressing plate 411 is fixedly connected with the hand grip sliding base 41 and can be in threaded connection, and the belt pressing plate 411 ensures that the belt 33 does not move relative to the hand grip sliding base 41. A second spring 456 is arranged on the pressing block 455 of the boat support detection plate 45, the second spring 456 is perpendicular to the pressing block 455, and a cylindrical hollow is correspondingly arranged on the gripper sliding base 41 and used for arranging the second spring 456. When connected, the second spring 456 is disposed below the belt pressing plate 411. The second spring 456 is matched with the hand grip angle adjusting block, and the purpose of adjusting the angle of the hand grip base plate 43 is achieved under the combined action. Meanwhile, the gripper slide 41 is further provided with a slide fixing hole 412 fixedly connected with the gripper slide 381.

The above description is only one specific example of the present invention and does not constitute any limitation to the present invention. It will be apparent to those skilled in the art that various modifications and variations in form and detail may be made without departing from the principles and structures of the invention without departing from the spirit and scope of the invention, but such modifications and variations are within the purview of the appended claims.

Claims (10)

1. A boat moving gripper of a boat moving device is characterized by comprising a gripper sliding seat, a gripper angle adjusting block, a gripper rotating plate, a gripper base plate, an anti-collision detection plate and a boat support detection plate; the grip base plate is arranged on the anti-collision detection plate; the anti-collision detection plate is arranged on one side of the boat support detection plate; the boat support detection plate is arranged between the anti-collision detection plate and the gripper sliding seat; the tongs rotating plate is hinged with the tongs sliding seat, the tongs rotating plate is arranged above the boat support detection plate, and the tongs rotating plate is further hinged with the anti-collision detection plate.

2. The boat handling gripper of a boat handling device according to claim 1, wherein the gripper rotation plate includes two bearings, a Y-axis bearing and an X-axis bearing, respectively, the Y-axis bearing and the X-axis bearing being fixedly disposed; the bearing rod end of the Y-axis bearing is fixedly connected with the anti-collision detection plate, and the gripper rotating plate is hinged with the anti-collision detection plate through the Y-axis bearing; the gripper rotating plate is hinged with the gripper sliding seat through an X-axis bearing.

3. The boat handling gripper of a boat handling device according to claim 2, wherein a gripper angle adjusting block is disposed on a side surface of the X-axis bearing, and the gripper angle adjusting block is disposed on a side of the X-axis bearing adjacent to the gripper slide.

4. The boat handling gripper of a boat handling device according to claim 2, wherein an upper side of the gripper rotating plate extends in a direction approaching the boat support collision prevention detection plate, and a sensor plate adjustment spring is provided at the extending portion.

5. The boat handling gripper of a boat handling device according to claim 4, wherein said induction plate adjustment springs are provided in two groups, at least one of each group; the two groups of induction plate adjusting springs are respectively arranged on two sides of the Y-axis bearing; the upper surface of the anti-collision detection plate is provided with a cylindrical hollow part for arranging an induction plate adjusting spring.

6. The boat handling gripper of a boat handling device according to claim 1, wherein said boat tray detection plate is provided with a microswitch.

7. The boat handling gripper of a boat handling device according to claim 6, wherein the number of said microswitches is four, and the microswitches are a first microswitch, a second microswitch, a third microswitch and a fourth microswitch respectively; the second microswitch and the third microswitch are fixedly arranged on one side, close to the anti-collision detection plate, of the boat support detection plate, and the anti-collision detection plate is correspondingly provided with a hollow part; an induction plate is further arranged in the middle of the hollow part of the anti-collision detection plate; the contact points of the micro switch II and the micro switch III are positioned on the opposite surfaces of the micro switch II and the micro switch III; hollowing is also arranged in the boat support detection plate, the hollowing of the boat support detection plate is divided into two parts, and a pressing block is arranged in the middle of the two hollowing parts; the first microswitch and the fourth microswitch are respectively arranged in the hollows on the two sides of the pressing block; the contact points of the first micro switch and the fourth micro switch face the gripper sliding seat.

8. The boat handling gripper of a boat handling device according to claim 1, wherein a groove is formed on a side of the gripper slide close to the boat holding detection plate; the belt pressing plate is arranged between the pressing block of the boat support detection plate and the gripper sliding seat, and the belt pressing plate is fixedly connected with the gripper sliding seat.

9. The boat handling gripper of the boat handling device according to claim 1, wherein the pressing block of the boat support detection plate is provided with a second spring, and the gripper slide is correspondingly provided with a cylindrical hollow for the second spring.

10. The boat handling gripper of claim 1, wherein the gripper slide is further provided with slide fixing holes fixedly connected to the gripper slide.

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