CN218778321U

CN218778321U - Gripping device

Info

Publication number: CN218778321U
Application number: CN202223070607.6U
Authority: CN
Inventors: 田天成; 王建龙
Original assignee: Suzhou Baosman Semiconductor Equipment Co ltd
Current assignee: Suzhou Baosman Semiconductor Equipment Co ltd
Priority date: 2022-11-18
Filing date: 2022-11-18
Publication date: 2023-03-31
Anticipated expiration: 2032-11-18

Abstract

The utility model discloses a gripping device, which comprises a vertical driving cylinder and a base; the base is horizontally arranged; the upper surface of the base is used for placing a carrier plate; the left side and the right side of the base are respectively provided with a first positioning block with a positioning hole; the vertical driving cylinder is vertically arranged; a grabbing component is arranged right above the base; the vertical driving cylinder can drive the grabbing assembly to vertically move up and down; the left side and the right side of the bottom of the grabbing component are respectively provided with a positioning pin; the front side and the rear side of the grabbing component are respectively provided with a second positioning block; the grabbing component also comprises a clamping device; when the vertical driving cylinder drives the grabbing assembly to move downwards, the positioning pins are inserted into the corresponding positioning holes in the first positioning block, and meanwhile, the second positioning block finishes the front and back positioning of the grabbing assembly, the clamping device can realize the accurate clamping of the carrier plate; the utility model discloses positioning accuracy is high, the snatch process is steady, and the structure is simpler simultaneously, and the cost is lower.

Description

Gripping device

Technical Field

The utility model belongs to the technical field of automatically, snatch relevant, concretely relates to positioning accuracy is high, stable in structure, snatch the process steady, can be fine the protection copper ceramic substrate, the structure is simpler simultaneously, grabbing device that the cost is lower.

Background

On the automatic sintering equipment of semiconductor, need will paste the copper ceramic base plate that has the chip and grab and take sintering process to handle in the sintering mould, this technology requires that positioning accuracy is high, and the transportation process is steady etc. this needs a stable, the higher handling device of precision.

A ceramic substrate transport apparatus as proposed in chinese patent "CN 107720274A"; the device comprises a first conveying line for conveying the cleaning basket jig, a second conveying line for conveying the sputtering jig, and two conveying lines which are horizontally arranged side by side; a four-axis robot for taking and discharging and a six-axis robot for switching and placing are arranged between the two conveying lines, and the two robots are arranged in a front-back opposite mode; the material taking and discharging four-axis robot comprises a four-axis robot unit; the four-axis robot unit is arranged on a base, and the base is fixed on the rack; the front end of the four-axis robot unit is provided with a pneumatic clamping jaw assembly, the pneumatic clamping jaw assembly is provided with a clamping jaw for clamping a ceramic substrate, and the clamping jaw is made of polyurethane; the material taking and discharging four-axis robot grabs and conveys the ceramic substrate to a conversion position jig through a pneumatic clamping jaw assembly at the front end; the conversion placement six-axis robot comprises six-axis robot units; the six-axis robot unit is arranged on the base; the six-axis robot is characterized in that a material sucking assembly is arranged at the front end of the six-axis robot, suckers are arranged around the material sucking assembly, and the material sucking assembly adopts vacuum adsorption; the six-axis robot at the conversion position performs vacuum adsorption on the ceramic substrate through a material sucking assembly at the front end, realizes grabbing of the ceramic substrate and conveys the ceramic substrate to a sputtering jig; above-mentioned transfer equipment has still had following not enough though solved artifical ceramic substrate that transports ceramic substrate inefficiency and transfer in-process people point secondary pollution and wash ceramic substrate: in the transfer equipment, the cleaned ceramic substrate is grabbed by a pneumatic clamping jaw assembly at the front end of the material taking four-axis robot, then the ceramic substrate is transferred to a conversion position jig, and the ceramic substrate is backed against the conversion position jig and moves downwards for positioning; in the process that the substrate moves downwards, the pneumatic clamping jaw and the clamped part of the ceramic substrate generate relative friction, so that the substrate is easily damaged; among the above-mentioned transfer apparatus, adopt four-axis robot and six-axis robot to snatch ceramic substrate, use industrial robot's cost higher.

Also as a hook plate mechanism as proposed in chinese patent CN 102390712A; the device comprises a clamping assembly, a clamping mechanism and a control mechanism, wherein the clamping assembly comprises a pair of cylinders; the tail ends of the cylinders are symmetrically arranged on the rack; the shaft end of the cylinder is connected to the long shaft through a connecting rod; the long shaft is arranged below the rack through a bearing with a seat, so that parts fixed on the long shaft can rotate along with the rotation of the long shaft; a lifting hook is fixedly arranged on the long shaft and is connected with the connecting rod through the long shaft, so that the lifting hook can move along with the expansion of the cylinder; the end of the cylinder shaft extends out to drive the connecting rod and the long shaft to rotate, and the long shaft drives the lifting hook to open; the end of the cylinder shaft retracts to drive the connecting rod and the long shaft to rotate, and the long shaft drives the lifting hook to close, so that articles are grabbed; the hook plate mechanism can replace manual work to grab articles; the following disadvantages still remain: in above-mentioned hook plate mechanism, press from both sides and get the subassembly and pass through the cylinder axle head withdrawal, drive connecting rod and major axis rotation, the major axis drives the lifting hook and closes to the realization is to snatching of article. The lifting hook and the clamped object are not provided with a mutual positioning device, and when the object is grabbed, the position of the grabbed object can be deviated due to the vibration generated by the air cylinder; therefore, when the hook plate mechanism grabs an article, the positioning precision is lower.

Therefore, the grabbing device which is high in positioning accuracy, stable in structure, stable in grabbing process, capable of well protecting the copper ceramic substrate, simple in structure and low in cost is developed.

Disclosure of Invention

An object of the utility model is to provide a positioning accuracy is high, stable in structure, snatch the process steady, can be fine the protection copper ceramic substrate, the structure is simpler simultaneously, grabbing device that the cost is lower.

In order to achieve the above purpose, the utility model provides a following technical scheme: a gripping device comprises a vertical driving cylinder and a base; the base is horizontally arranged; the upper surface of the base is used for placing a carrier plate; the left side and the right side of the base are respectively provided with a first positioning block with a positioning hole; the vertical driving cylinder is vertically arranged; a grabbing component is arranged right above the base; the vertical driving cylinder can drive the grabbing assembly to vertically move up and down; the left side and the right side of the bottom of the grabbing component are respectively provided with a positioning pin; the front side and the rear side of the grabbing component are respectively provided with a second positioning block; the grabbing component also comprises a clamping device; when the vertical driving cylinder drives the grabbing assembly to move downwards, the positioning pins are inserted into the corresponding positioning holes in the first positioning block, and meanwhile, the second positioning block is used for positioning the grabbing assembly forwards and backwards, the clamping device can realize accurate clamping of the carrier plate.

Preferably, the gripping device further comprises a cylinder fixing plate; the upper surface of the first positioning block is also provided with a positioning hole; the driving shaft end of the vertical driving cylinder is fixedly arranged on the cylinder fixing plate; the cylinder fixing plate is positioned right above the base; a grabbing component is fixedly arranged below the cylinder fixing plate; the lower part of the grabbing component is provided with a lower connecting plate, and the left side and the right side of the bottom of the lower connecting plate are respectively provided with a positioning pin; the positioning pin corresponds to a positioning hole in a first positioning block arranged on the base and is used for realizing left and right positioning of the grabbing component; when the second positioning block corresponds to the front end part and the rear end part of the carrier plate arranged on the base, the front and the rear positioning of the grabbing component can be realized.

Preferably, the lower connecting plate is provided with an upper connecting plate, and the upper connecting plate is provided with a clamping device; the clamping device comprises a horizontal driving cylinder; the horizontal driving cylinder is horizontally arranged on the upper connecting plate; a first rotating shaft is vertically arranged at the driving shaft end of the horizontal driving cylinder; both sides of the first rotating shaft are respectively and rotatably connected with a cylinder connecting plate; the outer end part of the cylinder connecting plate is respectively connected with a second rotating shaft which is vertically arranged; the second rotating shafts are respectively connected with the bridge connecting plate; clamping claws are respectively arranged below the bridge connecting plate; when the horizontal driving cylinder drives the shaft end to extend out, the first rotating shaft is ejected out, the driving cylinder connecting plate rotates, and meanwhile, the distance between the clamping jaws below the bridge connecting plate is reduced, so that the support plate is clamped.

Preferably, the lower connecting plate is provided with an upper connecting plate, and the upper connecting plate is provided with a clamping device; the clamping device comprises a horizontal driving air cylinder; the horizontal driving cylinder is horizontally arranged on the upper connecting plate; a first rotating shaft is vertically arranged at the driving shaft end of the horizontal driving cylinder; both sides of the first rotating shaft are respectively and rotatably connected with a cylinder connecting plate; the outer end part of the cylinder connecting plate is respectively connected with a second rotating shaft which is vertically arranged; the second rotating shafts are respectively and rotatably connected with the front end connecting blocks; the front end connecting block is connected with a middle connecting block; the outer end part of the middle connecting block is fixedly arranged on the bridge connecting plate; clamping claws are respectively arranged below the bridge connecting plate; when the horizontal driving cylinder drives the shaft end to extend out, the first rotating shaft is ejected out, the driving cylinder connecting plate rotates, and meanwhile, the distance between the clamping jaws below the bridge connecting plate is reduced, so that the support plate is clamped.

Preferably, a sensor is arranged on the upper connecting plate; a contact shaft is arranged on the upper connecting plate; a spring is arranged between the contact shaft and the lower surface of the upper connecting plate; the contact shaft penetrates through the upper connecting plate, and a connecting block is arranged above the contact shaft; the connecting block is arranged corresponding to the sensor and is used for triggering the corresponding sensor; the contact shaft penetrates through the lower connecting plate, when the contact shaft contacts the carrier plate or the base, the contact shaft is extruded to move upwards relatively, the connecting block is jacked up by the contact shaft, and when the connecting block is located at a set position, the sensor is triggered; after the sensor is triggered, the horizontal driving cylinder starts to work.

Preferably, a U-shaped hole is formed in the front end connecting block, and the front end connecting block is connected with the middle connecting block through the U-shaped hole.

Preferably, two sides of the bottom of the lower connecting plate are respectively provided with a guide rail; the sliding blocks are correspondingly arranged on the guide rails; the sliding block is correspondingly and fixedly connected with the clamping jaws so that the clamping jaws can slide along the guide rail;

preferably, be provided with the hydraulic buffer on the upper junction plate, when the crane span structure connecting plate moves inwards, earlier with the contact of hydraulic buffer, the hydraulic buffer is used for buffering the jack catch, avoids the jack catch to damage the support plate.

Preferably, the left side and the right side of the carrier plate are respectively provided with a rectangular hole corresponding to the clamping jaw, so that the clamping jaw can enter and clamp the carrier plate.

Compared with the prior art, the utility model provides a grabbing device possesses following beneficial effect:

the gripping assembly in the gripping device of the utility model can adjust the working size according to the length and width of the carrier plate, is suitable for carrier plates with different length and width, and has wide applicability; when the device works, the positioning pin at the bottom of the grabbing component is matched with the corresponding positioning hole of the first positioning block, so that the grabbing component is positioned left and right, the grabbing component cannot be deviated due to the influence of the vibration of the air cylinder, and meanwhile, the second positioning block is used for positioning the carrier plate front and back, so that the positioning precision is high, and the structure is stable; after the positioning is finished, the clamping jaws of the clamping device retract into the rectangular holes on the carrier plate and clamp the carrier plate tightly; meanwhile, due to the arrangement of the oil buffer, the inward retracting force of the clamping jaws cannot be too large, the grabbing process is stable, and the whole grabbing process is not in direct contact with the copper ceramic substrate, so that the copper ceramic substrate is well protected; compared with an industrial robot, the device has the advantages of simpler structure and lower cost.

Drawings

The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and do not constitute a limitation on the invention, and in the drawings:

fig. 1 is a schematic view of a main structure of the gripping device of the present invention;

fig. 2 is an enlarged view of a schematic structure of a grabbing component in the grabbing device of the present invention;

fig. 3 is a schematic enlarged view of the bottom of the grabbing component of the grabbing device of the present invention;

fig. 4 is an enlarged top view of the grabbing assembly in the grabbing device according to the present invention in an initial working state;

fig. 5 is an enlarged top view of the grasping assembly in the grasping device according to the present invention in the grasping operation state;

fig. 6 is an enlarged schematic view of a connection structure of a middle connection block and a front end connection block in the gripping device of the present invention;

fig. 7 is an enlarged view of the connection structure between the bridge connecting plate and the clamping jaws of the grabbing device of the present invention;

in FIGS. 1-7, the list of structures represented by each reference numeral is as follows:

1. a vertical driving cylinder; 2. a cylinder fixing plate; 3. grabbing the assembly; 4. a carrier plate; 5. a base; 6. a ceramic substrate; 301. an upper connecting plate; 302. a lower connecting plate; 303. horizontally driving the cylinder; 304. a bridge connecting plate; 305. a jaw; 306. a middle connecting block; 307. a front end connecting block; 308. a hydraulic shock absorber; 309. a first rotating shaft; 310. a cylinder connecting plate; 311. a second rotating shaft; 312. a contact shaft; 313. a spring; 314. connecting blocks; 315. a sensor; 316. a guide rail; 317. positioning pins; 318. a second positioning block; 51. a first positioning block.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments; based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

As shown in fig. 1-7, the utility model provides a technical solution: a gripping device comprises a vertical driving cylinder 1, a cylinder fixing plate 2 and a base 5; the base 5 is horizontally arranged; the upper surface of the base 5 is used for arranging a carrier plate 4; the carrier plate 4 is used for placing a copper ceramic substrate 6; the left side and the right side of the base 5 are respectively provided with a first positioning block 51; a positioning hole (not marked) is also arranged on the upper surface of the first positioning block 51; the first positioning blocks 51 are used for positioning the left side and the right side of the carrier plate 4; the vertical driving cylinder 1 is vertically arranged; the driving shaft end of the vertical driving cylinder 1 is fixedly arranged on the cylinder fixing plate 2; the cylinder fixing plate 2 is positioned right above the base 5; a grabbing component 3 is fixedly arranged below the cylinder fixing plate 2; a lower connecting plate 302 is arranged at the lower part of the grabbing component 3, and positioning pins 317 are respectively arranged at the left side and the right side of the bottom of the lower connecting plate 302; the positioning pin 317 corresponds to a positioning hole on the first positioning block 51 arranged on the base 5, and is used for realizing left and right positioning of the grabbing component 3; the front side and the rear side of the grabbing component 3 are respectively provided with a second positioning block 318 for positioning the grabbing component 3 in the front and rear directions; when the second positioning block 318 corresponds to the front and rear end portions of the carrier plate 4 disposed on the base 5, front and rear positioning of the grasping assembly 3 can be achieved; the gripping member 3 further comprises gripping means (not shown); the clamping device is used for clamping the carrier plate 4; when the vertical driving cylinder 1 drives the grabbing component 3 to move downwards, so that the positioning pin 317 is inserted into the corresponding positioning hole on the first positioning block 51, and meanwhile, the second positioning block 318 completes the front and rear positioning of the grabbing component 3, the clamping device can realize the precise clamping of the carrier plate 4.

An upper connecting plate 301 is arranged on the lower connecting plate 302, and a clamping device is arranged on the upper connecting plate 301; the clamping device comprises a horizontal driving cylinder 303; the horizontal driving cylinder 303 is horizontally arranged on the upper connecting plate 301; a first rotating shaft 309 is vertically arranged at the driving shaft end of the horizontal driving cylinder 303; both sides of the first rotating shaft 309 are respectively and rotatably connected with cylinder connecting plates 310; the outer end of the cylinder connecting plate 310 is respectively connected with a second rotating shaft 311 which is vertically arranged; when the horizontal driving cylinder 303 drives the shaft end to extend out, the first rotating shaft 309 is ejected out, and the cylinder connecting plate 310 is driven to rotate; the second rotating shafts 311 are respectively rotatably connected with the front end connecting blocks 307; a U-shaped hole (not marked) is formed in the front end connecting block 307, and the front end connecting block 307 is connected with the middle connecting block 306 through the U-shaped hole; in this embodiment, the front end connecting block 307 is disposed on the middle connecting block 306 through a U-shaped hole by a screw (not shown); after the screws are loosened, the relative position between the front end connecting block 307 and the middle connecting block 306 can be adjusted to adapt to the carrier plates 4 with different lengths; the outer end part of the middle connecting block 306 is fixedly arranged on the bridge connecting plate 304; claws 305 are respectively arranged below the bridge connecting plate 304; sensors 315 are respectively arranged at four corners of the upper connecting plate 301; the upper connecting plate 301 is provided with a contact shaft 312; a spring 313 is arranged between the contact shaft 312 and the lower surface of the upper connecting plate 301; the contact shaft 312 penetrates through the upper connecting plate 301, and a connecting block 314 is arranged above the contact shaft 312; the connecting block 314 corresponds to a sensor and is used for triggering the corresponding sensor 315; the contact shaft 312 is arranged through the lower connecting plate 302, when the contact shaft 312 contacts the carrier plate 4 or the base 5, the contact shaft 312 is pressed to move relatively upwards, the connecting block 314 is jacked up by the contact shaft 312, and when the connecting block 314 is at a set position, the sensor 315 is triggered; after the sensor 315 is triggered, the horizontal drive cylinder 303 starts to operate.

Guide rails 316 are respectively arranged on two sides of the bottom of the lower connecting plate 302; a slide block (not shown) correspondingly arranged on the guide rail 316; the sliding block is fixedly connected with the claw 305 correspondingly, so that the claw 305 can slide along the guide rail 316; rectangular holes (not shown) corresponding to the claws 305 are respectively formed in the left side and the right side of the carrier plate 4, so that the claws 305 can enter and clamp the carrier plate 4; the upper connecting plate 301 is provided with an oil buffer 308, when the bridge connecting plate 304 moves inwards, the oil buffer 308 is firstly contacted with the oil buffer 308, and the oil buffer 308 is used for buffering the clamping jaws 305 to prevent the clamping jaws 305 from damaging the carrier plate 4; when the horizontal driving cylinder 303 drives the shaft end to extend out, the cylinder connecting plate 310 rotates and drives the jaws 305 to slide inwards along the guide rails 316, and the jaws 305 are slowly clamped into the corresponding rectangular holes at two sides of the carrier plate 4 under the buffer of the hydraulic buffer 308, so that the carrier plate 4 is grabbed.

When the device works, the working size of the grabbing component 3 is adjusted according to the length and width of the carrier plate 4; then the carrier plate 4 is placed on the base 5; starting the vertical driving cylinder 1 to work, driving the grabbing component 3 to move downwards by the vertical driving cylinder 1 through the cylinder fixing plate 2, inserting the positioning pin 317 into the corresponding positioning hole on the first positioning block 51 when the vertical driving cylinder 1 descends to a certain height, so as to realize left and right positioning of the grabbing component 3, and synchronously completing front and back positioning of the carrier plate 4 by the second positioning block 318; the grabbing component 3 continues to move downwards, and after the grabbing component reaches the designated position, the claw 305 exactly corresponds to the position of the rectangular hole on the base 5; at this moment, the contact shaft 312 is squeezed by the base 5 to jack the connecting block 314 up to trigger the sensor 315, the horizontal driving cylinder 303 starts to work, the driving shaft end of the horizontal driving cylinder 303 extends out to drive the clamping jaws 305 to slide inwards along the guide rails 316 to the corresponding rectangular holes to clamp the carrier plate 4, an inductive switch (not shown) is also arranged on the horizontal driving cylinder 303 and is triggered after clamping the carrier plate 4 to guide the driving shaft of the vertical driving cylinder 1 to move upwards and drive the grabbing component 3 to move upwards, so that the grabbing of the carrier plate 4 is realized.

Due to the adoption of the technical scheme, compared with the prior art, the utility model have the following advantage:

the gripping assembly 3 in the gripping device of the utility model can adjust the working size according to the length and width of the carrier plate 4, and is suitable for carrier plates 4 with different length and width, and the applicability is wide; during operation, the positioning pin 317 at the bottom of the grabbing component 3 is matched with the corresponding positioning hole of the first positioning block 51, so that the grabbing component 3 is positioned left and right, the grabbing component 3 is prevented from being deviated due to the vibration of the air cylinder, and meanwhile, the second positioning block 318 positions the carrier plate 4 front and back, so that the positioning accuracy is high and the structure is stable; after the positioning is completed, the clamping jaws 305 of the clamping device are retracted into the rectangular holes on the carrier plate 4, and the carrier plate 4 is clamped tightly; meanwhile, due to the arrangement of the oil buffer 308, the inward retracting force of the claw 305 is not too large, the grabbing process is stable, and the claw does not directly contact the copper ceramic substrate 6 in the whole grabbing process, so that the copper ceramic substrate 6 is well protected; compared with an industrial robot, the device has the advantages of simpler structure and lower cost.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A gripping device, characterized by: comprises a vertical driving cylinder and a base; the base is horizontally arranged; the upper surface of the base is used for placing a carrier plate; the left side and the right side of the base are respectively provided with a first positioning block with a positioning hole; the vertical driving cylinder is vertically arranged; a grabbing component is arranged right above the base; the vertical driving cylinder can drive the grabbing assembly to vertically move up and down; the left side and the right side of the bottom of the grabbing component are respectively provided with a positioning pin; the front side and the rear side of the grabbing component are respectively provided with a second positioning block; the grabbing component also comprises a clamping device; when the vertical driving cylinder drives the grabbing assembly to move downwards, the positioning pins are inserted into the corresponding positioning holes in the first positioning block, and meanwhile, the second positioning block is used for positioning the grabbing assembly forwards and backwards, the clamping device can realize accurate clamping of the carrier plate.

2. The grasping apparatus according to claim 1, wherein: also comprises a cylinder fixing plate; the upper surface of the first positioning block is also provided with a positioning hole; the driving shaft end of the vertical driving cylinder is fixedly arranged on the cylinder fixing plate; the cylinder fixing plate is positioned right above the base; a grabbing component is fixedly arranged below the cylinder fixing plate; the lower part of the grabbing component is provided with a lower connecting plate, and the left side and the right side of the bottom of the lower connecting plate are respectively provided with a positioning pin; the positioning pin corresponds to a positioning hole in a first positioning block arranged on the base and is used for realizing left and right positioning of the grabbing component; when the second positioning block corresponds to the front end part and the rear end part of the carrier plate arranged on the base, the front and the rear positioning of the grabbing component can be realized.

3. The grasping apparatus according to claim 2, wherein: an upper connecting plate is arranged on the lower connecting plate, and a clamping device is arranged on the upper connecting plate; the clamping device comprises a horizontal driving air cylinder; the horizontal driving cylinder is horizontally arranged on the upper connecting plate; a first rotating shaft is vertically arranged at the driving shaft end of the horizontal driving cylinder; both sides of the first rotating shaft are respectively and rotatably connected with a cylinder connecting plate; the outer end part of the cylinder connecting plate is respectively connected with a second rotating shaft which is vertically arranged; the second rotating shafts are respectively connected with the bridge connecting plate; clamping claws are respectively arranged below the bridge connecting plate; when the horizontal driving cylinder drives the shaft end to extend out, the first rotating shaft is ejected out, the driving cylinder connecting plate rotates, and meanwhile, the distance between the clamping jaws below the bridge connecting plate is reduced, so that the support plate is clamped.

4. The grasping apparatus according to claim 2, wherein: an upper connecting plate is arranged on the lower connecting plate, and a clamping device is arranged on the upper connecting plate; the clamping device comprises a horizontal driving air cylinder; the horizontal driving cylinder is horizontally arranged on the upper connecting plate; a first rotating shaft is vertically arranged at the driving shaft end of the horizontal driving cylinder; both sides of the first rotating shaft are respectively and rotatably connected with a cylinder connecting plate; the outer end part of the cylinder connecting plate is respectively connected with a second rotating shaft which is vertically arranged; the second rotating shafts are respectively and rotatably connected with the front end connecting blocks; the front end connecting block is connected with a middle connecting block; the outer end part of the middle connecting block is fixedly arranged on the bridge connecting plate; clamping claws are respectively arranged below the bridge connecting plate; when the horizontal driving cylinder drives the shaft end to extend out, the first rotating shaft is ejected out, the driving cylinder connecting plate rotates, and meanwhile, the distance between the clamping jaws below the bridge connecting plate is reduced, so that the support plate is clamped.

5. The grasping apparatus according to claim 3 or 4, wherein: a sensor is arranged on the upper connecting plate; a contact shaft is arranged on the upper connecting plate; a spring is arranged between the contact shaft and the lower surface of the upper connecting plate; the contact shaft penetrates through the upper connecting plate, and a connecting block is arranged above the contact shaft; the connecting block is arranged corresponding to the sensor and used for triggering the corresponding sensor; the contact shaft penetrates through the lower connecting plate, when the contact shaft contacts the carrier plate or the base, the contact shaft is extruded to move upwards relatively, the connecting block is jacked up by the contact shaft, and when the connecting block is located at a set position, the sensor is triggered; and after the sensor is triggered, the horizontal driving cylinder starts to work.

6. The grasping apparatus according to claim 4, wherein: the front end connecting block is provided with a U-shaped hole and is connected with the middle connecting block through the U-shaped hole.

7. The grasping apparatus according to claim 5, wherein: guide rails are respectively arranged on two sides of the bottom of the lower connecting plate; the sliding blocks are correspondingly arranged on the guide rails; the sliding block is correspondingly and fixedly connected with the clamping jaws so that the clamping jaws can slide along the guide rail.

8. The grasping apparatus according to claim 5, wherein: the upper connecting plate is provided with an oil buffer, when the bridge connecting plate moves inwards, the bridge connecting plate is firstly contacted with the oil buffer, and the oil buffer is used for buffering the clamping jaws to avoid the clamping jaws from damaging the carrier plate.

9. The grasping apparatus according to claim 5, wherein: the left side and the right side of the support plate are respectively provided with a rectangular hole corresponding to the clamping jaw, so that the clamping jaw can enter and clamp the support plate.