CN218931010U

CN218931010U - Grabbing mechanism and conveying device

Info

Publication number: CN218931010U
Application number: CN202223144133.5U
Authority: CN
Inventors: 伍亮; 师金诚; 邵叶青; 秦士猛
Original assignee: Luxcase Precision Technology Yancheng Co Ltd
Current assignee: Luxcase Precision Technology Yancheng Co Ltd
Priority date: 2022-11-25
Filing date: 2022-11-25
Publication date: 2023-04-28
Anticipated expiration: 2032-11-25

Abstract

The utility model belongs to the technical field of product transportation, and discloses a grabbing mechanism and a carrying device. The grabbing mechanism comprises: the lifting device comprises a mounting seat, a lifting driving piece, a connecting plate, a rotating shaft, a clamping assembly and a driving assembly. The lifting driving piece is arranged on the mounting seat; the connecting plate is arranged at the output end of the lifting driving piece; the rotating shaft is rotationally connected with the connecting plate and is used for corresponding to the middle position of the product; the clamping assembly is arranged on the connecting plate and provided with a first side and a second side which are opposite to each other, and a clamping cavity with adjustable size for clamping a product is formed between the first side and the second side; the driving component is arranged on the connecting plate and is respectively connected with the rotating shaft and the clamping component, and the driving component is used for driving the first side to move and driving the second side to synchronously move through the rotating shaft so as to adjust the size of the clamping cavity. Therefore, contact points on two sides of the product can be symmetrical with the rotating shaft as a center, the product is ensured to be stressed uniformly in the clamping process, and the stability of the product in the clamping process is effectively improved.

Description

Grabbing mechanism and conveying device

Technical Field

The utility model relates to the technical field of product transportation, in particular to a grabbing mechanism and a carrying device.

Background

The notebook shell tray is a bearing piece for bearing the notebook shell, is mainly used for transferring the notebook shell in the production process, plays a role in protecting the notebook shell, and avoids the collision of the notebook shell. And special gripping equipment is required for carrying and gripping the pallet.

In the prior art, grabbing equipment includes two relative adjusting arms that set up, is provided with corresponding adsorption piece or clamping piece on the adjusting arm, and two adjusting arms then fix respectively on two belts, rotate through motor drive two belts to drive two adjusting arms and be close to or keep away from each other, so that two adsorption pieces or clamping piece are close to or keep away from each other, realize grabbing the product.

But before the device snatchs the product, when the tray is arranged in between two adjusting arms, the interval of both sides absorption piece or clamping piece and tray is difficult to judge for when pressing from both sides tight tray, the motion distance of both sides absorption piece or clamping piece is different, leads to both sides absorption piece or clamping piece and the contact position asymmetry of both sides of tray, causes the tray to press from both sides the atress inhomogeneous in getting the in-process, and the stability of tray will become worse in the handling.

Disclosure of Invention

The utility model aims to provide a grabbing mechanism and a carrying device, which solve the problems that in the prior art, when a pallet is grabbed, the contact positions of adsorption pieces or clamping pieces on two sides and two sides of the pallet are asymmetric, so that the stress of the pallet is uneven, and the stability of the pallet in the clamping and carrying processes is reduced.

To achieve the purpose, the utility model adopts the following technical scheme:

a grasping mechanism, comprising: the lifting device comprises a mounting seat, a lifting driving piece, a connecting plate, a rotating shaft, a clamping assembly and a driving assembly. The mounting seat is used for being connected with the carrying device; the lifting driving piece is arranged on the mounting seat; the connecting plate is arranged at the output end of the lifting driving piece; the rotating shaft is rotationally connected with the connecting plate and is used for corresponding to the middle position of the product; the clamping assembly is arranged on the connecting plate and provided with a first side and a second side which are opposite to each other, and a clamping cavity with adjustable size for clamping the product is formed between the first side and the second side; the driving assembly is arranged on the connecting plate and is respectively connected with the rotating shaft and the clamping assembly, and the driving assembly is used for driving the first side to move and driving the second side to synchronously move through the rotating shaft so as to adjust the size of the clamping cavity.

Optionally, the driving assembly includes: the opening and closing driving piece is arranged on the connecting plate and connected with the first side so as to drive the first side to be close to or far away from the rotating shaft; the first connecting rod is respectively connected with the first side and the rotating shaft so as to drive the rotating shaft to rotate along with the movement of the first side; and the second connecting rod is respectively connected with the rotating shaft and the second side so as to drive the second side and the first side to synchronously move along with the rotation of the rotating shaft.

Optionally, the driving assembly further comprises: the first rotating head is rotationally connected to one side of the rotating shaft and is connected with the first connecting rod; and the second rotating head is rotationally connected to the other side of the rotating shaft and is connected with the second connecting rod.

Optionally, the driving assembly further comprises: the first connector is arranged on the first side and is connected with the first connecting rod; and a second joint arranged at the second side and connected with the second connecting rod.

Optionally, the opening and closing driving piece is a driving air cylinder, a cylinder body of the driving air cylinder is rotationally connected to the connecting plate, and a piston rod of the driving air cylinder is connected with the first side.

Optionally, the clamping assembly includes: the clamping and embracing plates are arranged oppositely, the clamping and embracing plates are connected with the connecting plate in a sliding mode, one clamping and embracing plate is connected with the first connecting rod, the other clamping and embracing plate is connected with the second connecting rod, each clamping and embracing plate is provided with a embracing claw, the embracing claw extends towards the rotating shaft, and the connecting plate, the two clamping and embracing plates and the embracing claw enclose out the clamping and embracing cavity.

Optionally, at least two holding claws are arranged on each clamping and holding connecting plate at intervals.

Optionally, an inclined plane is arranged on one side of the holding claw, which is close to the rotating shaft.

Optionally, each clamping and embracing connecting plate is provided with a sliding plate in sliding connection with the connecting plate.

A handling device, comprising: a frame; and a gripping mechanism according to any one of the above, provided to the frame.

The utility model has the beneficial effects that:

through setting up the pivot, correspond the middle part position of pivot and tray to make press from both sides first side and the second side of embracing the subassembly and the both sides interval of product the same respectively. Then in the process of clamping and holding the product, the first side and the second side are driven by the driving component to move, the clamping and holding cavity is enlarged, the connecting plate is driven by the lifting driving component to move downwards, the product enters the clamping and holding cavity, the clamping and holding cavity is reduced by the driving component, and the first side and the second side of the clamping and holding component are simultaneously contacted with two sides of the product. Therefore, contact points on two sides of the product can be symmetrical with the rotating shaft as a center, the product is ensured to be stressed uniformly in the clamping process, and the stability of the product in the clamping process is effectively improved.

This handling device is when snatching the product, snatchs the both sides that the mechanism can snatch the product simultaneously, and the contact position of product both sides is bilateral symmetry for the product atress is even in snatching the in-process, is favorable to the product to remain stable in handling.

Drawings

Fig. 1 is a schematic structural view of a gripping mechanism according to some embodiments of the present utility model.

Fig. 2 is a top view of a gripping mechanism in some embodiments of the utility model.

Fig. 3 is a cross-sectional view of a grasping mechanism in some embodiments of the utility model.

Fig. 4 is a front view of a gripping mechanism in some embodiments of the utility model.

In the figure:

100. a mounting base; 200. a lifting driving member; 300. a connecting plate; 310. a rotating rod; 320. an ear seat; 400. a rotating shaft; 410. a shaft sleeve; 420. a bearing seat; 421. a flange plate; 430. a rod; 440. rotating the mandrel; 500. a clamping assembly; 501. clamping and holding the cavity; 502. a first side; 503. a second side; 504. a pushing block; 510. clamping and holding the connecting plate; 520. holding claws; 521. an inclined plane; 530. a slide plate; 600. a drive assembly; 610. an opening and closing driving member; 620. a first link; 630. a second link; 650. a first rotating head; 660. a second rotary head; 670. a first joint; 680. and a second joint.

Detailed Description

The utility model is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the utility model and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present utility model are shown in the drawings.

In the description of the present utility model, unless explicitly stated and limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

In the present utility model, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "right", etc. orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are merely for convenience of description and simplicity of operation, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the utility model. Furthermore, the terms "first," "second," and the like, are used merely for distinguishing between descriptions and not for distinguishing between them.

The utility model provides a grabbing mechanism and a carrying device.

Fig. 1 is a schematic structural view of a gripping mechanism according to some embodiments of the present utility model. Referring to fig. 1, a grasping mechanism includes: mount 100, lift drive 200, connection plate 300, spindle 400, clamp assembly 500, and drive assembly 600. The mounting seat 100 is used for being connected with a carrying device; the lifting driving piece 200 is arranged on the mounting seat 100; the connecting plate 300 is arranged at the output end of the lifting driving piece 200; the rotating shaft 400 is rotatably connected to the connecting plate 300 and is used for corresponding to the middle position of the product; the clamping assembly 500 is disposed on the connecting plate 300 and has a first side 502 and a second side 503 opposite to each other, and an adjustable clamping cavity 501 is formed between the first side 502 and the second side 503 for clamping a product; the driving assembly 600 is disposed on the connecting plate 300 and connected to the rotating shaft 400 and the clamping assembly 500, and the driving assembly 600 is configured to drive the first side 502 to move and drive the second side 503 to move synchronously through the rotating shaft 400, so as to adjust the size of the clamping cavity 501.

Specifically, the mounting seat 100 may include a cross plate and a vertical plate distributed in an L shape, and the cross plate and the vertical plate may be fixed by bolts or welding, etc., and the connection strength of the two may be reinforced by a triangular reinforcing bar. The transverse plate is used for being fixedly connected with the carrying device in a threaded connection mode and the like. The riser is used to mount the lift drive 200.

The lifting driving member 200 may be a cylinder, the cylinder body of which is fixed to the vertical plate by bolts, and the piston rod of which may be protruded downward. And the connection plate 300 is fixed to the piston rod by a fastener such as a bolt. The lifting driving member 200 may also have other structures, such as a motor and a transmission mechanism such as a screw, etc., and may be specifically designed according to practical application environments, which is not limited by the present utility model.

Fig. 2 is a top view of a gripping mechanism in some embodiments of the utility model. Referring to fig. 2, the connection plate 300 may have a long strip shape, and a position near the middle and the side thereof is connected to the output end of the elevation driving member 200. The connecting plate 300 may be provided with a hollow to reduce the overall weight. The rotation shaft 400 is rotatably coupled to the connection plate 300 at a central position so as to correspond to a central position of the workpiece. The clamping assembly 500 may include left and right two-part structures, both of which are slidably coupled to the connection plate 300. In the present embodiment, the left side structure is the first side 502, and the right side structure is the second side 503.

The driving assembly 600 may employ an air cylinder as a power source, which is disposed on a top wall of the connection plate 300, the first side 502 is connected with a piston rod of the air cylinder, and the driving assembly 600 may further include a link assembly, which is connected with the first side 502, the rotation shaft 400, and the second side 503, respectively, so that the first side 502 and the second side 503 can move synchronously.

In the embodiment of the utility model, the product is a notebook computer shell tray, when the product is grabbed, the rotary shaft 400 corresponds to the middle position of the product, the first side 502 and the second side 503 are driven to move by the driving component 600, the clamping cavity 501 is enlarged, and the first side 502 and the second side 503 of the clamping component 500 are kept at the same interval with the two sides of the product respectively.

When clamping the product, the lifting driving piece 200 drives the connecting plate 300 to move downwards, so that the product enters the clamping cavity 501, the clamping cavity 501 is reduced by the driving assembly 600, and the first side 502 and the second side 503 of the clamping assembly 500 are simultaneously contacted with two sides of the product. Therefore, the moving distance of the first side 502 and the second side 503 in the clamping process is the same, and the contact points of the first side and the second side and the two sides of the product can be symmetrical with the rotating shaft 400 as the center, so that the uniform stress of the product in the clamping process is ensured, and the stability of the product in the clamping process is effectively improved.

Fig. 3 is a cross-sectional view of a grasping mechanism in some embodiments of the utility model. Referring to fig. 3, in some embodiments of the present utility model, a rotating rod 310 is fixedly provided at a central position of the connection plate 300. And the rotation shaft 400 includes a shaft housing 410, a bearing housing 420, and a plunger 430. The insert rod 430 is rotatably coupled to the bottom end of the rotating rod 310 by a bearing, which may be a deep groove ball bearing. The shaft sleeves 410 are sleeved on the inserted bars 430, and two shaft sleeves 410 can be arranged, and the two shaft sleeves 410 are isolated by the rotary mandrel 440. The bearing seat 420 is sleeved outside the shaft sleeve 410, the lower end surface of the bearing seat 420 is provided with a flange 421, and the flange 421 is respectively connected with the first side 502 and the second side 503 of the clamping assembly 500 through the driving assembly 600.

Fig. 4 is a front view of a gripping mechanism in some embodiments of the utility model. Referring to fig. 1 and 4, in some embodiments of the present utility model, a driving assembly 600 includes an opening and closing driving member 610, a first link 620, and a second link 630. The opening and closing driving member 610 is disposed on the connecting plate 300 and connected to the first side 502, so as to drive the first side 502 to approach or separate from the rotating shaft 400. The first connecting rod 620 is connected to the first side 502 and the rotating shaft 400, respectively, so as to drive the rotating shaft 400 to rotate along with the movement of the first side 502. The second connecting rod 630 is connected to the rotating shaft 400 and the second side 503, so as to drive the second side 503 and the first side 502 to move synchronously along with the rotation of the rotating shaft 400.

Specifically, the opening and closing driving member 610 is a driving cylinder, a cylinder body of the driving cylinder is rotatably connected to the connecting plate 300, and a piston rod of the driving cylinder is connected to the first side 502. An ear seat 320 can be fixed on the connecting plate 300 through bolts, and the ear seat 320 and the lifting driving member 200 are respectively positioned at the front side and the rear side of the rotating shaft 400. The ear mount 320 is provided with a pin shaft, and the end of the cylinder body of the driving cylinder is rotatably connected to the pin shaft.

The piston rod of the driving cylinder extends towards the first side 502, and a push block 504 may be fixedly disposed on the first side 502 of the clamping assembly 500, where the push block 504 has a strip shape and the top end passes through the connecting plate 300. The piston rod of the driving cylinder is fixedly connected with the push block 504.

One end of the first link 620 is connected to the first side 502, the other end is rotatably connected to the front side of the flange 421, one end of the second link 630 is connected to the second side 503, and the other end is rotatably connected to the rear side of the flange 421. Thus, when the opening and closing driving member 610 drives the first side 502 to move toward a side far from the rotation shaft 400, the first side 502 synchronously drives the first link 620 to move, the first link 620 pulls the rotation shaft 400 to rotate, the rotation shaft 400 drives the second link 630 to rotate, and the second link 630 pushes the second side 503 to move toward a side far from the rotation shaft 400. The distance moved by the second side 503 and the first side 502 is always consistent, so that the first side 502 and the second side 503 can hold two sides of the product at the same time.

Referring to fig. 1 and 4, in some embodiments of the present utility model, the driving assembly 600 further includes a first rotating head 650, a second rotating head 660, a first joint 670, and a second joint 680. The first rotating head 650 is rotatably coupled to one side of the rotating shaft 400 and coupled to the first link 620. The second rotating head 660 is rotatably coupled to the other side of the rotation shaft 400 and coupled to the second link 630. The first joint 670 is disposed on the first side 502 and coupled to the first link 620. A second joint 680 is disposed on the second side 503 and is coupled to the second link 630.

Specifically, the first rotating head 650 is located at the front side of the flange 421, and the end wall of the first link 620 is inserted into the first rotating head 650 and fixedly coupled thereto by a fastener such as a latch. The second rotating head 660 is located at the rear side of the flange 421 and is distributed along the radial direction of the flange 421 with the first rotating head 650. The end wall of the second link 630 may be inserted into the second rotating head 660 and fixedly coupled thereto by a fastener such as a latch.

The first joint 670 may be located at a middle position of the first side 502, opposite the rotation shaft 400. The first joint 670 is fixedly connected to an end of the first connecting rod 620 away from the first rotating head 650, where the fixing manner may be welding or interference fit. The second connector 680 is disposed in the same manner as the first connector 670, and will not be described herein.

When the first side 502 moves, the first side 502 pulls the first link 620 to move through the first joint 670, the first link 620 pulls the flange 421 to rotate through the first rotating head 650, so as to drive the second rotating head 660 to move, the second rotating head 660 pushes the second link 630 to move, and the second link 630 can push the second side 503 to move.

The first rotating head 650 and the second rotating head 660 are disposed along the radial direction of the flange 421, so that the first connecting rod 620 and the second connecting rod 630 can be in a state of maximum travel, that is, the first side 502 and the second side 503 can be moved for maximum travel to adapt to products with different sizes. The travel depends on the radius of the flange 421, and the radius of the flange 421 can be designed according to the product to be clamped, which is not limited by the present utility model.

Referring to fig. 4, in some embodiments of the utility model, the clamping assembly 500 includes two oppositely disposed clamping plates 510. The clamping and embracing plates 510 are slidably connected to the connecting plate 300, one of the clamping and embracing plates 510 is connected to the first connecting rod 620, the other clamping and embracing plate 510 is connected to the second connecting rod 630, each clamping and embracing plate 510 is provided with a embracing claw 520, the embracing claw 520 extends towards the rotating shaft 400, and the connecting plate 300, the two clamping and embracing plates 510 and the embracing claw 520 enclose a clamping and embracing cavity 501.

Specifically, the two clamping and embracing plates 510 are distributed at intervals along the length direction of the connecting plate 300, that is, the two clamping and embracing plates 510 on the left side are set as a first side 502, and the clamping and embracing plate 510 on the right side is set as a second side 503. The clamping and embracing plate 510 is arranged along the vertical direction, the top wall of the clamping and embracing plate is slidably connected with the bottom wall of the connecting plate 300, the sliding connection can be realized through the cooperation of slide blocks and slide rails, and the clamping and embracing plate can also be realized through a slide block and slide groove mode, and the clamping and embracing plate can be specifically designed according to practical application scenes. The holding claw 520 is located at the bottom wall of the clamping and holding plate 510 and extends into the clamping and holding cavity 501, and the top wall of the holding claw 520 corresponds to the bottom wall of the connecting plate 300.

After the workpiece enters the clamping cavity 501, the driving assembly 600 drives the two clamping and embracing plates 510 to approach each other, so that the embracing claws 520 on the two clamping and embracing plates 510 can simultaneously contact with two sides of a product, and the product can be clamped and embraced in the clamping cavity 501 smoothly.

Referring to fig. 1, in some embodiments of the present utility model, at least two clasps 520 are spaced apart from each other on each clamping plate 510. The holding pawl 520 is provided with an inclined surface 521 on a side close to the rotating shaft 400. Specifically, two holding claws 520 may be disposed on each clamping and holding plate 510, and the two holding claws 520 are respectively located at the front and rear sides of the clamping and holding plate 510. Three holding claws 520 or other numbers of holding claws 520 may be further disposed on each clamping and holding plate 510, and the number of specific holding claws 520 may be adjusted according to the size of the clamping and holding plate 510, which is not limited by the present utility model.

The inclined surface 521 is located on the side of the holding claw 520 near the rotating shaft 400, and when the holding claw 520 contacts with a product, the inclined surface 521 can play a certain guiding role, so that the product can slide into the top wall of the holding claw 520 through the inclined surface 521.

Referring to fig. 4, in some embodiments of the present utility model, each clamping plate 510 is provided with a sliding plate 530 slidably coupled to the connection plate 300. Specifically, the sliding plate 530 is disposed opposite to the connecting plate 300, a sliding block is disposed on a top wall of the sliding plate 530, and a sliding rail slidably engaged with the sliding block may be disposed on a bottom wall of the connecting plate 300. The first joint 670 and the second joint 680 may be disposed on the sled 530 and the pusher 504 may also be secured to the sled 530 on the first side 502.

Through the setting of slide 530, can increase and press from both sides the area of contact of embracing and linking plate 510 and connecting plate 300 to improve the joint strength who presss from both sides embracing and linking plate 510 and connecting plate 300, just also can improve the installation stability who presss from both sides embracing and linking plate 510, ensure that it can not skew at the slip process.

The handling device comprises a frame and a gripping mechanism as defined in any one of the above. The grabbing mechanism is arranged on the frame.

It is to be understood that the above examples of the present utility model are provided for clarity of illustration only and are not limiting of the embodiments of the present utility model. Various obvious changes, rearrangements and substitutions can be made by those skilled in the art without departing from the scope of the utility model. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the utility model are desired to be protected by the following claims.

Claims

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

a mounting base (100) for connecting with the carrying device;

a lifting drive member (200) provided on the mounting base (100);

the connecting plate (300) is arranged at the output end of the lifting driving piece (200);

a rotating shaft (400) rotatably connected to the connecting plate (300) and adapted to correspond to a central position of the product;

a clamping assembly (500) disposed on the connecting plate (300) and having opposite first (502) and second (503) sides, the first (502) and second (503) sides forming an adjustable sized clamping cavity (501) therebetween for clamping the product; and

the driving assembly (600) is arranged on the connecting plate (300) and is respectively connected with the rotating shaft (400) and the clamping assembly (500), and the driving assembly (600) is used for driving the first side (502) to move and driving the second side (503) to synchronously move through the rotating shaft (400) so as to adjust the size of the clamping cavity (501).

2. The grasping mechanism according to claim 1, wherein the driving assembly (600) includes:

the opening and closing driving piece (610) is arranged on the connecting plate (300) and connected with the first side (502) so as to drive the first side (502) to be close to or far away from the rotating shaft (400);

the first connecting rod (620) is respectively connected with the first side (502) and the rotating shaft (400) so as to drive the rotating shaft (400) to rotate along with the movement of the first side (502); and

the second connecting rod (630) is respectively connected with the rotating shaft (400) and the second side (503) so as to drive the second side (503) to synchronously move with the first side (502) along with the rotation of the rotating shaft (400).

3. The grasping mechanism according to claim 2, wherein the driving assembly (600) further includes:

a first rotating head (650) rotatably connected to one side of the rotating shaft (400) and connected to the first link (620); and

and a second rotating head (660) rotatably connected to the other side of the rotating shaft (400) and connected to the second link (630).

4. The grasping mechanism according to claim 2, wherein the driving assembly (600) further includes:

a first joint (670) disposed on the first side (502) and connected to the first link (620); and

and a second joint (680) provided on the second side (503) and connected to the second link (630).

5. The grabbing mechanism as claimed in claim 2, wherein the opening and closing driving member (610) is a driving cylinder, the cylinder body of the driving cylinder is rotatably connected to the connecting plate (300), and the piston rod of the driving cylinder is connected to the first side (502).

6. The gripping mechanism of any one of claims 2 to 5, wherein the clamping assembly (500) comprises:

two opposite clamping and embracing plates (510), wherein the clamping and embracing plates (510) are connected with the connecting plate (300) in a sliding manner, one clamping and embracing plate (510) is connected with the first connecting rod (620), the other clamping and embracing plate (510) is connected with the second connecting rod (630), each clamping and embracing plate (510) is provided with a embracing claw (520), each embracing claw (520) extends towards the rotating shaft (400), and the connecting plate (300), the two clamping and embracing plates (510) and the embracing claws (520) enclose out the clamping and embracing cavity (501).

7. The grabbing mechanism as claimed in claim 6, wherein at least two of the clasps (520) are spaced apart from each other on each of the clasping plates (510).

8. The grabbing mechanism as claimed in claim 6, wherein the side of the clasping jaw (520) adjacent to the rotational shaft (400) is provided with a bevel (521).

9. The grabbing mechanism as claimed in claim 6, wherein each clamping and embracing plate (510) is provided with a slide plate (530) in sliding connection with the connecting plate (300).

10. A handling device, the handling device comprising:

a frame; and

the gripping mechanism of any one of claims 1 to 9, provided to the frame.