Grabbing device and grabbing method

The invention relates to a grabbing device and a grabbing method. The grabbing device comprises a reference clamping jaw, an auxiliary clamping jaw and a driving mechanism, the reference clamping jaw is provided with a first supporting part and a second supporting part in the first direction, the first supporting part and the second supporting part are used for abutting against the outer wall of the end, in the second direction, of a product, and the second direction is perpendicular to the first direction; a third supporting part is arranged on the side, close to the reference clamping jaw, of the auxiliary clamping jaw, the third supporting part is used for abutting against the outer wall of the other end, in the second direction, of the product, and the third supporting part is located on the perpendicular bisector of the connecting line of the first supporting part and the second supporting part; the driving mechanism drives the reference clamping jaw and the auxiliary clamping jaw to be close to or away