A mechanical claw

Abstract

The application discloses a mechanical claw. The mechanical claw comprises a clamping claw assembly, a first clamping claw and a second clamping claw being hingedly connected, and a cutting limiting piece fixedly connected to the first clamping claw. When the clamping claw assembly is in a closed state, a cutting space for accommodating an object to be cut is formed between the outside of the second clamping claw and the cutting limiting piece. During the opening process of the clamping claw assembly, the cutting space is gradually reduced. The object to be cut in the cutting space is cut through the dynamic cooperation of the second clamping claw and the cutting limiting piece. In the above manner, the mechanical claw provided by the application realizes the clamping and cutting functions in a compact structure design, and the clamping and cutting functions can be completed by a manipulator driven by the same driving source.

Description

Technical Field

[0001] This application relates to the field of mechanical gripper technology, and in particular to a mechanical gripper. Background Technology

[0002] In fields such as industrial automation, agricultural harvesting, and underwater robotics, robotic grippers often need to simultaneously perform the function of grasping objects. However, in real-world scenarios, the single grasping function of robotic grippers cannot meet the needs of many scenarios, such as cutting functions. Cutting functions are often achieved by other instruments, which leads to reduced operational efficiency and increases the complexity and cost of the equipment.

[0003] In existing technologies, a design of "independent clamping mechanism + independent cutting mechanism" is usually adopted. For example, the clamping module (such as gripper) and the cutting module (such as blade, scissors) are controlled by different drive sources (such as cylinder, motor). This separate structure results in a large overall size of the equipment and a large number of parts, which not only increases the manufacturing cost, but also limits its application in confined spaces (such as precision assembly lines, inside small equipment). Utility Model Content

[0004] This application provides a mechanical gripper to solve the problem that existing mechanical grippers cannot perform cutting functions.

[0005] To solve the above-mentioned technical problems, one technical solution adopted in this application is to provide a mechanical gripper. The mechanical gripper includes a gripper assembly comprising a first gripper and a second gripper hinged together. A cutting limiting component is fixedly connected to the first gripper; When the gripper assembly is in the closed state, a cutting space for accommodating the object to be cut is formed between the outer side of the second gripper and the cutting limiting member; during the opening process of the gripper assembly, the cutting space gradually shrinks; the object to be cut is cut within the cutting space through the dynamic cooperation between the second gripper and the cutting limiting member.

[0006] In some embodiments, the cutting limiting member includes a first limiting member and a second limiting member. The first limiting member and the second limiting member are fixedly connected to the first gripper and are arranged on both sides of the gripper assembly. A gap is formed between the end of the first limiting member away from the first gripper and the end of the second limiting member away from the first gripper, allowing the second gripper to pass through. The second gripper dynamically cooperates with the first limiting member and / or the second limiting member to perform cutting operations on the object to be cut located in the cutting space. In some embodiments, the first limiting member and / or the second limiting member are provided with cutting edges, and / or the outer side of the second gripper is provided with cutting edges, and the object to be cut is cut through the cutting edges.

[0007] In some embodiments, the cutting limiting member further includes a connecting portion, the two ends of which are integrally connected to the tail ends of the first limiting member and the second limiting member, respectively, and the connecting portion is fixedly connected to the first gripper. Alternatively, at least one of the first limiting member and the second limiting member is fixedly connected to the first gripper.

[0008] In some embodiments, the connecting portion is fixedly connected to the first gripper by screws; or The connecting part is provided with a slot, and the first gripper is provided with a buckle that is adapted to the slot, and the buckle engages with the slot.

[0009] In some embodiments, the slot includes a connected engaging slot and an aligning slot, and the buckle includes a stop cover and a clamping part. The clamping part is connected between the first gripper and the stop cover. The stop cover passes through the aligning slot and is laterally clamped to the engaging slot by the clamping part. The stop cover stops the engaging slot on the side opposite to the first gripper.

[0010] In some embodiments, the alignment groove is further fitted with a limiting plug, which abuts against the buckle to limit the displacement range of the buckle within the groove.

[0011] In some embodiments, the snap-fit ​​groove includes a guide section and a snap-fit ​​section distributed along the transverse direction, the snap-fit ​​portion includes a guide plate and a snap-fit ​​post, the guide plate is adapted to the guide section and inserted into the guide section, and the snap-fit ​​post is snapped into the snap-fit ​​section.

[0012] In some embodiments, the first limiting member and the second limiting member are hollowed out.

[0013] In some embodiments, the first gripper includes a first clamping portion and a first hook portion connected together, and the second gripper includes a second clamping portion and a second hook portion connected together, with the tail ends of the first clamping portion and the second clamping portion being rotatably connected together; When the gripper assembly is in the closed state, the first hook portion and the second hook portion are arranged in an overlapping manner.

[0014] The beneficial effects of this application are as follows: Unlike the prior art, this application discloses a mechanical gripper. By installing a cutting limiting member on the gripper assembly, and the cutting limiting member and the outer side of the second gripper forming a cutting space for the object to be cut to enter, the cutting limiting member can synchronously cut the object to be cut within the cutting space as the gripper assembly opens and closes. The opening and closing action of the gripper assembly synchronously drives the cutting limiting member to complete the cutting action, thereby realizing the linkage operation of clamping and cutting. This allows the same drive source to drive the robot to achieve both clamping and cutting functions, expanding the functionality of the robot and enabling it to perform both clamping and cutting functions, thus broadening the application range of the robot. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort, wherein: Figure 1 This is a schematic diagram of the structure of an embodiment of the mechanical gripper provided in this application; Figure 2 yes Figure 1 A schematic diagram of the cutting limit component and limit plug in the mechanical gripper shown; Figure 3 yes Figure 1 The diagram shows the structure of the gripper assembly in the mechanical gripper. Detailed Implementation

[0016] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0017] The terms "first," "second," and "third" used in the embodiments of this application are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first," "second," or "third" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.

[0018] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0019] This application provides a mechanical gripper 100, see reference. Figures 1 to 3 , Figure 1 This is a schematic diagram of the structure of one embodiment of the mechanical gripper provided in this application. Figure 2 yes Figure 1 The diagram shows the structure of the cutting limit component and the limit plug in the mechanical gripper. Figure 3 yes Figure 1 The diagram shows the structure of the gripper assembly in the mechanical gripper.

[0020] The mechanical gripper 100 includes a gripper assembly 10 and a cutting limiting member 20. The gripper assembly 10 includes a first gripper 11 and a second gripper 12 hinged together, which are used to cooperate with each other to grip an object. The cutting limiting member 20 includes a first limiting member 21 and a second limiting member 22, which are fixedly connected to the first gripper 11 and are located on both sides of the gripper assembly 10. A gap is formed between the end of the first limiting member 21 away from the first gripper 11 and the end of the second limiting member 22 away from the first gripper 11, allowing the second gripper 12 to pass through. When the gripper assembly 10 is in the closed state, the first limiting member 21 and the second limiting member 22, together with the outer side of the second gripper 12, form a cutting space 202 that allows the object to be cut to enter. As the gripper assembly 10 opens, the cutting space 202 gradually shrinks, and the first limiting member 21 and the second limiting member 22 can perform synchronous cutting operations on the object to be cut that enters the cutting space 202 as the gripper assembly 10 opens.

[0021] It should be noted that in other embodiments of this application, the cutting limiting member may also consist of only one limiting member, which can also cooperate with the outer side of the second gripper to perform the cutting action on the object to be cut. Furthermore, the shapes of the first limiting member and the second limiting member may be the same or different.

[0022] The cutting limit member 20 is positioned relative to the hinge end near the gripper assembly 10, thereby preventing the cutting limit member 20 from affecting the gripping function of the gripper assembly 10.

[0023] like Figure 1 As shown, when the gripper assembly 10 is in the closed state, the first limiting member 21 and the second limiting member 22 form a cutting space 202 with the outer side of the second gripper 12, allowing the object to be cut to enter. The cutting space 202 is in the open state to allow the object to be cut to enter. The object to be cut can be a cable, a rope, or a plastic tube, etc. After the object to be cut enters the cutting space 202, the gripper assembly 10 can be controlled to open. When the gripper assembly 10 changes from the closed state to the open state, the first limiting member 21 and the second limiting member 22 can cut the object to be cut that has entered the cutting space 202 synchronously as the gripper assembly 10 opens.

[0024] When the gripper assembly 10 changes from a closed state to an open state, the first limiting member 21 and the second limiting member 22 move with the first gripper 11 due to the opening action of the gripper assembly 10, and generate relative movement with respect to the second gripper 12, causing the cutting space 202 to gradually shrink. When it shrinks to a certain extent, the first limiting member 21 and the second limiting member 22 cooperate with the outer side of the second gripper 12 to start cutting the object to be cut. As the gripper assembly 10 continues to open, the cutting action continues to advance until the object to be cut in the cutting space 202 is completely cut off.

[0025] The entire cutting process of the cutting limiter 20 is synchronized with the opening action of the gripper assembly 10, requiring no additional drive structure, resulting in a compact structure and efficient operation. By placing the cutting limiter 20 near the hinge end of the gripper assembly 10, not only is the cutting action naturally linked, but interference with the clamping function is also avoided, enhancing the overall practicality and reliability of the mechanical gripper.

[0026] like Figure 1 and Figure 2 As shown, in this embodiment, both the first limiting member 21 and the second limiting member 22 are provided with cutting edges 201, and the cutting edges 201 of the first limiting member 21 and the second limiting member 22 cooperate with the outer side of the second gripper 12 to form a cutting space 202. It can be understood that in other embodiments, the cutting edges may be provided only on the first limiting member or the second limiting member.

[0027] When the gripper assembly 10 is in the closed state, the cutting edges 201 of the first limiting member 21 and the second limiting member 22 are located outside the second gripper 12 to form an open cutting space 202. When the gripper assembly 10 is in the maximum open state, the cutting edges 201 of the first limiting member 21 and the second limiting member 22 overlap with the second gripper 12, so that the outer side of the second gripper 12 can be used as a support surface, and the cutting edges 201 can effectively cut the object to be cut that enters the cutting space 202.

[0028] In another embodiment, the cutting edge is provided on the outer side of the second gripper 12, and the cutting space 202 is formed by the cooperation of the first limiting member 21 and the second limiting member 22 with the cutting edge of the second gripper 12. When the gripper assembly 10 changes from a closed state to an open state, the cutting space 202 gradually shrinks, and the cutting edge on the second gripper 12 performs the cutting operation on the object to be cut that enters the cutting space 202.

[0029] In another embodiment, the first limiting member 21, the second limiting member 22, and the second gripper 12 are all provided with cutting edges on their outer sides. When the gripper assembly 10 changes from a closed state to an open state, the cutting space 202 gradually shrinks, and the cutting edges work together to perform cutting operations on the object to be cut that enters the cutting space 202.

[0030] In some embodiments, the first limiting member 21 and the second cutting part 22 may be two independent cutting limiting members, both of which are fixedly connected to the first gripper 11, for example, by screws.

[0031] In this embodiment, as Figure 2 As shown, the cutting limiting member 20 is an integrally formed structure, thereby further improving the structural strength and cutting stability of the cutting limiting member 20. The cutting limiting member 20 also includes a connecting part 23, the two ends of which are integrally connected to the tail ends of the first limiting member 21 and the second limiting member 22, respectively, and the connecting part 23 is fixedly connected to the first gripper 11; or, at least one of the first limiting member 21 and the second limiting member 22 is fixedly connected to the first gripper 11.

[0032] The cutting limiting member 20 is roughly U-shaped. The first limiting member 21 and the second limiting member 22 are arranged in parallel. The connecting part 23 is connected between the first limiting member 21 and the second limiting member 22 to form an integrated structure, thereby making the cutting limiting member 20 as a whole have higher structural strength and cutting stability.

[0033] The connecting part 23 is detachably fixed to the first gripper 11, for example, by screws, to facilitate replacement and maintenance of the cutting limiting member 20. Alternatively, at least one of the first limiting member 21 and the second limiting member 22 is detachably fixed to the first gripper 11. For example, the cutting limit member 20 and the first gripper 11 are connected by screws or clips, thereby ensuring the stability of the connection while improving the ease of disassembly and assembly.

[0034] In this embodiment, the connecting part 23 is detachably fixed to the first gripper 11.

[0035] Optionally, the connecting part 23 is fixedly connected to the first gripper 11 by screws. This screw connection not only ensures the stability between the cutting limiter 20 and the first gripper 11, but also allows for quick disassembly and replacement of the cutting limiter 20 when it is worn or damaged, improving equipment maintenance efficiency. Furthermore, the screw connection structure is simple, low-cost, and suitable for large-scale industrial applications.

[0036] Optionally, such as Figure 2 and Figure 3 As shown, the connecting part 23 is provided with a slot 230, and the first gripper 11 is provided with a buckle 110 that matches the slot 230. The buckle 110 engages with the slot 230. The engaging structure of the buckle 110 and the slot 230 can achieve quick installation and removal of the cutting limit component 20 while ensuring connection strength, thus improving operational convenience. This buckle connection method is suitable for scenarios where the cutting limit component 20 needs to be frequently replaced, further improving the efficiency of equipment use and the convenience of maintenance.

[0037] The slot 230 includes a connected engaging slot 231 and an aligning slot 232. The buckle 110 includes a stop cover 111 and a clamping part 112. The clamping part 112 is connected between the first gripper 11 and the stop cover 111. The stop cover 111 passes through the aligning slot 232 and is laterally clamped to the engaging slot 231 by the clamping part 112. The stop cover 111 stops the side of the engaging slot 231 away from the first gripper 11 to prevent the cutting limiting component 20 from loosening or falling off during operation, thereby improving the reliability and safety of the overall structure. This buckle connection structure is reasonably designed and easy to operate. It can significantly shorten the replacement time of the cutting limiting component 20 and improve the operating efficiency of the equipment while ensuring the connection strength.

[0038] After the stop cover plate 111 passes through the alignment groove 232, the locking part 112 laterally engages with the locking groove 231, forming an effective locking structure. Simultaneously, the stop cover plate 111 forms a stop and limit on the side of the connecting part 23 opposite to the first gripper 11, ensuring that the cutting limiter 20 will not shift or fall off during operation. This structural design avoids loosening of the connection due to vibration or external impact, improving the overall safety and durability of the equipment. Furthermore, this snap-fit ​​connection simplifies the replacement process. After prolonged use, if the cutting limiter 20 shows wear or needs to be replaced, simply manually release the locking state of the snap-fit ​​110 and the groove 230 to quickly remove the cutting limiter 20 without the need for additional tools, further enhancing maintenance convenience.

[0039] Through the coordinated action of the stop cover plate 111 and the clamping part 112 on the engaging groove 231, effective limiting is formed in both the lateral and longitudinal directions, thereby preventing the cutting limiting component 20 from shifting or falling off due to vibration or uneven force during use. Simultaneously, the rational layout of the alignment groove 232 and the engaging groove 231 in the groove 230 allows operators to visually determine whether the cutting limiting component 20 is installed correctly, reducing the possibility of misoperation. This structural design not only facilitates the rapid replacement of cutting limiting components of different specifications but also provides a good interface foundation for subsequent equipment upgrades and expansions, improving the overall sustainable development capability of the equipment.

[0040] The locking groove 231 and the locking part 112 are locked together by a wedge-shaped structure, which allows the locking part 112 to be automatically guided and locked when it enters the locking groove 231, thereby enhancing the stability and reliability of the connection. This self-aligning structure not only effectively reduces the impact of assembly errors, but also maintains the consistency of connection performance during frequent disassembly and assembly.

[0041] For example, the locking part 112 is a cylindrical structure, and the locking groove part 231 is an arc-shaped groove adapted to the cylindrical structure. The contact surfaces of the two fit tightly together to form a stable locking fit.

[0042] Alternatively, the locking part 112 can be a conical structure, and the locking groove part 231 can be a corresponding conical groove. The self-locking function is achieved through the engagement of the conical surfaces, thereby enhancing the stability of the connection under stress. This design effectively avoids the loosening risks common in traditional connection methods and improves the overall structural safety. At the same time, the conical structure has excellent guiding performance, facilitating quick installation and removal of the cutting limit component 20 by operators.

[0043] Optionally, the locking groove 231 includes a guide section 233 and a locking section 234 distributed laterally, and the locking part 112 includes a guide plate 113 and a locking post 114. The guide plate 113 is adapted to the guide section 233 and inserted into the guide section 233, and the locking post 114 is locked to the locking section 234, thereby forming a stable guide and limit in the lateral direction. The locking post 114 has a cylindrical structure, and the locking section 234 has an arc-shaped groove adapted to the cylindrical structure.

[0044] The cooperation between guide section 233 and guide plate 113 makes the snap-fit ​​process smoother, reduces frictional resistance during assembly, and improves operational efficiency. At the same time, the tight cooperation between snap-fit ​​section 234 and snap-fit ​​post 114 ensures that the connection structure remains stable under stress, further improving the overall reliability of the device.

[0045] Based on the above embodiment, the alignment groove 232 is also equipped with a limiting plug 24, which abuts against the buckle 110 to limit the displacement range of the buckle 110 in the groove 230 and prevent the cutting limiting member 20 from accidentally falling off.

[0046] The setting of the limit plug 24 further enhances the stability of the cutting limit component 20 in the installation state, effectively preventing the buckle from loosening due to vibration or external impact, thereby improving the safety and reliability of equipment operation.

[0047] The contact between the limiting plug 24 and the buckle 110 has a certain elastic adjustment space, which can adapt to small displacements under different installation conditions and avoid structural damage or stress concentration caused by rigid contact.

[0048] Furthermore, the stop cover plate 111 is provided with an elastic pad (not shown) on the side facing the first gripper 11. The elastic pad is used to elastically abut against the connecting part 23 to further increase the installation firmness between the cutting limit member 20 and the first gripper 11 and prevent the cutting limit member 20 from loosening.

[0049] The elastic pad is made of rubber or silicone, which has good resilience and wear resistance, and can maintain stable elasticity during long-term use, ensuring that the cutting limiter 20 is firmly installed on the first gripper 11. At the same time, the surface of the elastic pad may also be provided with anti-slip texture to further enhance the friction between it and the cutting limiter 20 and prevent the cutting limiter 20 from slipping.

[0050] Furthermore, the first limiting member 21 and the second limiting member 22 are hollowed out, which effectively reduces the overall weight of the cutting limiting member 20 while ensuring strength, and improves the flexibility and convenience of the cutting operation.

[0051] The first gripper 11 and the second gripper 12 are also hollowed out to reduce the overall weight of the mechanical gripper 100 and improve the ease of operation, making it easier and more flexible to drive the mechanical gripper 110.

[0052] Anti-slip microgrooves are distributed on the inner sides of the first gripper 11 and the second gripper 12 facing each other to increase the friction between the gripper assembly 10 and the object being gripped, ensuring that the object will not slip or fall off during operation.

[0053] The first gripper 11 includes a first clamping part 117 and a first hook part 118 connected to each other, and the second gripper 12 includes a second clamping part 127 and a second hook part 128 connected to each other. The tail ends of the first clamping part 127 and the second clamping part 128 are rotatably connected to each other. When the gripper assembly 10 is in the closed state, the first hook part 118 and the second hook part 128 are arranged in an intersecting layer.

[0054] When the gripper assembly 10 grips an object, the first hook portion 118 and the second hook portion 128 are both supported by the bottom of the object being gripped, forming an upward supporting force, thereby effectively preventing the object being gripped from falling off.

[0055] Unlike existing technologies, this application discloses a robotic gripper. By installing cutting limiting members on the gripper assembly, and with the first and second limiting members forming a cutting space with the outer side of the second gripper for the object to be cut to enter, the first and second limiting members can synchronously cut the object entering the cutting space as the gripper assembly opens. The opening and closing motion of the gripper assembly synchronously drives the cutting limiting members to complete the cutting action, thereby achieving a linked operation of gripping and cutting. This allows the same drive source to drive the robotic arm to perform both gripping and cutting functions, expanding the robotic arm's functionality and application range.

[0056] The above descriptions are merely embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made based on the description and drawings of this application, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application. The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the protection scope of this application.

Claims

1. A mechanical gripper, characterized in that, The mechanical gripper includes: A gripper assembly, comprising a first gripper and a second gripper hinged together; A cutting limiting component is fixedly connected to the first gripper; When the gripper assembly is in the closed state, a cutting space for accommodating the object to be cut is formed between the outer side of the second gripper and the cutting limiting member; during the opening process of the gripper assembly, the cutting space gradually shrinks; the object to be cut is cut within the cutting space through the dynamic cooperation between the second gripper and the cutting limiting member.

2. The mechanical gripper according to claim 1, characterized in that, The cutting limiting component includes a first limiting component and a second limiting component. The first limiting component and the second limiting component are fixedly connected to the first gripper and are arranged on both sides of the gripper assembly. A gap is formed between the end of the first limiting component away from the first gripper and the end of the second limiting component away from the first gripper, allowing the second gripper to pass through. The second gripper dynamically cooperates with the first limiting component and / or the second limiting component to perform cutting operations on the object to be cut located in the cutting space.

3. The mechanical gripper according to claim 2, characterized in that, The first limiting member and / or the second limiting member are provided with cutting edges, and / or the outer side of the second gripper is provided with cutting edges, and the object to be cut is cut through the cutting edges.

4. The mechanical gripper according to claim 2, characterized in that, The cutting limiting member further includes a connecting part, the two ends of which are integrally connected to the tail ends of the first limiting member and the second limiting member, respectively, and the connecting part is fixedly connected to the first gripper. Alternatively, at least one of the first limiting member and the second limiting member is fixedly connected to the first gripper.

5. The mechanical gripper according to claim 4, characterized in that, The connecting part is fixedly connected to the first gripper by screws; or The connecting part is provided with a slot, and the first gripper is provided with a buckle that is adapted to the slot, and the buckle engages with the slot.

6. The mechanical gripper according to claim 5, characterized in that, The slot includes a connected snap-fit ​​groove and an alignment groove. The buckle includes a stop cover and a clamping part. The clamping part is connected between the first gripper and the stop cover. The stop cover passes through the alignment groove and is clamped laterally to the snap-fit ​​groove by the clamping part. The stop cover stops the snap-fit ​​groove on the side opposite to the first gripper.

7. The mechanical gripper according to claim 6, characterized in that, The alignment groove is also equipped with a limiting plug, which abuts against the buckle to limit the displacement range of the buckle within the groove.

8. The mechanical gripper according to claim 6, characterized in that, The snap-fit ​​groove includes a guide section and a snap-fit ​​section distributed along the transverse direction. The snap-fit ​​part includes a guide plate and a snap-fit ​​post. The guide plate is adapted to the guide section and inserted into the guide section. The snap-fit ​​post is snapped into the snap-fit ​​section.

9. The mechanical gripper according to claim 2, characterized in that, The first limiting member and the second limiting member are hollowed out.

10. The mechanical gripper according to claim 2, characterized in that, The first gripper includes a first clamping part and a first hook part connected together, and the second gripper includes a second clamping part and a second hook part connected together, with the tail ends of the first clamping part and the second clamping part rotatably connected together; When the gripper assembly is in the closed state, the first hook portion and the second hook portion are arranged in an overlapping manner.

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