A mechanical gripper

Abstract

The present invention relates to the field of manipulators, and more specifically, to a manipulator gripper, comprising a clamping fixing seat, a clamping transmission cylinder and a fixed clamping gripper, and also comprising a movable clamping device; the clamping fixing seat is provided with a through hole, and the clamping transmission cylinder is movably sleeved in the through hole; the fixed clamping gripper and the movable clamping device are distributed on the outside of the through hole, and are respectively connected to the clamping transmission cylinder, and when the clamping transmission cylinder is extended, the fixed clamping gripper and the movable clamping device are respectively moved outward and opened to clamp a workpiece, and the manipulator gripper disclosed in the present invention can evenly transmit the tensile force formed by the transmission cylinder to the fixed clamping gripper and the movable clamping device, and the fixed clamping gripper can first press the workpiece to a certain extent, and the movable clamping device can automatically adjust according to the specific shape of the workpiece to further press the workpiece, and finally the manipulator gripper can apply a matching grasping force according to workpieces of various specifications to smoothly remove the workpiece.

Description

Technical Field

[0001] The present invention relates to the field of manipulators, and more specifically, to a manipulator claw. Background Art

[0002] With the rapid development of science and technology, people's living standards are constantly improving, which leads to an increase in labor costs. At the same time, more and more manufacturing industries are also moving towards a development model of mechanical automation and even intelligence. Among them, the placement and removal of large workpieces are almost all operated by robots. In order to achieve a better grasping effect, intelligent robots are generally required. However, intelligent robots involve many active joints, often require program control, and are expensive and complex to maintain. Non-intelligent robots on the market, because they mainly rely on mechanical transmission, often cannot make multiple changes to adapt to workpieces of different specifications, resulting in the need to make different models of robots according to different workpieces, or the robot cannot grasp the workpiece stably.

[0003] Therefore, it is necessary to propose a mechanical gripper that solves the above problems. Summary of the invention

[0004] The present invention provides a mechanical gripper to overcome at least one defect (shortcoming) of the prior art.

[0005] In order to solve the above technical problems, the technical solution of the present invention is as follows: a mechanical gripper, comprising a clamping fixing seat, a clamping transmission cylinder and a fixed clamping gripper, and also comprising a movable clamping device;

[0006] The clamping fixing seat is provided with a through hole, and the clamping transmission cylinder is movably sleeved in the through hole;

[0007] The fixed clamping claw and the movable clamping device are distributed on the outside of the through hole and are respectively connected to the clamping transmission cylinder. When the clamping transmission cylinder is extended, the fixed clamping claw and the movable clamping device are respectively moved outward to open and clamp the workpiece. A through hole is provided on the clamping fixing seat, and the clamping transmission cylinder is movably sleeved in the through hole, so that the clamping transmission cylinder can be firmly installed on the clamping fixing seat, and the fixed clamping claw and the movable clamping device are distributed on the outside of the through hole, and are respectively connected to the clamping transmission cylinder, so that the clamping transmission cylinder can fully and evenly distribute the tensile force formed by the reciprocating motion The fixed clamping claw is transmitted to the movable clamping device, and the setting of the fixed clamping claw can cooperate with the clamping base and the clamping transmission cylinder to perform an opening and closing action to press the center position of most of the workpiece from the inside to the outside, while the movable clamping device further makes automatic adjustments according to the specific shape of the workpiece, thereby cooperating with the clamping base and the clamping transmission cylinder to perform an opening and closing action to press the additional center position of the workpiece from the inside to the outside, ultimately enabling the robot claw to exert a matching grasping force according to workpieces of various specifications, so that it can move and grasp the workpiece smoothly.

[0008] Furthermore, the clamping transmission cylinder comprises a transmission cylinder body, a clamping ring and a transmission rod sleeved in the through hole;

[0009] The transmission cylinder body is connected to the transmission rod;

[0010] The clamping ring is sleeved on the outside of the transmission rod. Through the setting of the transmission rod, the exposed piston rod length of the transmission cylinder body is extended, which is convenient for clamping the transmission cylinder sleeve in the through hole of the clamping fixing seat, and the clamping ring is sleeved on the outside of the transmission rod, which is convenient for connecting and fixing the clamping claws and the movable clamping device, so that as the transmission cylinder reciprocates, the clamping ring moves up and down and is pulled by force, thereby opening and closing, and the workpiece is tightened and loosened from the inside to the outside.

[0011] Furthermore, the movable clamping device includes a movable claw, a rotating pin, a return spring and a movable connector connected to the clamping ring;

[0012] The movable claw is rotatably arranged on the movable connector via a rotating pin;

[0013] One end of the return spring is connected to the movable claw, and the other end is connected to the movable connector after bypassing the rotating pin. Through the setting of the movable connector connected to the clamping ring, the movable connector can swing with the connection between the movable connector and the clamping ring as the center as the up and down movement of the clamping ring, so that the movable connector can open and close to press the workpiece from the inside to the outside, and the movable claw is rotatably arranged on the movable connector through the rotating pin. One end of the return spring is connected to the movable claw, and the other end is connected to the movable connector after bypassing the rotating pin. The movable claw automatically adjusts the angle formed by the movable claw and the movable connector according to the shape of the contacted workpiece through the elastic action of the return spring. The two are close to the workpiece, so that the mechanical claw is not easy to loosen when moving the workpiece.

[0014] Further, the movable connector includes a movable connecting arm and a clamping connecting arm connected to the clamping ring;

[0015] The clamping fixing seat is provided with a movable connecting seat, one end of the movable connecting arm is hinged on the movable connecting seat, and the other end is hinged to the middle part of the clamping connecting arm;

[0016] The movable claw is rotatably set at the head end of the clamping connecting arm through a rotating pin. Through the setting of the clamping connecting arm connected to the clamping ring, the clamping connecting arm can swing with the bottom end of the clamping connecting arm connected to the clamping ring as the center as the up and down movement of the clamping ring. One end of the movable connecting arm is hinged on the movable connecting seat, and the other end is hinged to the middle part of the clamping connecting arm, so that the middle part of the clamping connecting arm is also limited by the movable connecting arm. When the transmission cylinder drives the clamping ring to move down, the clamping connecting arm is close to the head end side, which can control the pressure on the workpiece from the inside to the outside to a certain extent. The movable claw is rotatably set at the head end of the clamping connecting arm through the rotating pin, so that it can work together with the head end side of the clamping connecting arm to further press the workpiece, so that the robot claw can clamp the workpiece more firmly.

[0017] Furthermore, a limiting hole is provided at the bottom end of the clamping connecting arm, and a plurality of rotating pins are provided on the clamping ring. The limiting hole matches the size of the rotating pin. Through the setting of the plurality of rotating pins and the limiting hole, the bottom end of the clamping connecting arm is hinged to the clamping ring, so that the bottom end of the clamping connecting arm can drive the clamping ring to move up and down as the transmission cylinder reciprocates and swings around the hinge at the bottom end of the clamping connecting arm.

[0018] Furthermore, the fixed clamping claw comprises a fixed claw, a fixed connecting arm and a fixed limiting hole matching the size of the rotating pin;

[0019] The clamping fixing seat is provided with a fixed connecting seat, one end of the fixed connecting arm is hinged to the fixed connecting seat, and the other end is hinged to the middle part of the fixed claw;

[0020] The fixed limiting hole is arranged on the fixed claw, and the fixed limiting hole matching the size of the rotating pin is arranged on the fixed claw, so that the clamping ring is hinged to the bottom end of the fixed claw, and one end of the fixed connecting arm is hinged to the fixed connecting seat, and the other end is hinged to the middle part of the fixed claw. When the transmission cylinder reciprocates to move the clamping ring up and down through the transmission rod, the bottom end of the fixed claw is pulled by the rotating pin, and the middle part of the fixed claw is limited by the fixed connecting arm, so that the fixed claw moves up and down with the clamping ring on the head end side to open and close, thereby performing loose and tight compression on the workpiece from the inside to the outside.

[0021] Furthermore, the clamping fixing seat includes a fixing frame and a mounting connecting plate arranged in the fixing frame, and the through hole is arranged on the mounting connecting plate. Through the arrangement of the fixing frame, support is provided for the workpiece in a horizontal manner and it is convenient to connect the clamping fixing seat with other equipment, and the mounting connecting plate with the through hole facilitates the installation of the clamping claw, the movable clamping device and the clamping transmission cylinder on the mechanical claw.

[0022] Furthermore, the clamping seat is provided with a limit support for limiting the workpiece, and the limit supports are symmetrically arranged. Through the symmetrical arrangement of the limit supports, the workpiece can be positioned quickly and evenly by the clamping seat, so that the workpiece is not easily displaced in the horizontal direction.

[0023] Furthermore, a limiting column is provided on the limiting support. Through the setting of the limiting column, the workpiece and the clamping seat can be accurately positioned, which makes it easy for the robot gripper to quickly fix the workpiece by clamping the traditional cylinder to apply force from the inside of the workpiece to the surrounding areas, and can also prevent the workpiece from shaking during the process of moving the workpiece by the robot gripper.

[0024] Furthermore, a clamping block is provided on the clamping fixing seat on one side of the movable clamping device. Through the setting of the clamping block, a force toward the inside of the workpiece can be applied from the outside of the workpiece, which can help to position the workpiece on the clamping fixing seat to a certain extent, and can also work together with the movable clamping device to clamp the workpiece firmly.

[0025] Compared with the prior art, the technical solution of the present invention has the following beneficial effects:

[0026] (1) The mechanical gripper disclosed in the present invention has a through hole provided on the clamping fixed seat, and the clamping transmission cylinder is movably sleeved in the through hole, so that the clamping transmission cylinder can be firmly installed on the clamping fixed seat, and the fixed clamping hand claw and the movable clamping device are distributed on the outside of the through hole, and are respectively connected to the clamping transmission cylinder, so that the clamping transmission cylinder can fully and evenly transmit the tensile force formed by the reciprocating motion to the fixed clamping hand claw and the movable clamping device, and the setting of the fixed clamping hand claw can cooperate with the clamping fixed seat and the clamping transmission cylinder to perform an opening and closing action to press the central position of most of the workpiece from the inside to the outside, and the movable clamping device can further automatically adjust according to the specific shape of the workpiece, so as to cooperate with the clamping fixed seat and the clamping transmission cylinder to perform an opening and closing action to press the additional central position of the workpiece from the inside to the outside, finally enabling the mechanical gripper to apply a matching grasping force according to workpieces of various specifications, so as to move smoothly to grasp the workpiece.

[0027] (2) The mechanical gripper disclosed in the present invention is provided with a movable connector connected to a clamping ring so that the movable connector can swing with the clamping ring moving up and down and around the connection between the movable connector and the clamping ring, so that the movable connector can open and close to press the workpiece from the inside out, and the movable gripper can be rotatably provided on the movable connector through a rotating pin, one end of a reset spring is connected to the movable gripper, and the other end is connected to the movable connector after bypassing the rotating pin, so that the movable gripper can automatically adjust the angle formed by the movable gripper and the movable connector according to the shape of the workpiece in contact through the elastic action of the reset spring, and the two are in close contact with the workpiece, so that the mechanical gripper is not easy to loosen when moving the workpiece.

[0028] (3) The mechanical gripper disclosed in the present invention, through the setting of a clamping connecting arm connected to the clamping ring, can swing with the bottom end of the clamping connecting arm connected to the clamping ring as the center as the up and down movement of the clamping ring, and one end of the movable connecting arm is hinged on the movable connecting seat, and the other end is hinged to the middle part of the clamping connecting arm, so that the middle part of the clamping connecting arm is also limited by the movable connecting arm. When the transmission cylinder drives the clamping ring to move downward, the clamping connecting arm closes along with the front end side, which can control the pressure on the workpiece from the inside to the outside to a certain extent, and the movable gripper can be rotatably set at the front end of the clamping connecting arm through a rotating pin, so that it can work together with the front end side of the clamping connecting arm to further press the workpiece, so that the mechanical gripper can clamp the workpiece more firmly.

[0029] (4) The mechanical gripper disclosed in the present invention is provided with a fixed limiting hole of a size matching the rotating pin on the fixed gripper, so that the clamping ring is hingedly connected to the bottom end of the fixed gripper, and one end of the fixed connecting arm is hingedly connected to the fixed connecting seat, and the other end is hingedly connected to the middle part of the fixed gripper. When the transmission cylinder reciprocates to move the clamping ring up and down through the transmission rod, the bottom end of the fixed gripper is pulled by the rotating pin, and the middle part of the fixed gripper is limited by the fixed connecting arm, so that the fixed gripper moves up and down with the clamping ring on the head end side to open and close, thereby performing a loose and tight compression on the workpiece from the inside to the outside. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a structural schematic diagram of the mechanical gripper in the present invention.

[0031] Figure 2 It is a structural schematic diagram of the mechanical gripper in the present invention.

[0032] Figure 3 It is a structural schematic diagram of the mechanical gripper in the present invention.

[0033] Figure 4 It is a schematic diagram of the bottom structure of the robot gripper in the present invention.

[0034] In the figure, 1 is a clamping fixed seat, 2 is a clamping transmission cylinder, 3 is a fixed clamping claw, 4 is a movable clamping device, 5 is a through hole, 6 is a transmission cylinder body, 7 is a clamping ring, 8 is a transmission rod, 9 is a movable claw, 10 is a rotating pin, 11 is a movable connector, 12 is a movable connecting arm, 13 is a clamping connecting arm, 14 is a movable connecting seat, 15 is a limiting hole, 16 is a rotating pin, 17 is a fixed claw, 18 is a fixed connecting arm, 19 is a fixed limiting hole, 20 is a fixed connecting seat, 21 is a fixed frame, 22 is an installation connecting plate, 23 is a limiting support, 24 is a limiting column, and 25 is a clamping block. DETAILED DESCRIPTION

[0035] The drawings are only used for illustrative purposes and should not be construed as limitations on this patent. In order to better illustrate this embodiment, some parts of the drawings may be omitted, enlarged, or reduced, and do not represent the size of the actual product. For those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0036] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. It can be said that the internal connection of two components is connected. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. The technical solution of the present invention is further explained below in conjunction with the accompanying drawings and embodiments.

[0037] like Figure 1-4 As shown, a mechanical gripper comprises a clamping fixing seat 1, a clamping transmission cylinder 2 and a fixed clamping gripper 3, and also comprises a movable clamping device 4; a through hole 5 is provided on the clamping fixing seat, and the clamping transmission cylinder is movably sleeved in the through hole; the fixed clamping gripper and the movable clamping device are distributed on the outside of the through hole, and are respectively connected with the clamping transmission cylinder, when the clamping transmission cylinder is extended, the fixed clamping gripper and the movable clamping device are respectively moved outward to open and clamp the workpiece, and a through hole is provided on the clamping fixing seat, and the clamping transmission cylinder is movably sleeved in the through hole, so that the clamping transmission cylinder can be firmly installed on the clamping fixing seat, and the fixed clamping gripper and the movable clamping device are distributed on the outside of the through hole, and They are respectively connected to the clamping drive cylinder, so that the clamping drive cylinder can fully and evenly transmit the tensile force formed by the reciprocating motion to the fixed clamping claw and the movable clamping device, and the setting of the fixed clamping claw can work together with the clamping seat and the clamping drive cylinder to perform an opening and closing action to press the most part of the center position of the workpiece from the inside to the outside, and the movable clamping device further automatically adjusts according to the specific shape of the workpiece, thereby working together with the clamping seat and the clamping drive cylinder to perform an opening and closing action to press the additional part of the center position of the workpiece from the inside to the outside, finally enabling the mechanical claw to exert a matching grasping force according to workpieces of various specifications, so that it can move and grasp the workpiece smoothly.

[0038] In the present invention, the clamping transmission cylinder includes a transmission cylinder body 6, a clamping ring 7 and a transmission rod 8 sleeved in a through hole; the transmission cylinder body is connected to the transmission rod; the clamping ring is sleeved on the outside of the transmission rod. Through the setting of the transmission rod, the exposed piston rod length of the transmission cylinder body is extended, which is convenient for the clamping transmission cylinder sleeved in the through hole of the clamping fixed seat, and the clamping ring is sleeved on the outside of the transmission rod, which is convenient for connecting and fixing the clamping claw and the movable clamping device, so that as the transmission cylinder reciprocates, the clamping ring moves up and down and is pulled by force, thereby opening and closing, and the workpiece is tightened and loosened from the inside to the outside. Among them, the movable clamping device includes a movable claw 9, a rotating pin 10, a reset spring and a movable connector 11 connected to the clamping ring; the movable claw is rotatably arranged on the movable connector through the rotating pin; one end of the reset spring is connected to the movable claw, and the other end is connected to the movable connector after bypassing the rotating pin. Through the setting of the movable connector connected to the clamping ring, the movable connector can swing with the connection between the movable connector and the clamping ring as the center as the up and down movement of the clamping ring, so that the movable connector can perform an opening and closing action to press the workpiece from the inside to the outside, and the movable claw is rotatably arranged on the movable connector through the rotating pin, one end of the reset spring is connected to the movable claw, and the other end is connected to the movable connector after bypassing the rotating pin, so that the movable claw automatically adjusts the angle formed by the movable claw and the movable connector according to the shape of the contacted workpiece through the elastic action of the reset spring, and the two are close to the workpiece, so that the mechanical claw is not easy to loosen when moving the workpiece. In addition, the movable connector includes a movable connecting arm 12 and a clamping connecting arm 13 connected to the clamping ring; a movable connecting seat 14 is provided on the clamping fixing seat, one end of the movable connecting arm is hinged on the movable connecting seat, and the other end is hinged to the middle part of the clamping connecting arm; the movable hand claw is rotatably arranged at the head end of the clamping connecting arm through a rotating pin, and the clamping connecting arm connected to the clamping ring is arranged so that the clamping connecting arm can swing with the clamping ring moving up and down and with the bottom end of the clamping connecting arm connected to the clamping ring as the center, and the movable connecting arm One end is hinged on the movable connecting seat, and the other end is hinged to the middle part of the clamping connecting arm, so that the middle part of the clamping connecting arm is also limited by the movable connecting arm. When the transmission cylinder drives the clamping ring to move downward, the clamping connecting arm opens and closes along with the head end side, which can control the pressure on the workpiece from the inside to the outside to a certain extent, and the movable claw is rotatably set at the head end of the clamping connecting arm through a rotating pin, so that it can work together with the head end side of the clamping connecting arm to further press the workpiece, so that the robot claw can clamp the workpiece more firmly.

[0039] Among them, a limiting hole 15 is provided at the bottom end of the clamping connecting arm, and a plurality of rotating pins 16 are provided on the clamping ring. The limiting hole matches the size of the rotating pin. Through the setting of a plurality of rotating pins and limiting holes, the bottom end of the clamping connecting arm is hingedly connected to the clamping ring, so that the bottom end of the clamping connecting end can drive the clamping ring to move up and down with the reciprocating work of the transmission cylinder and swing around the hinge at the bottom end of the clamping connecting arm. The fixed clamping claw includes a fixed claw 17, a fixed connecting arm 18 and a fixed limiting hole 19 that matches the size of the rotating pin; a fixed connecting seat 20 is provided on the clamping fixing seat, one end of the fixed connecting arm is hinged on the fixed connecting seat, and the other end is hinged to the middle part of the fixed claw; the fixed limiting hole is arranged on the fixed claw, and the fixed limiting hole that matches the size of the rotating pin is arranged on the fixed claw, so that the clamping ring is hinged to the bottom end of the fixed claw, and one end of the fixed connecting arm is hinged on the fixed connecting seat, and the other end is hinged to the middle part of the fixed claw. When the transmission cylinder reciprocates through the transmission rod to move the clamping ring up and down, the bottom end of the fixed claw is pulled by the rotating pin, and the middle part of the fixed claw is limited by the fixed connecting arm, so that the fixed claw moves up and down with the clamping ring on the head end side to open and close, thereby performing loose and tight compression on the workpiece from the inside to the outside. In addition, the clamping fixing seat includes a fixing frame 21 and a mounting connecting plate 22 arranged in the fixing frame, and a through hole is arranged on the mounting connecting plate. Through the arrangement of the fixing frame, support is provided for the workpiece in a horizontal manner and it is convenient to connect the clamping fixing seat with other equipment, and the mounting connecting plate with a through hole facilitates the installation of the clamping claw, the movable clamping device and the clamping transmission cylinder on the mechanical claw.

[0040] In order to allow the workpiece to be positioned quickly and evenly by the clamping seat, and to prevent the workpiece from being easily displaced in the horizontal direction, a limit support 23 for limiting the workpiece is provided on the clamping seat, and the limit supports are symmetrically arranged. A limit column 24 is provided on the limit support, and the setting of the limit column allows the workpiece and the clamping seat to be accurately matched and positioned, which is convenient for the robot gripper to quickly fix the workpiece by clamping the traditional cylinder and applying force from the inside of the workpiece to the surroundings, and can also prevent the workpiece from shaking during the process of moving the workpiece by the robot gripper. In addition, a clamping block 25 is provided on the clamping seat on one side of the movable clamping device. By setting the clamping block, a force can be applied from the outside of the workpiece to the inside of the workpiece, which can help the workpiece to be positioned on the clamping seat to a certain extent, and can also work together with the movable clamping device to clamp the workpiece firmly. 。

[0041] When in use, the transmission cylinder body drives the transmission rod to do stretching work in the through hole through reciprocating motion, and the clamping ring is sleeved on the outside of the transmission rod and hinged with the bottom end of the fixed hand claw and the bottom end of the clamping connecting arm respectively, so that the fixed hand claw and the clamping connecting arm can be pulled as the transmission cylinder reciprocates and drives the clamping ring sleeve to move up and down. Among them, since the middle part of the fixed hand claw is limited by the fixed connecting arm, the fixed hand claw can only open and close with the up and down movement of the clamping ring sleeve on the head end side, thereby pressing the workpiece from the inside to the outside to a certain extent; the head end of the clamping connecting arm is hinged to the movable hand claw, and the middle part is limited by the movable connecting arm, and one end of the return spring is connected to the movable hand claw, and the other end is connected to the movable connector after bypassing the rotating pin, so that the movable hand claw can be close to the workpiece together with the head end of the clamping connecting arm. Even in the face of irregular workpieces, it can press the workpiece from the inside to the outside together with the fixed hand claw. In addition, the clamping block and the symmetrically arranged limit supports further press the workpiece from the outside to the inside, so that the robot gripper can firmly grasp the workpiece.

[0042] In the figure, the description of the positional relationship is only for illustrative purposes and should not be understood as a limitation on this patent; obviously, the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not limitations on the implementation methods of the present invention. For ordinary technicians in the relevant field, other different forms of changes or modifications can be made on the basis of the above description. It is not necessary and impossible to list all the implementation methods here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the claims of the present invention.

Claims

1. A mechanical gripper, comprising a clamping fixing seat, a clamping transmission cylinder and a fixed clamping gripper, characterized in that: Also included is a movable clamping device; The clamping fixing seat is provided with a through hole, and the clamping transmission cylinder is movably sleeved in the through hole; The fixed clamping claw and the movable clamping device are distributed outside the through hole and are respectively connected to the clamping transmission cylinder. When the clamping transmission cylinder is extended, the fixed clamping claw and the movable clamping device are respectively moved outward to open and clamp the workpiece. The clamping transmission cylinder comprises a transmission cylinder body, a clamping ring and a transmission rod sleeved in the through hole; The transmission cylinder body is connected to the transmission rod; The clamping ring is sleeved on the outside of the transmission rod; The movable clamping device comprises a movable claw, a rotating pin, a return spring and a movable connector connected to the clamping ring; The movable claw is rotatably arranged on the movable connector via a rotating pin; One end of the return spring is connected to the movable claw, and the other end is connected to the movable connector after passing around the rotating pin; The movable connector comprises a movable connecting arm and a clamping connecting arm connected to the clamping ring; The clamping fixing seat is provided with a movable connecting seat, one end of the movable connecting arm is hinged on the movable connecting seat, and the other end is hinged to the middle part of the clamping connecting arm; The movable hand claw is rotatably arranged at the head end of the clamping connecting arm through a rotating pin.

2. The mechanical gripper according to claim 1, characterized in that: A limiting hole is provided at the bottom end of the clamping connecting arm, and a plurality of rotating pins are provided on the clamping ring. The sizes of the limiting holes and the rotating pins match each other.

3. The mechanical gripper according to claim 2, characterized in that: The fixed clamping claw comprises a fixed claw, a fixed connecting arm and a fixed limiting hole matching the size of the rotating pin; The clamping fixing seat is provided with a fixed connecting seat, one end of the fixed connecting arm is hinged to the fixed connecting seat, and the other end is hinged to the middle part of the fixed claw; The fixed limiting hole is arranged on the fixed hand claw.

4. The mechanical gripper according to claim 1, characterized in that: The clamping fixing seat comprises a fixing frame and a mounting connecting plate arranged in the fixing frame, and the through hole is arranged on the mounting connecting plate.

5. The mechanical gripper according to claim 1, characterized in that: The clamping and fixing seat is provided with a limiting support for limiting the position of the workpiece, and the limiting supports are symmetrically arranged.

6. The mechanical gripper according to claim 5, characterized in that: The limiting support is provided with a limiting column.

7. The robot gripper according to claim 1, characterized in that: A clamping stopper is provided on the clamping fixing seat on one side of the movable clamping device.

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