Mechanical gripper with spring plate limiting stopper
By introducing spring plate limiter and hinged structure into the mechanical gripper, the problem of poor stability of the pneumatic downpressure device is solved, and the smooth grab and stable palletization of different materials are achieved, which extends the equipment life and is suitable for dust environments. .
Patent Information
- Application Number
- CN202411559456.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-04
- Publication Date
- 2025-01-03
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
The existing pneumatic downpressure devices have poor stability and narrow application range when palletizing materials, which can easily lead to tilt or collapse of materials and short service life in dusty environments.
A mechanical gripper with a spring plate limiter was designed. Through a combined structure of the main elastic member, the articulated pressure plate and the secondary elastic member, the downforce is provided in a spring manner to avoid air pressure fluctuations, combined with the electric push rod and the articulated structure. Achieve flat and stable grabbing of bagged materials.
It improves the stability and service life of mechanical grippers, can adapt to the flowability of different materials, ensures that the surface of the material is flat, avoids tilt and collapse, and reduces wear when used in dusty environments.
Smart Images
Figure CN119238585A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the technical field of material stacking, and in particular to a mechanical gripper with a spring plate limiter. Background Art
[0002] In the industrial field, materials need to be palletized using robotic arms after production to facilitate subsequent handling and transportation.
[0003] After the powder or granular material is bagged, the palletizing operation is performed. When the material is loaded into the packaging bag, the material distribution is uneven. If the palletizing operation is performed directly at this time, the material will tilt or even collapse. In order to avoid this situation, the existing palletizing mechanical gripper (also called mechanical gripper) is provided with a lower pressure plate inside, which is driven pneumatically to press down the bagged material. The pressing process not only plays a fixing role, but also can flatten the upper surface of the bagged granular material or powdery material, so that the material will not tilt or collapse during the palletizing process; However, the above-mentioned process of driving by pneumatic means has the following defects: 1. In the pneumatic method, when the lower pressure plate is driven downward, air pressure fluctuations will occur. The pressure fluctuations will cause changes in the downward pressure, which will cause deformation of bagged materials, uneven stacking, or even collapse. 2. Bag powder will raise dust during the stacking process. The air pressure-driven downward pressing device frequently works in a dusty environment, which may lead to a reduction in lifespan and stability due to greater wear; 3. When palletizing different materials, due to the different physical properties of the materials, some powdery materials have good fluidity, so direct downward pressure can ensure the flatness of the bagged powder, but some materials have poor fluidity, and simple downward pressure cannot ensure the flatness of the bagged powder, so there will still be tilting or even collapse during the palletizing process; Therefore, a mechanical gripper with a spring plate limiter is proposed to solve the above-mentioned problems. Summary of the invention
[0004] Based on the above description, the present invention provides a mechanical gripper with a spring plate limiter to solve the problems of poor stability and narrow application range of the pneumatic pressing device.
[0005] The technical solution of the present invention to solve the above-mentioned technical problems is as follows: a mechanical gripper with a spring plate limiter comprises: a jaw body, the jaw body comprises a dovetail guide rail, a main elastic member is arranged on the lower surface of the jaw body, the hinge seat and the main elastic member are connected to each other by screws and comprise a vertical long hole, a hinged pressure plate and the hinged seat are hinged to each other, a secondary elastic member and the hinged pressure plate are hinged to each other and are sleeved to the outside of the dovetail guide rail.
[0006] Based on the above technical solution, the present invention can also be improved as follows.
[0007] Furthermore, the clamp body includes a clamp top plate, a dovetail guide rail is provided on the lower surface of the clamp top plate, electric push rods are provided on both sides of the clamp top plate, a rotating shaft is hinged at the output shaft of the electric push rod, the rotating shaft is connected to the clamp top plate through a bearing, a toggle arm is provided on the outer surface of the rotating shaft, a clamping claw is provided at one end of the toggle arm, and partitions are provided at both ends of the dovetail guide rail by screws.
[0008] Furthermore, the hinged seat includes a seat body, both ends of the seat body are provided with vertical plates, and the surface of the vertical plates is provided with vertical long holes.
[0009] Furthermore, the main elastic member includes a plurality of connecting rods, two adjacent connecting rods are connected by screws, and a connecting cover is provided at one end of the connecting rod close to the vertical plate by screws, and movable grooves are provided at both ends of the connecting rod and on one side of the connecting cover close to the connecting rod, and two adjacent movable grooves form a cylindrical movable cavity.
[0010] Furthermore, a screw is provided on one side of the connecting cover close to the vertical plate, and the screw is passed through the vertical long hole and fits tightly with the surface of the vertical plate. A force-bearing vertical rod is provided inside the movable cavity, a supporting spring is provided below the force-bearing vertical rod, and a fixing plate is provided at the top end of the force-bearing vertical rod, and the fixing plate is set on the lower surface of the clamping jaw top plate through screws.
[0011] Furthermore, the articulated pressure plate includes an articulated frame, a mounting hole, a cross plate, a lower pressure roller and a beating piece. The upper surface of the articulated frame is provided with a mounting hole. The articulated frame and the base body are hinged to each other. The cross plate, the lower pressure roller and the beating piece can all be set inside the mounting hole by screws.
[0012] Furthermore, the beating member includes a mounting plate, a lower surface of the mounting plate is provided with a movement groove, an upper surface of the mounting plate is provided with two vertical plates, and a transmission rod is provided between the two vertical plates.
[0013] Furthermore, an eccentric circle is arranged outside the transmission rod, and two adjacent transmission rods are connected via a pulley and a transmission belt. A motor is arranged on the surface of the vertical plate, and an output shaft of the motor is connected to the transmission rod.
[0014] Furthermore, a force-bearing top plate is arranged above the mounting plate, the force-bearing top plate is in contact with the eccentric circle, a moving rod penetrating the mounting plate and extending to the inside of the motion groove is arranged at the bottom end of the force-bearing top plate, a flapping plate is arranged at the bottom end of the moving rod, the flapping plate is located inside the motion groove, and a reset spring is arranged between the force-bearing top plate and the mounting plate.
[0015] Furthermore, the secondary elastic member includes a plurality of transverse blocks, two adjacent transverse blocks are connected by screws, and hinged cover plates are provided on the opposite sides of the transverse blocks at both ends, and movable grooves are provided at both ends of the transverse blocks and on the side of the hinged cover plates close to the transverse blocks, the hinged cover plates and the hinged pressure plates are hinged to each other, a force-bearing rod is provided inside the movable groove, and an installation spring in contact with the inner upper surface of the movable groove is sleeved on the outside of the force-bearing rod, a connecting strip is provided on the top of the force-bearing rod, and a dovetail groove slider is provided on the upper surface of the connecting strip, and the dovetail groove slider is sleeved to the outside of the dovetail guide rail.
[0016] Compared with the prior art, the technical solution of this application has the following beneficial technical effects: 1. The present invention provides a clamping claw body, an articulated seat, a main elastic member, an articulated pressure plate, a secondary elastic member and other components. Through the provision of the main elastic member, when the mechanical gripper grabs the bagged material, the main elastic member preferentially contacts the upper surface of the bagged material and moves upward. After the displacement, the inclination angle of the articulated pressure plate changes, and the bagged material is pressed downward. Compared with the pneumatic pressing device, the device uses a spring to provide the pressing force, thereby avoiding the situation where the pressing effect is unstable due to air pressure fluctuations; 2. By setting the main elastic member, the hinged pressure plate and the secondary elastic member, the mechanical gripper does not need to be driven by pneumatic means. It only uses the external force of the gripper in the process of grabbing the bagged material to flatten the bagged material. The transmission between the mechanical structures not only has good stability, but also has a long service life; 3. By setting the hinged pressing plate, the effect of changing the tilt angle of the hinged pressing plate when grabbing the bagged material is achieved. During the process of changing the tilt angle, the hinged pressing plate contacts the upper surface of the bagged material. Since the contact surface has an tilt angle, the interaction force between the hinged pressing plate and the bagged material has a lateral component. Under the action of the lateral component, the material in the packaging bag is easier to move laterally, so that the device can ensure that the upper surface of the bagged material is in a relatively flat state when grabbing different materials. 4. Through the setting of the horizontal plate, the lower pressure roller and the beating piece, the hinged pressure plate can be replaced according to actual needs. The hinged pressure plate with the horizontal plate or the lower pressure roller directly flattens the upper surface of the bagged material by downward extrusion. The lower pressure roller is more suitable for materials with relatively high hardness, and the setting of the beating piece enables the material to be beaten during the downward pressing process, which is suitable for materials with poor fluidity. 5. By setting the hinge seat and the main elastic member, the effect of adjusting the initial tilt angle of the hinged pressure plate is achieved, so that the device can be adjusted according to actual conditions when pressing down the bagged materials. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] Figure 1 A schematic structural diagram of a mechanical gripper with a spring plate limiter provided in an embodiment of the present invention; Figure 2 for Figure 1 Structural cross-sectional view of Figure 3 for Figure 2 A structural diagram from another perspective; Figure 4 It is a schematic diagram of the structure of the clamping jaw body in an embodiment of the present invention; Figure 5 Schematic diagram of the structure of the top plate of the clamping jaws in an embodiment of the present invention; Figure 6 Schematic diagram of the connection structure of 2 and 3 in the embodiment of the present invention; Figure 7 It is a structural schematic diagram of a hinged pressure plate in an embodiment of the present invention; Figure 8 Schematic diagram of the structure of the lower pressing roller in the embodiment of the present invention; Fig. 9 It is a structural schematic diagram of a beating member in an embodiment of the present invention; Fig.10 for Fig. 9 A structural diagram from another perspective; Fig.11 for Fig.10 A partial enlarged schematic diagram of the middle A area; Fig.12 for Fig. 9 A structural diagram from another perspective; Fig.13 for Fig.12 A partial enlarged schematic diagram of the middle B area; Fig.14 It is a schematic structural diagram of a secondary elastic member in an embodiment of the present invention; In the accompanying drawings, the components represented by the reference numerals are listed as follows: 1. Clamp body; 11. Clamp top plate; 12. Electric push rod; 13. Rotating shaft; 14. Sliding arm; 15. Clamping claw; 16. Dovetail guide rail; 17. Partition plate; 2. Articulated seat; 21. Seat body; 22. Vertical plate; 23. Vertical long hole; 3. Main elastic member; 31. Connecting rod; 32. Connecting cover; 33. Movable groove; 34. Forced vertical rod; 35. Fixed plate; 36. Support spring; 4. Articulated pressure plate; 41. Articulated frame; 42. Mounting hole; 43. Horizontal plate; 44. Lower pressure roller ; 45. flapping piece; 451. mounting plate; 452. vertical plate; 453. moving groove; 454. moving rod; 455. motor; 456. flapping plate; 457. force-bearing top plate; 458. reset spring; 459. transmission rod; 4510. eccentric circle; 4511. pulley; 4512. transmission belt; 5. secondary elastic piece; 51. transverse block; 52. hinged cover plate; 53. moving groove; 54. force-bearing rod; 55. mounting spring; 56. connecting strip; 57. dovetail groove slider. DETAILED DESCRIPTION
[0018] In order to facilitate understanding of the present application, the present application will be described more fully below with reference to the relevant drawings. Embodiments of the present application are provided in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive.
[0019] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.
[0020] When used herein, the singular forms "a", "an", and "said / the" may also include plural forms, unless the context clearly indicates otherwise. It should also be understood that the terms "include / comprise" or "have" etc. specify the presence of stated features, wholes, steps, operations, components, parts or combinations thereof, but do not exclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts or combinations thereof.
[0021] Embodiment 1 See also Figure 1-Figure 5 , a mechanical gripper with a spring plate limiter, comprising: A clamping jaw body 1, which includes a dovetail guide rail 16, the clamping jaw body 1 includes a clamping jaw top plate 11, the lower surface of the clamping jaw top plate 11 is provided with a dovetail guide rail 16, electric push rods 12 are provided on both sides of the clamping jaw top plate 11, a rotating shaft 13 is hinged at the output shaft of the electric push rod 12, the rotating shaft 13 is connected to the clamping jaw top plate 11 through a bearing, a toggle arm 14 is provided on the outer surface of the rotating shaft 13, a clamping jaw 15 is provided at one end of the toggle arm 14, and partitions 17 are provided at both ends of the dovetail guide rail 16 through screws; A main elastic member 3, which is arranged on the lower surface of the clamp body 1; The hinge seat 2 is connected to the main elastic member 3 by screws and includes a vertical long hole 23; An articulated pressing plate 4, which is articulated with the articulated seat 2; A secondary elastic member 5, which is hinged to the hinged pressure plate 4 and sleeved to the outside of the dovetail guide rail 16; Based on the above, the electric push rod 12 can drive the rotating shaft 13 to rotate when working, and when the rotating shaft 13 rotates, it drives the toggle arm 14 and the clamping claw 15 to rotate with the rotating shaft 13 as the center. At this time, the clamping claw 15 can realize two states of opening and clamping, so that the clamping claw body 1 can realize the basic function of grabbing bagged materials; The dovetail guide rail 16 and the partition plate 17 cooperate with each other, so that the secondary elastic member 5 can move along the direction of the dovetail guide rail 16. When the mechanical gripper grabs the bagged material, the bagged material first contacts the main elastic member 3, and the main elastic member 3 moves upward. During this process, the inclination angle of the hinged pressing plate 4 changes. At the same time, the secondary elastic member 5 moves along the direction of the dovetail guide rail 16 to ensure that the column elastic member 3, the hinged pressing plate 4 and the secondary elastic member 5 can move normally. During the above process, the hinged pressing plate 4 can flatten the upper surface of the bagged material. Firstly, the above structures are all mechanical structures, and the movement mode of mechanical structures is relatively high in reliability and service life. They will not suffer from severe wear and tear and greatly reduced service life due to frequent operation in a dusty environment. Secondly, the mechanical gripper is driven by the original movement in the process of grabbing bagged materials. Compared with the pneumatic method, it is more stable and will not cause deformation of the upper surface of the bagged materials, tilting or collapse during stacking due to air pressure fluctuations.
[0022] Embodiment 2 Based on the first embodiment, Figure 2 , Figure 3 , Figure 6 and Fig.14As shown, the main elastic member 3 includes a plurality of connecting rods 31, two adjacent connecting rods 31 are connected by screws, and a connecting cover 32 is provided at one end of the connecting rod 31 close to the vertical plate 22 by screws, and movable grooves 33 are provided at both ends of the connecting rod 31 and one side of the connecting cover 32 close to the connecting rod 31, and two adjacent movable grooves 33 form a cylindrical movable cavity; A force-bearing vertical rod 34 is disposed inside the movable cavity, a support spring 36 is disposed below the force-bearing vertical rod 34, a fixing plate 35 is disposed at the top of the force-bearing vertical rod 34, and the fixing plate 35 is fixed to the lower surface of the clamping jaw top plate 11 by screws; The secondary elastic member 5 includes a plurality of transverse blocks 51, two adjacent transverse blocks 51 are connected by screws, and hinged cover plates 52 are provided on opposite sides of the transverse blocks 51 at both ends, and movable grooves 53 are provided at both ends of the transverse block 51 and on the side of the hinged cover plate 52 close to the transverse block 51, and the hinged cover plate 52 is hinged to the hinged pressure plate 4, and a force-bearing rod 54 is provided inside the movable groove 53, and a mounting spring 55 in contact with the inner upper surface of the movable groove 53 is sleeved on the outer side of the force-bearing rod 54, and a connecting strip 56 is provided on the top of the force-bearing rod 54, and a dovetail groove slider 57 is provided on the upper surface of the connecting strip 56, and the dovetail groove slider 57 is sleeved to the outside of the dovetail guide rail 16; Based on the above, the hinged pressure plate 4 is hinged to the hinged seat 2 and the secondary elastic member 5 respectively, and the secondary elastic member 5 cooperates with the dovetail guide rail 16, so that the secondary elastic member 5 can only move along the direction of the dovetail guide rail 16, while the positions of the main elastic member 3 and the hinged seat 2 are fixed; When grabbing bagged materials, the main elastic member 3 moves upward after contacting the bagged materials. During this process, the inclination angle of the hinged pressing plate 4 changes. At this time, the contact surface between the hinged pressing plate 4 and the bagged materials has an inclination angle, so the bagged materials are subjected to a lateral force component, which in turn causes the materials inside the packaging bag to be pushed by the lateral force, making it easier to make the upper surface of the bagged materials flat. In addition, for materials with poor fluidity, it is easier to make the upper surface of the bagged materials flat than directly pressing down, so that the bag will not tilt or even collapse during the stacking process; The setting of the above-mentioned multiple springs plays a resetting role, so that after the grabbed bagged material is put down, the hinged seat 2, the main elastic member 3, the hinged pressure plate 4 and the secondary elastic member 5 can all be reset to prepare for the next grabbing, wherein the diameters of the tops of the force-bearing vertical rod 34 and the force-bearing rod 54 are respectively smaller than the diameters of their bottoms, and the mounting spring 55 is arranged on the outside of the force-bearing rod 54, that is, above the end of the force-bearing rod 54 with a larger diameter, and the supporting spring 36 is directly arranged below the force-bearing vertical rod 34.
[0023] Embodiment 3 Based on the second embodiment, Figure 1-Figure 3 as well as Figure 6 As shown, a screw is provided on one side of the connection cover 32 close to the vertical plate 22, and the screw passes through the vertical long hole 23 and fits tightly with the surface of the vertical plate 22; Based on the above, the main elastic member 3 and the hinge seat 2 are connected to each other by screws, and the vertical long hole 23 is set so that the main elastic member 3 can move along the direction of the vertical long hole 23. When the main elastic member 3 moves vertically, the initial inclination angle of the hinge pressure plate 4 can be changed. The hinge pressure plate 4 has three initial states, namely, horizontal state, Figure 3 The V-shaped state and the inverted V-shaped state shown enable the mechanical gripper to be adjusted according to actual conditions to meet the need to level the upper surface of the bagged material.
[0024] Embodiment 4 Based on the second embodiment, Figure 7-Figure 13 As shown, the hinged pressing plate 4 includes a hinged frame 41, a mounting hole 42, a horizontal plate 43, a lower pressing roller 44 and a slapping member 45. The upper surface of the hinged frame 41 is provided with a mounting hole 42. The hinged frame 41 and the seat body 21 are hinged to each other. The horizontal plate 43, the lower pressing roller 44 and the slapping member 45 can be set inside the mounting hole 42 by screws. The slapping member 45 comprises a mounting plate 451, a movement groove 453 is provided on the lower surface of the mounting plate 451, two vertical plates 452 are provided on the upper surface of the mounting plate 451, a transmission rod 459 is provided between the two vertical plates 452, an eccentric circle 4510 is provided on the outside of the transmission rod 459, two adjacent transmission rods 459 are connected by a pulley 4511 and a transmission belt 4512, a motor 455 is provided on the surface of the vertical plate 452, and an output shaft of the motor 455 is connected to the transmission rod 459; A force-bearing top plate 457 is arranged above the mounting plate 451, and the force-bearing top plate 457 contacts the eccentric circle 4510. A moving rod 454 penetrating the mounting plate 451 and extending to the inside of the movement slot 453 is arranged at the bottom end of the force-bearing top plate 457. A slapping plate 456 is arranged at the bottom end of the moving rod 454, and the slapping plate 456 is located inside the movement slot 453. A return spring 458 is arranged between the force-bearing top plate 457 and the mounting plate 451. Based on the above, the arrangement of the cross plate 43, the lower pressing roller 44 and the beating member 45 enables the hinged pressing plate 4 to be in different states, and the cross plate 43 and the lower pressing roller 44 are more suitable for materials with better fluidity; The beating member 45 is suitable for materials with poor fluidity. When in use, the motor 455 is powered on. Here, the motor 455 is preferably a servo motor. The motor 455 drives the transmission rod 459 and the eccentric circle 4510 to rotate. In this process, the two adjacent transmission rods 459 rotate together under the action of the pulley 4511 and the transmission belt 4512. The far end of the eccentric circle 4510 presses the top plate 457 downward during the rotation process, thereby driving the moving rod 454 and the flapping plate 456 to move downward. At this time, the return spring 458 is compressed ( Fig.10 The state shown is a state diagram after the eccentric circle 4510 squeezes the force-bearing top plate 457 at the farthest end. At this time, the flapping plate 456 is at the bottom. When the eccentric circle 4510 rotates, the force-bearing top plate 457, the moving rod 454 and the flapping plate 456 cooperate with the eccentric circle 4510 and the return spring 458 to achieve the effect of intermittent downward movement of the flapping plate 456, and then intermittently flap the bagged materials. During the flapping process, the materials in the packaging bags are loosened and displaced under the action of squeezing, which is more suitable for stacking materials with poor fluidity.
[0025] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims
1. A mechanical gripper with a spring plate limiter, characterized in that: include: A clamping jaw body (1) comprising a dovetail guide rail (16); A main elastic member (3) arranged on the lower surface of the clamping jaw body (1); A hinge seat (2), which is connected to the main elastic member (3) via screws and comprises a vertical long hole (23); An articulated pressure plate (4) which is articulated with the articulated seat (2); The secondary elastic member (5) is hingedly connected to the hinged pressure plate (4) and sleeved on the outside of the dovetail guide rail (16).
2. The mechanical gripper according to claim 1, characterized in that: The clamping jaw body (1) comprises a clamping jaw top plate (11), a dovetail guide rail (16) is arranged on the lower surface of the clamping jaw top plate (11), electric push rods (12) are arranged on both sides of the clamping jaw top plate (11), a rotating shaft (13) is hinged at the output shaft of the electric push rod (12), the rotating shaft (13) is connected to the clamping jaw top plate (11) through a bearing, a toggle arm (14) is arranged on the outer surface of the rotating shaft (13), a clamping jaw (15) is arranged at one end of the toggle arm (14), and partitions (17) are arranged at both ends of the dovetail guide rail (16) through screws.
3. The mechanical gripper according to claim 2, characterized in that: The hinged seat (2) comprises a seat body (21), both ends of the seat body (21) are provided with vertical plates (22), and the surface of the vertical plates (22) is provided with vertical long holes (23).
4. The mechanical gripper according to claim 3, characterized in that: The main elastic member (3) comprises a plurality of connecting rods (31), two adjacent connecting rods (31) are connected by screws, one end of the connecting rod (31) close to the vertical plate (22) is provided with a connecting cover (32) by screws, both ends of the connecting rod (31) and one side of the connecting cover (32) close to the connecting rod (31) are provided with movable grooves (33), and two adjacent movable grooves (33) form a cylindrical movable cavity.
5. The mechanical gripper according to claim 4, characterized in that: A screw is provided on one side of the connection cover (32) close to the vertical plate (22), and the screw passes through the vertical long hole (23) and fits tightly with the surface of the vertical plate (22). A force-bearing vertical rod (34) is provided inside the movable cavity, and a supporting spring (36) is provided below the force-bearing vertical rod (34). A fixing plate (35) is provided at the top end of the force-bearing vertical rod (34), and the fixing plate (35) is fixed to the lower surface of the clamping jaw top plate (11) by means of screws.
6. The mechanical gripper according to claim 4, characterized in that: The hinged pressure plate (4) comprises a hinged frame (41), a mounting hole (42), a transverse plate (43), a lower pressure roller (44) and a beating member (45); the upper surface of the hinged frame (41) is provided with a mounting hole (42); the hinged frame (41) and the seat body (21) are hingedly connected to each other; the transverse plate (43), the lower pressure roller (44) and the beating member (45) can all be arranged inside the mounting hole (42) by means of screws.
7. The mechanical gripper according to claim 6, characterized in that: The beating member (45) comprises a mounting plate (451), a lower surface of the mounting plate (451) being provided with a movement groove (453), an upper surface of the mounting plate (451) being provided with two vertical plates (452), and a transmission rod (459) being provided between the two vertical plates (452).
8. The mechanical gripper according to claim 7, characterized in that: An eccentric circle (4510) is arranged outside the transmission rod (459), and two adjacent transmission rods (459) are connected to each other via a pulley (4511) and a transmission belt (4512). A motor (455) is arranged on the surface of the vertical plate (452), and an output shaft of the motor (455) is connected to the transmission rod (459).
9. The mechanical gripper according to claim 8, characterized in that: A force-bearing top plate (457) is arranged above the mounting plate (451), and the force-bearing top plate (457) is in contact with the eccentric circle (4510). A moving rod (454) penetrating the mounting plate (451) and extending into the moving groove (453) is arranged at the bottom end of the force-bearing top plate (457), and a flapping plate (456) is arranged at the bottom end of the moving rod (454), and the flapping plate (456) is located inside the moving groove (453). A return spring (458) is arranged between the force-bearing top plate (457) and the mounting plate (451).
10. The mechanical gripper according to claim 1, characterized in that: The secondary elastic member (5) comprises a plurality of transverse blocks (51), two adjacent transverse blocks (51) are connected by screws, and hinged cover plates (52) are provided on opposite sides of the transverse blocks (51) at both ends, and movable grooves (53) are provided at both ends of the transverse block (51) and on the side of the hinged cover plate (52) close to the transverse block (51), and the hinged cover plate (52) and the hinged pressure plate (4) are hingedly connected to each other, and a force-bearing rod (54) is provided inside the movable groove (53), and an installation spring (55) in contact with the inner upper surface of the movable groove (53) is sleeved on the outer side of the force-bearing rod (54), and a connecting strip (56) is provided at the top end of the force-bearing rod (54), and a dovetail groove slider (57) is provided on the upper surface of the connecting strip (56), and the dovetail groove slider (57) is sleeved on the outside of the dovetail guide rail (16).