Movable gripping apparatus and production line

Abstract

The invention provides a movable gripping apparatus and a production line, and relates to the technical field of gripping machinery, the movable gripping apparatus comprises a lead screw, a nut, a thrust bearing and a pressure sensor, the lead screw is arranged in a box body shell, the fixed end of the lead screw is slidably connected with the side wall in the box body shell, the connecting end of the lead screw penetrates out of the box body shell and is connected with a gripper, and the pressure sensor is arranged in the box body shell. The lead screw sequentially penetrates through the pressure sensor, the nut and the thrust bearing, the pressure sensor is fixed to a transparent cover in the box shell, the lead screw is in threaded fit with the nut, the nut is arranged between the pressure sensor and the thrust bearing, the lower surface of the thrust bearing is connected with the bottom wall in the box shell, and a driving mechanism is arranged on the side face of the nut. The driving mechanism is used for driving the nut to rotate so that the lead screw can move in the axial direction of the lead screw, and when the gripper abuts against the material, the nut is driven to continuously rotate so that the nut can move in the direction away from the material till the nut abuts against the detection end of the pressure sensor. According to the invention, whether the gripper reaches the material position or not can be accurately inferred.

Description

Technical Field

[0001] The present invention relates to the technical field of gripping machinery, and in particular to a mobile gripper and a production line. Background Art

[0002] A gripper is a mechanical device used for automated material handling and processing. It can imitate the movements of human hands to grasp, hold and release objects of different shapes, sizes and weights. In the fields of industrial automation, logistics, manufacturing, etc., grippers are an important part of robotic systems or automated production lines.

[0003] During the working process, it is necessary to confirm whether the gripper of the gripper has reached the material position. To achieve this purpose, in the related technology, a spring mechanism is usually provided between the back of the gripper and the gripper fixing rod. When the gripper is working, it will stretch or squeeze the spring mechanism, change the force of the spring mechanism on the gripper fixing rod, and determine the position of the gripper through the force of the spring mechanism on the gripper fixing rod. Although this can roughly determine whether the gripper of the gripper has reached the material position. However, before determining the position of the gripper according to the force, it is necessary to calibrate the force of the spring mechanism on the gripper fixing rod to accurately determine whether the material position has been reached. The spring mechanism not only has a limited adjustable range, but is also difficult to calibrate, resulting in poor accuracy in determining whether the gripper of the gripper has reached the material position. Summary of the invention

[0004] The problem solved by the present invention is how to accurately determine whether the gripper of the gripper has reached the material position.

[0005] To solve the above problems, in the first aspect, the present invention provides a mobile gripper, comprising a lead screw, a nut, a thrust bearing and a pressure sensor, the lead screw being arranged in a box shell, and the fixed end of the lead screw being slidably connected to the side wall inside the box shell, the connecting end of the lead screw passing through the box shell and being connected to a gripper, the lead screw being sequentially passed through the pressure sensor, the nut and the thrust bearing, and the pressure sensor being fixed on a transparent cover inside the box shell, the lead screw and the nut being threadedly matched, the nut being arranged between the pressure sensor and the thrust bearing, the lower surface of the thrust bearing being connected to the bottom wall inside the box shell, a driving mechanism being provided on the side of the nut, the driving mechanism being used to drive the nut to rotate so that the lead screw moves along its axial direction, and when the gripper abuts against the material, the nut is driven to continue to rotate so that the nut moves in a direction away from the material until it abuts against the detection end of the pressure sensor.

[0006] Optionally, a radial bearing is further provided on the upper surface of the nut, and the radial bearing is sleeved on the lead screw. The radial bearing is used to follow the nut in the direction away from the material when the nut moves in the direction away from the material, and abut against the detection end of the pressure sensor.

[0007] Optionally, the transparent cover is fixed in the box shell, and a through hole is provided in the transparent cover, the lead screw is passed through the through hole of the transparent cover, the pressure sensor is arranged on the transparent cover, and the detection end of the pressure sensor protrudes downward with a stop structure, and the stop structure is accommodated in the through hole of the transparent cover.

[0008] Optionally, the radial bearing is disposed between the pressure sensor and the nut, and an outer diameter of the radial bearing is smaller than an inner diameter of the through hole of the transparent cover.

[0009] Optionally, the pressure sensor is provided with a bolt engaging hole, and the pressure sensor is engaged with the transparent cover via the bolt engaging hole and the bolt.

[0010] Optionally, there is a preset distance between the bolt engaging hole and the stop structure.

[0011] Optionally, a sliding mechanism is provided at the fixed end of the lead screw, and the sliding mechanism includes a fixed guide rail, a slider and a connecting rod. The fixed guide rail is vertically fixed on the side wall, and the slider slides on the fixed guide rail and is connected to the fixed end of the lead screw through the connecting rod.

[0012] Optionally, the driving mechanism includes a worm and a driving source, the nut is provided with a worm wheel, the worm is meshed with the worm wheel of the nut, and the worm is connected to the driving source.

[0013] Optionally, the mobile gripper further comprises a processing module, which is electrically connected to the pressure sensor and the driving mechanism respectively, and is used to obtain a pressure signal from the pressure sensor and control the driving mechanism according to the pressure signal.

[0014] In a second aspect, the present invention provides a production line comprising the mobile gripper as described in the first aspect.

[0015] The beneficial effects of a mobile gripper and a production line of the present invention are:

[0016] The fixed end of the screw is slidably connected to the side wall inside the box shell, and the connecting end of the screw is connected to a gripper, and the screw is passed through the nut. The screw and the nut threads cooperate, so that when the driving mechanism drives the nut to rotate, the screw can move along its axial direction toward the material, so that the gripper reaches the material. At this time, since the screw is passed through the thrust bearing and the nut is arranged above the thrust bearing, the lower surface of the thrust bearing is connected to the bottom wall inside the box shell, the thrust bearing can bear the gravity of the upper component, thereby increasing the service life of the mobile gripper. The screw can also be adjusted to ensure that the screw can move along the same axial direction, improve the positioning accuracy of the gripper and eliminate over-positioning, thereby reducing unnecessary friction and stress concentration between components and increasing the service life of the equipment. Then, the driving mechanism continues to drive the nut to rotate. Since the gripper abuts against the material after reaching the material, the lead screw cannot continue to move along its axial direction. Therefore, at this time, the nut moves in the direction away from the material under the action of the driving mechanism and the thread. Since the lead screw passes through the pressure sensor, the pressure sensor is fixed on the transparent cover inside the box shell, and the nut is arranged below the pressure sensor, after the nut moves in the direction away from the material, it will abut against the detection end of the pressure sensor, causing the detection end of the pressure sensor to deform and generate a pressure signal. Therefore, the pressure signal and the preset pressure threshold are used to infer whether the gripper has reached the material position. During fine calibration, only the pressure sensor needs to be adjusted. The preset pressure threshold of the pressure sensor only needs to be adjusted, and there is no need to adjust other structures like the spring mechanism in the related art, such as adjusting the elastic force or size of the spring. Compared with adjusting the elastic force or size of the spring, the present invention only adjusts the preset pressure threshold of the pressure sensor, which is easier, because adjusting the elastic force or size of the spring requires changing the shape and material of the spring, such as the compression or extension length, wire diameter, outer diameter, number of turns, length, etc. of the spring, and changing these requires precise calculations and difficult operations, making it more difficult to adjust the elastic force or size of the spring, and there are too many factors affecting the precision calibration, so the present invention only adjusts the preset pressure threshold of the pressure sensor, which is easier. In addition, the preset pressure threshold can be adjusted at will within the range of the pressure sensor to adapt to various types of grippers. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 One of the structural schematic diagrams of the mobile gripper provided in the embodiment of the present invention;

[0018] Figure 2 The second structural schematic diagram of the mobile gripper provided in the embodiment of the present invention.

[0019] Description of reference numerals:

[0020] 1. Screw; 2. Nut; 21. First boss; 22. Second boss; 3. Thrust bearing; 4. Pressure sensor; 41. Stop structure; 5. Box shell; 51. Side wall; 52. Transparent cover; 53. Bottom wall; 6. Grip; 7. Driving mechanism; 8. Radial bearing; 9. Sliding mechanism; 91. Fixed guide rail; 92. Sliding block; 93. Connecting rod. DETAILED DESCRIPTION

[0021] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. Although certain embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be interpreted as being limited to the embodiments described herein. On the contrary, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the drawings and embodiments of the present invention are only for exemplary purposes and are not intended to limit the scope of protection of the present invention.

[0022] The term "including" and its variations used in this document are open inclusions, that is, "including but not limited to"; the term "based on" means "based at least in part on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally" means "optional embodiments". The relevant definitions of other terms will be given in the following description. It should be noted that the concepts of "first", "second", etc. mentioned in the present invention are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0023] It should be noted that the modifications of "one" and "plurality" mentioned in the present invention are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0024] In view of the problems existing in the above-mentioned related technologies, this embodiment provides a mobile gripper and a production line.

[0025] like Figure 1As shown, a mobile gripper provided by an embodiment of the present invention comprises a lead screw 1, a nut 2, a thrust bearing 3 and a pressure sensor 4, wherein the lead screw 1 is arranged in a box shell 5, and the fixed end of the lead screw 1 is slidably connected to a side wall 51 in the box shell 5, the connecting end of the lead screw 1 passes through the box shell 5 and is connected to a gripper 6, the lead screw 1 is sequentially passed through the pressure sensor 4, the nut 2 and the thrust bearing 3, and the pressure sensor 4 is fixed on a transparent cover 52 in the box shell 5, the lead screw 1 and The nut 2 is threadedly matched, and the nut 2 is arranged between the pressure sensor 4 and the thrust bearing 3. The lower surface of the thrust bearing 3 is connected to the bottom wall 53 in the box shell 5. A driving mechanism 7 is provided on the side of the nut 2. The driving mechanism 7 is used to drive the nut 2 to rotate so that the screw 1 moves along its axial direction, and when the gripper 6 abuts against the material, the nut 2 is driven to continue rotating so that the nut (2) moves in a direction away from the material until it abuts against the detection end of the pressure sensor 4.

[0026] Specifically, the lead screw 1, the nut 2, the thrust bearing 3 and the pressure sensor 4 are all arranged in the housing 5, and the fixed end of the lead screw 1 is slidably connected to the side wall 51 in the housing 5, so that the lead screw 1 can move along its axial direction. The connecting end of the lead screw 1 passes through the housing 5 and is connected to a gripper 6. The pressure sensor 4 and the inner axis of the nut 2 are provided with through holes, so that the connecting end of the lead screw 1 can pass through the pressure sensor 4, the through hole of the nut 2 and the inner ring of the thrust bearing 3 in sequence, and the material can be grabbed by the gripper 6. A transparent cover 52 is provided in the housing 5, and the transparent cover 52 is also provided with a through hole, so that the connecting end of the lead screw 1 can pass through. The pressure sensor 4 is fixed on the transparent cover 52, and its detection end faces the nut 2. The inner wall of the through hole of the nut 2 is provided with an internal thread, and the lead screw 1 is provided with an external thread, so that the lead screw 1 and the nut 2 are threadedly matched, and the nut 2 is arranged between the pressure sensor 4 and the thrust bearing 3, and the lower surface of the thrust bearing 3 is connected to the bottom wall 53 in the box shell 5, so as to bear the gravity of various components above the thrust bearing 3. A driving mechanism 7 is provided on the side of the nut 2, and the driving mechanism 7 can drive the nut 2 to rotate. The rotation direction of the nut 2 can be set to be used to make the lead screw 1 move toward the material, so that under the action of the thread, the lead screw 1 moves toward the material along its axial direction. When the gripper 6 provided at the connecting end of the lead screw 1 reaches the position where the material is located, the gripper 6 contacts the material, and the lead screw 1 cannot continue to move. At this time, the position of the lead screw 1 remains unchanged, and the driving mechanism 7 continues to drive the nut 2 to rotate. Under the action of the reaction force, the nut 2 moves in a direction away from the material, thereby approaching the pressure sensor 4, and finally contacts the detection end of the pressure sensor 4, so that the pressure sensor 4 generates a pressure signal. Through the pressure signal, it can be accurately known that the gripper 6 has reached the position where the material is located. In addition, a preset pressure threshold can be set according to actual conditions. When the value of the pressure signal generated by the pressure sensor 4 reaches the preset pressure threshold, it can be determined that the gripper 6 has reached the position where the material is located, thereby issuing a command to grab the material.

[0027] For example, Figure 2 As shown, the bottom wall 53 is convexly provided with a fixing groove, the outer diameter of the thrust bearing 3 matches the inner diameter of the fixing groove, and the side wall of the bottom end of the thrust bearing 3 abuts against the groove wall of the fixing groove, thereby fixing the thrust bearing 3 in the fixing groove to achieve radial positioning of the thrust bearing 3.

[0028] In this embodiment, the fixed end of the screw 1 is slidably connected to the side wall 51 in the box shell 5, the connecting end of the screw 1 is connected to the gripper 6, and the screw 1 is inserted into the nut 2. The screw 1 and the nut 2 are threadedly matched. When the driving mechanism 7 drives the nut 2 to rotate, the screw 1 can move along its axial direction toward the material, so that the gripper 6 reaches the material. At this time, since the screw 1 is inserted into the thrust bearing 3, and the nut 2 is arranged above the thrust bearing 3, the lower surface of the thrust bearing 3 is connected to the bottom wall 53 in the box shell 5, the thrust bearing 3 can bear the gravity of the upper components, thereby increasing the service life. The screw 1 can also be self-aligned to ensure that the screw 1 can move along the same axial direction, improve the positioning accuracy of the gripper 6 and eliminate the over-positioning phenomenon, thereby reducing unnecessary friction and stress concentration between components and increasing the service life of the equipment. Then, the driving mechanism 7 continues to drive the nut 2 to rotate. Since the gripper 6 abuts against the material after reaching the material, the screw 1 cannot continue to move along its axial direction. Therefore, at this time, the nut 2 moves in the direction away from the material under the action of the driving mechanism 7 and the thread. Since the screw 1 passes through the pressure sensor 4, the pressure sensor 4 is fixed on the transparent cover 52 in the box shell 5, and the nut 2 is arranged below the pressure sensor 4, after the nut 2 moves in the direction away from the material, it will abut against the detection end of the pressure sensor 4, causing the detection end of the pressure sensor 4 to deform and generate a pressure signal, thereby accurately inferring whether the gripper 6 has reached the material position through the pressure signal and the preset pressure threshold. During fine calibration, it is only necessary to adjust the preset pressure threshold of the pressure sensor 4 without adjusting other structures, and the preset pressure threshold can be adjusted arbitrarily within the measuring range of the pressure sensor 4 to adapt to various types of grippers.

[0029] Optionally, a radial bearing 8 is also provided on the upper surface of the nut 2, and the radial bearing 8 is sleeved on the screw 1. The radial bearing 8 is used to follow the nut 2 in the direction away from the material when the nut 2 moves in the direction away from the material, and abut against the detection end of the pressure sensor 4.

[0030] Specifically, Figure 1 As shown, a radial bearing 8 is also provided on the upper surface of the nut 2, and the radial bearing 8 is sleeved on the lead screw 1. The radial bearing 8 is used to follow the nut 2 in the direction away from the material when the nut 2 moves in the direction away from the material, and abut against the detection end of the pressure sensor 4, so as to transmit the pressure between the gripper 6 and the material to the pressure sensor 4, thereby determining the position between the gripper 6 and the material.

[0031] Optionally, the transparent cover 52 is fixed in the box shell 5, and a through hole is opened in the transparent cover 52, the lead screw 1 is passed through the through hole of the transparent cover 52, the pressure sensor 4 is arranged on the transparent cover 52, and the detection end of the pressure sensor 4 protrudes downward with a stop structure 41, and the stop structure 41 is accommodated in the through hole of the transparent cover 52.

[0032] Specifically, Figure 1 As shown, the transparent cover 52 is fixed in the box shell 5, and the transparent cover 52 is provided with a through hole, the screw 1 is passed through the through hole of the transparent cover 52, the pressure sensor 4 is arranged on the transparent cover 52, and the detection end of the pressure sensor 4 protrudes downward with a stop structure 41, the stop structure 41 cooperates with the side wall of the through hole of the transparent cover 52 so that the stop structure 41 is accommodated in the through hole of the transparent cover 52, that is, the pressure sensor 4 is fixed on the transparent cover 52.

[0033] Optionally, the radial bearing 8 is disposed between the pressure sensor 4 and the nut 2 , and the outer diameter of the radial bearing 8 is smaller than the inner diameter of the through hole of the transparent cover 52 .

[0034] Specifically, Figure 1 As shown, the outer diameter of the radial bearing 8 is smaller than the inner diameter of the through hole of the transparent cover 52, that is, a reserved gap is provided between the side of the radial bearing 8 and the through hole of the transparent cover 52, so that the radial bearing 8 can pass through the through hole and move toward the pressure sensor 4, thereby increasing the movement space of the radial bearing 8 to prevent the bearing 8 from getting stuck with the transparent cover 52. The thickness of the radial bearing 8 is greater than the distance from the lower surface of the transparent cover 52 to the upper surface of the nut 2, that is, the radial bearing 8 is always at least partially accommodated in the through hole of the transparent cover 52. Through the constraint of the through hole, the radial bearing 8 can radially position the lead screw 1 to ensure that the movement direction of the lead screw 1 remains stable.

[0035] Optionally, the pressure sensor 4 is provided with a bolt engaging hole, and the pressure sensor 4 is engaged with the transparent cover 52 through the bolt engaging hole and the bolt.

[0036] Specifically, Figure 1 As shown, the pressure sensor 4 is provided with a bolt engaging hole, and the pressure sensor 4 is engaged with the transparent cover 52 through the bolt engaging hole and the bolt to achieve a detachable connection, thereby increasing the flexibility of the device.

[0037] Optionally, there is a preset distance between the bolt engaging hole and the stop structure 41 .

[0038] Specifically, Figure 1As shown, there is a preset distance between the bolt handle hole and the stop structure 41, thereby increasing the space around the detection end of the pressure sensor 4, so that the detection end of the pressure sensor 4 has enough space to deform when squeezed by the nut 2 or the radial bearing 8, thereby quickly generating a pressure signal and achieving a rapid response to pressure, so as to improve the sensitivity and accuracy of detection.

[0039] Optionally, a sliding mechanism 9 is provided at the fixed end of the lead screw 1, and the sliding mechanism 9 includes a fixed guide rail 91, a slider 92 and a connecting rod 93. The fixed guide rail 91 is vertically fixed on the side wall 51, and the slider 92 slides on the fixed guide rail 91 and is connected to the fixed end of the lead screw 1 through the connecting rod 93.

[0040] Specifically, Figure 1 As shown, a sliding mechanism 9 is provided at the fixed end of the lead screw 1, and the sliding mechanism 9 includes a fixed guide rail 91, a slider 92 and a connecting rod 93. The fixed guide rail 91 is vertically fixed on the side wall 51, and the slider 92 slides on the fixed guide rail 91 and is connected to the fixed end of the lead screw 1 through the connecting rod 93, so that the lead screw 1 slides along the extension direction of the fixed guide rail 91, that is, slides along its axial direction.

[0041] Optionally, the driving mechanism 7 includes a worm and a driving source, the nut 2 is provided with a worm wheel, the worm is meshed with the worm wheel of the nut 2, and the worm is connected to the driving source.

[0042] Specifically, the driving mechanism 7 includes a worm and a driving source, a worm wheel is provided on the nut 2, and the worm wheel is meshed with the worm, and the worm is connected to the driving source, so that under the action of the driving source on the worm, the worm drives the worm wheel to rotate, and then the worm wheel drives the nut 2 to rotate. In addition, the rotation direction of the worm can be controlled to control the rotation direction of the nut 2, so that the lead screw 1 moves in a direction close to the material or away from the material.

[0043] For example, Figure 2 As shown, the worm wheel is arranged on the outer surface of the nut 2, and the worm wheel is provided with a first boss 21 protruding upward along the circumference of the lead screw 1 on the upper surface of the nut 2, and a second boss 22 protruding downward on the lower surface of the nut 2, and the outer diameter of the first boss 21 matches the inner diameter of the radial bearing 8, so that the first boss 21 is stuck in the radial bearing 8, thereby realizing the radial positioning and limitation of the worm wheel of the nut 2 by the radial bearing 8. The outer diameter of the second boss 22 matches the inner diameter of the thrust bearing 3, so that the second boss 21 is stuck in the thrust bearing 3, further realizing the radial positioning and limitation of the worm wheel of the nut 2 by the thrust bearing 3.

[0044] Optionally, the mobile gripper further includes a processing module, which is electrically connected to the pressure sensor 4 and the driving mechanism 7 respectively, and is used to obtain a pressure signal from the pressure sensor 4 and control the driving mechanism 7 according to the pressure signal.

[0045] Specifically, the mobile gripper also includes a processing module, which is electrically connected to the pressure sensor 4 and the driving mechanism 7 respectively, for obtaining the pressure signal of the pressure sensor 4, and controlling the driving mechanism 7 according to the pressure signal, thereby controlling the rotation of the nut 2, and then controlling the movement of the screw 1, so as to realize the gripper 6 moving away from or close to the material.

[0046] A production line provided by an embodiment of the present invention includes the mobile gripper as described above.

[0047] The beneficial effects of the production line of this embodiment relative to the prior art are the same as those of the above-mentioned mobile gripper, and will not be repeated here.

[0048] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A mobile gripper, characterized in that: The invention comprises a lead screw (1), a nut (2), a thrust bearing (3) and a pressure sensor (4), wherein the lead screw (1) is arranged in a box shell (5), and the fixed end of the lead screw (1) is slidably connected to a side wall (51) in the box shell (5), the connecting end of the lead screw (1) passes through the box shell (5) and is connected to a gripper (6), the lead screw (1) is sequentially passed through the pressure sensor (4), the nut (2) and the thrust bearing (3), and the pressure sensor (4) is fixed on a transparent cover (52) in the box shell (5), the lead screw (1) and the nut ( 2) threaded matching, the nut (2) is arranged between the pressure sensor (4) and the thrust bearing (3), the lower surface of the thrust bearing (3) is connected to the bottom wall (53) in the box shell (5), and a driving mechanism (7) is provided on the side of the nut (2), and the driving mechanism (7) is used to drive the nut (2) to rotate so that the lead screw (1) moves along its axial direction, and when the gripper (6) abuts against the material, the nut (2) is driven to continue to rotate so that the nut (2) moves in a direction away from the material until it abuts against the detection end of the pressure sensor (4).

2. The mobile gripper according to claim 1, characterized in that: The upper surface of the nut (2) is also provided with a radial bearing (8), and the radial bearing (8) is sleeved on the lead screw (1). When the nut (2) moves in a direction away from the material, the radial bearing (8) follows the movement of the nut (2) in a direction away from the material and abuts against the detection end of the pressure sensor (4).

3. The mobile gripper according to claim 2, characterized in that: The transparent cover (52) is fixed inside the box shell (5), and a through hole is provided in the transparent cover (52), the lead screw (1) is passed through the through hole of the transparent cover (52), the pressure sensor (4) is arranged on the transparent cover (52), and a stop structure (41) is protruded downward at the detection end of the pressure sensor (4), and the stop structure (41) is accommodated in the through hole of the transparent cover (52).

4. The mobile gripper according to claim 3, characterized in that: The radial bearing (8) is arranged between the pressure sensor (4) and the nut (2), and the outer diameter of the radial bearing (8) is smaller than the inner diameter of the through hole of the transparent cover (52).

5. The mobile gripper according to claim 3, characterized in that: The pressure sensor (4) is provided with a bolt engaging hole, and the pressure sensor (4) is engaged with the transparent cover (52) via the bolt engaging hole and the bolt.

6. The mobile gripper according to claim 5, characterized in that: The bolt handle hole and the stop structure (41) are spaced at a preset distance.

7. The mobile gripper according to claim 1, characterized in that: The fixed end of the lead screw (1) is provided with a sliding mechanism (9), and the sliding mechanism (9) comprises a fixed guide rail (91), a sliding block (92) and a connecting rod (93). The fixed guide rail (91) is vertically fixed on the side wall (51), and the sliding block (92) slides on the fixed guide rail (91) and is connected to the fixed end of the lead screw (1) through the connecting rod (93).

8. The mobile gripper according to claim 1, characterized in that: The driving mechanism (7) comprises a worm and a driving source, the nut (2) is provided with a worm wheel, the worm is meshed with the worm wheel of the nut (2), and the worm is connected to the driving source.

9. The mobile gripper according to claim 1, characterized in that: It also includes a processing module, which is electrically connected to the pressure sensor (4) and the driving mechanism (7) respectively, and is used to obtain the pressure signal of the pressure sensor (4) and control the driving mechanism (7) according to the pressure signal.

10. A production line, characterized in that: It comprises a mobile gripper as described in any one of claims 1-9.

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