Mechanical gripper used in weightless environment

Abstract

The invention belongs to the technical field of aerospace equipment, and particularly relates to a mechanical gripper used in a weightless environment. The mechanical gripper comprises a machine shell (1), a plurality of finger assemblies (2) and at least one power assembly (3). The power assembly (3) drives the pull rope (22) to be tightened and the finger assemblies (2) to overcome the elastic force of the torsional spring, so that the space occupied by storage of the mechanical gripper after compression is saved, and the mechanical gripper can complete the gripping action. And when the pull rope (22) is driven by the power assembly (3) to be in the relaxed state, the finger assemblies (2) are in the stretching state under the elastic reset action of the torsional springs so as to prepare to execute the grabbing action. Therefore, the size of the mechanical gripper is reduced, the use convenience is improved, and the mechanical gripper is easier to use when a spaceflight task is executed.

Description

Technical Field

[0001] The present invention belongs to the technical field of aerospace equipment, and particularly relates to a mechanical gripper used in a weightless environment. Background Art

[0002] Astronauts often perform tasks such as space debris capture and precise grasping of experimental samples in the weightless environment inside and outside the space station. In order to reduce the physical exertion of astronauts, auxiliary tools such as mechanical grippers are generally used.

[0003] Chinese Patent Application CN118650662A discloses a cable-driven truss-foldable capture manipulator. By arranging a plurality of mechanical fingers on a base, and using a motor to drive a cable reel and a rotary hinge seat to realize the extension and bending of the mechanical fingers, combined with the adjustment of the deployable unit, the grasping and releasing of targets with different shapes are realized. However, the large number of components required for this manipulator results in a large volume and heavy weight. Since there are strict restrictions on the volume and weight for transporting materials to the space station, the practical application of this manipulator is difficult. Summary of the Invention

[0004] In view of this, the present invention provides a mechanical gripper used in a weightless environment to reduce the volume of the mechanical gripper and improve the convenience of use, so that the mechanical gripper is more easily utilized when performing space missions.

[0005] In a mechanical gripper used in a weightless environment provided by the present invention, the mechanical gripper includes a housing, a plurality of finger assemblies, and at least one power assembly. Among them, the housing is formed with a central table surface and a plurality of mounting surfaces extending downward and obliquely from the periphery of the central table surface; the root of one of the finger assemblies among the plurality of finger assemblies is connected to one of the mounting surfaces, and each finger assembly includes a plurality of phalanx units connected in sequence. Each phalanx unit is provided with a torsion spring, a pulley assembly, and a pull rope. The torsion spring is configured to enable each phalanx unit to be in a stretched state through elastic reset. The pull rope is wound from the pulley assembly of the phalanx unit at the top of the finger assembly to the pulley assembly of the phalanx unit at the root; the power assembly is arranged inside the housing and is configured to drive the pull rope to perform a tightening or loosening movement, so that each finger assembly can be converted between a compressed state, a stretched state, and a bent state.

[0006] In a preferred embodiment of the mechanical gripper provided by the present invention, the body of the knuckle unit includes multiple pairs of link assemblies, a first connecting plate, and a second connecting plate. Among them, one pair of link assemblies in the multiple pairs of link assemblies includes a first link and a second link. The first link and the second link are hinged, and a torsion spring is provided at the hinge portion. A rotation limiting portion is provided at the end of the first link or the second link. The first connecting plate is hinged to the end of the first link, and the second connecting plate is hinged to the end of the second link. Among them, the rotation limiting portion of the first link cooperates with the first connecting plate, or the rotation limiting portion of the second link cooperates with the second connecting plate, and the first link and the second link are in a stretched state by means of the elastic resetting action of the torsion spring;; Among them, in two adjacent knuckle units in each finger assembly, the second connecting plate of the knuckle unit close to the top of the finger assembly is connected to the first connecting plate of the knuckle unit close to the root of the finger assembly.

[0007] In a preferred embodiment of the mechanical gripper provided by the present invention, the pulley assembly includes a first pulley and a second pulley. Among them, the first pulley is connected to the hinge portion of the first link and the second link on one side of each knuckle unit close to the middle table surface; the second pulley is connected to the second connecting plate on the side of each knuckle unit far from the middle table surface, or the second pulley is connected to the first connecting plate of another knuckle unit connected to the second connecting plate on the side of each knuckle unit far from the middle table surface.

[0008] In a preferred embodiment of the mechanical gripper provided by the present invention, one end of the pulling rope is fixedly connected to the side of the first connecting plate at the top of the finger assembly far from the middle table surface, and the pulling rope sequentially bypasses the first pulley and the second pulley of each knuckle unit from the top to the root of the finger assembly.

[0009] In a preferred embodiment of the mechanical gripper provided by the present invention, before use, the pulling rope is at a first tightened length in the finger assembly, and the torsion springs of each link assembly are in an energy storage state. The hinge portion of the first link and the second link of each knuckle unit moves to close to the center of the knuckle unit, and the first connecting plate and the second connecting plate of each knuckle unit also approach each other, and multiple finger assemblies are in a compressed state.

[0010] In a preferred embodiment of the mechanical gripper provided by the present invention, before performing a grasping action, the pulling rope is in a relaxed state, and the first link and the second link of each finger assembly are in a stretched state under the resetting action of the torsion spring, and the mechanical gripper is in a released state.

[0011] In a preferred embodiment of the mechanical gripper provided by the present invention, when performing a grasping action, the pull rope in the finger assembly is at the second tightening length, the deformation of the torsion spring between the first link and the second link close to the middle table of each finger assembly is greater than the deformation of the torsion spring on other link assemblies, and only the hinge part of the first link and the second link close to the middle table of each finger assembly moves to the center of the knuckle unit, so that the finger assembly as a whole is in a bent state and the mechanical gripper is in a grasping state.

[0012] In a preferred embodiment of the mechanical gripper provided by the present invention, each knuckle unit has three pairs of connecting rod assemblies, the rod lengths of the first connecting rod and the second connecting rod are equal, and the rod lengths are one-third of the straight-line distance between the same ends of adjacent connecting rod assemblies, and the spacing distances and angles between the same ends of the three pairs of connecting rod assemblies are equal.

[0013] In a preferred embodiment of the mechanical gripper provided by the present invention, there are multiple power assemblies, each of which includes a motor and a wheel driven by the motor, and the wheel is used to wind a pull rope of the finger assembly.

[0014] In a preferred embodiment of the mechanical gripper provided by the present invention, both the first connecting rod and the second connecting rod are solid rods, and are provided with a plurality of hollow portions at intervals along their length directions.

[0015] In a preferred embodiment of the mechanical gripper provided by the present invention, the outside of the finger assembly is provided with a finger sleeve.

[0016] Beneficial technical effects: In the mechanical gripper used in a weightless environment provided by the present invention, when the pull rope is driven by the power assembly to the first tightening length in the finger assembly, each finger assembly overcomes the elastic force of the torsion spring and is in a compressed state, which is conducive to saving the space required for the storage of the mechanical gripper; when the pull rope is driven by the power assembly to the relaxed state, each finger assembly is in an extended state under the elastic reset action of the torsion spring; when the pull rope is driven by the power assembly to the second tightening length in the finger assembly, wherein the second tightening length is greater than the first tightening length, each finger assembly overcomes the elastic force of part of the torsion spring and is in a bent state, thereby making the top ends of multiple finger assemblies close together to achieve a grasping action. This reduces the volume of the mechanical gripper and improves the convenience of use, making the mechanical gripper easier to use when performing aerospace missions. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the above and other features and advantages of the present invention will be more apparent to those skilled in the art. In the accompanying drawings:

[0018] Figure 1Schematic diagram of the external structure of the mechanical gripper in the first embodiment;

[0019] Figure 2 Schematic diagram of the positional structure of the finger assembly on the housing in the mechanical gripper of the first embodiment;

[0020] Figure 3 Schematic diagram of the structure of the knuckle unit in the mechanical gripper of the first embodiment;

[0021] Figure 4 Schematic diagram of the installation structure of the power assembly in the mechanical gripper of the first embodiment;

[0022] Figure 5 Schematic diagram of the compressed state of the knuckle unit in the mechanical gripper of the second embodiment;

[0023] Figure 6 Schematic diagram of the extended state of the knuckle unit in the mechanical gripper of the second embodiment;

[0024] Figure 7 Schematic diagram of the bent state of the knuckle unit in the mechanical gripper of the second embodiment;

[0025] Figure 8 Schematic diagram of the folded state of the mechanical gripper of the second embodiment;

[0026] Figure 9 Schematic diagram of the extended state of the mechanical gripper of the second embodiment;

[0027] Figure 10 Schematic diagram of the grasping state of the mechanical gripper of the second embodiment.

[0028] Among them, the reference numerals are as follows:

[0029] 1 - housing; 11 - middle tabletop; 12 - mounting surface;

[0030] 2 - finger assembly;

[0031] 2A - knuckle unit;

[0032] 21 - pulley assembly; 211 - first pulley; 212 - second pulley;

[0033] 22 - pulling rope;

[0034] 230 - hollow part; 231 - first connecting rod; 232 - second connecting rod; 233 - hinge part;

[0035] 241 - first connecting plate; 242 - second connecting plate;

[0036] 3 - power assembly; 31 - motor; 32 - disc. Detailed implementation manners

[0037] To make the objectives, technical solutions and advantages of the present invention clearer, the following examples are given to further elaborate on the present invention in detail.

[0038] In the description of the present application, it should be understood that the orientation or positional relationships indicated by the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present application.

[0039] Refer to Figure 1 , this embodiment proposes a mechanical gripper for use in a weightless environment to reduce the volume of the mechanical gripper and improve the convenience of use, making it easier for the mechanical gripper to be utilized during space missions. Combining Figures 1 to 4 , in a mechanical gripper for use in a weightless environment provided in this embodiment, the mechanical gripper includes a housing 1, a plurality of finger assemblies 2, and at least one power assembly 3. The power assembly 3 is used to drive the plurality of finger assemblies 2 to complete the grasping action of the mechanical gripper.

[0040] In specific implementation, the mechanical gripper can be installed on a mobile device such as a robot for use, or the mechanical gripper is connected to a handheld part, and the actions of the mechanical gripper are controlled by an astronaut through a button.

[0041] Refer to Figure 1 , the housing 1 is formed with a central table surface 11 and a plurality of mounting surfaces 12 that extend downward and obliquely from the periphery of the central table surface 11, and the root of one finger assembly 2 among the plurality of finger assemblies 2 is connected to one mounting surface 12. For example, Figure 1 the outer surface of the housing 1 in [[ ]] forms three mounting surfaces 12, and there are three finger assemblies 2, and the spacing distances and angles between the roots of the three finger assemblies 2 are equal. The realization of the objective of the present invention is not limited to the three finger assemblies 2 shown in the drawings. In another implementation manner, the housing 1 can be formed with two mounting surfaces 12 and the mechanical gripper has two oppositely arranged finger assemblies 2. Or, the number of the mounting surfaces 12 and the finger assemblies 2 can also be four.

[0042] Refer to Figure 2 , each finger assembly 2 includes a plurality of phalanx units 2A connected in sequence, Figure 2 in [[ ]] it is described by taking the finger assembly 2 having three phalanx units 2A as an example. In a preferred implementation manner, a finger sleeve can be provided on the outside of the finger assembly 2, so as to increase the contact area between the finger assembly 2 and the object to be grasped and better realize the grasping of the object.

[0043] Combined with Figure 2 and Figure 3 , each knuckle unit 2A is provided with a torsion spring (not shown in the figure), a pulley assembly 21 and a pulling rope 22. The torsion spring is configured to enable each knuckle unit 2A to be in an extended state through elastic reset. The pulling rope 22 is wound from the pulley assembly 21 of the knuckle unit 2A at the top of the finger assembly 2 to the pulley assembly 21 of the knuckle unit 2A at the root.

[0044] Combined with Figure 4 , the power assembly 3 is arranged inside the housing 1 and is configured to drive the pulling rope 22 to perform a tightening or loosening movement, so that each finger assembly 2 can be switched between a compressed state, an extended state and a bent state.

[0045] Exemplarily, in the Figure 4 embodiment, there are multiple power assemblies 3. Each power assembly 3 includes a motor 31 and a wheel disc 32 driven by the motor 31. The wheel disc 32 is used to wind the pulling rope 22 of one finger assembly 2. That is, each finger assembly 2 is driven by an independent power assembly 3, and the three motors 31 are synchronously driven and controlled.

[0046] In another preferred embodiment, the three finger assemblies 2 can also share a motor 31. For example, a main gear is connected to the motor 31, and a sub-gear is connected to each wheel disc 32. The three sub-gears are driven by the same main gear. In this way, by reducing the use of the motor 31, the weight and volume of the mechanical gripper are further saved.

[0047] As can be seen from the above, in the mechanical gripper provided in this embodiment for use in a weightless environment, when the power assembly 3 drives the pulling rope 22 to the first tightening length in the finger assembly 2, each finger assembly 2 overcomes the elastic force of the torsion spring and is in a compressed state, which is beneficial to saving the space occupied by the storage of the mechanical gripper. Refer to Figure 8 ; when the power assembly 3 drives the pulling rope 22 to the relaxed state, each finger assembly 2 is in an extended state under the elastic reset of the torsion spring to prepare for the grasping action. Refer to Figure 9 ; when the power assembly 3 drives the pulling rope 22 to the second tightening length in the finger assembly 2, where the second tightening length is greater than the first tightening length, each finger assembly 2 overcomes part of the elastic force of the torsion spring and is in a bent state, and then the tops of the multiple finger assemblies 2 approach and converge to achieve the grasping action. Refer to Figure 10 . Thereby reducing the volume of the mechanical gripper and improving the convenience of use, making the mechanical gripper easier to be used when performing space missions.

[0048] In a preferred embodiment of the mechanical gripper provided in this embodiment, refer to Figure 3, the body of the phalanx unit 2A includes multiple pairs of link assemblies, a first connecting plate, and a second connecting plate 242. Among them, each pair of link assemblies includes a first link 231 and a second link 232. The first link 231 and the second link 232 are hinged, and a torsion spring is provided at the hinge portion 233. For example, the torsion spring is sleeved on the hinge shaft, and one end of the torsion spring abuts against the first link 231 and the other end abuts against the second link 232.

[0049] The first connecting plate is hinged to the end of the first link 231, and the second connecting plate 242 is hinged to the end of the second link 232. In addition, a rotation limiting portion is provided at the end of the first link 231 or the second link 232. The rotation limiting portion of the first link 231 cooperates with the first connecting plate, or the rotation limiting portion of the second link 232 cooperates with the second connecting plate, and the first link 231 and the second link 232 are in a stretched state by means of the elastic reset action of the torsion spring. Refer to Figure 6 .

[0050] Refer to Figure 2 , in two adjacent phalanx units 2A in each finger assembly 2, the second connecting plate 242 of the phalanx unit 2A close to the top of the finger assembly 2 is connected to the first connecting plate 241 of the phalanx unit 2A close to the root of the finger assembly 2. In this way, sequential connection or series connection of multiple phalanx units 2A is achieved.

[0051] Exemplarily, the first connecting plate and the second connecting plate can be selected as a ring, a disc polygon frame, etc. For example Figure 3 the first connecting plate and the second connecting plate shown in are both rings, Figure 6 the first connecting plate shown in is a triangular frame, and the second connecting plate 242 is a ring.

[0052] In a preferred embodiment, in combination with Figure 3 and Figure 6 , each phalanx unit 2A has three pairs of link assemblies. The rod lengths of the first link 231 and the second link 232 are equal, and the rod length is one-third of the straight-line distance between the same ends of adjacent link assemblies. In addition, the interval distances and angles between the same ends of the three pairs of link assemblies are equal.

[0053] In this way, the rod lengths of the first link 231 and the second link 232 can be well adapted to the internal space of the phalanx unit 2A, enabling the phalanx unit 2A to achieve a better folding effect and taking into account the extension length of the phalanx unit 2A to ensure that the robotic gripper can complete the grasping action.

[0054] In a preferred embodiment of the robotic gripper provided in this embodiment, participants Figure 3, both the first link 231 and the second link 232 are solid rods, and a plurality of hollow portions 230 are respectively provided at intervals along their own length directions. In this way, it can not only meet the strength requirements of the link assembly, but also keep the overall mass of the link assembly and the gripper relatively light. However, the embodiments of the first link 231 and the second link 232 are not limited to this, and reference can also be made to Figure 6 , the first link 231 is a single rod, and the second link 232 is a structure of two rods connected at the ends.

[0055] In a preferred embodiment of the mechanical gripper provided in this embodiment, in combination with Figure 2 and Figure 3 , the pulley assembly 21 includes a first pulley 211 and a second pulley 212. Among them, the first pulley 211 is connected to the hinge portions 233 of the first link 231 and the second link 232 on the side of each finger unit 2A close to the middle table 11.

[0056] Moreover, the second pulley 212 is connected to the second connecting plate 242 on the side of each finger unit 2A away from the middle table 11. Refer to Figure 3 . Or, the second pulley 212 is connected to the first connecting plate 241 of another finger unit 2A connected to the second connecting plate on the side of each finger unit 2A away from the middle table 11.

[0057] Correspondingly, in combination with Figure 2 , one end of the pulling rope 22 is fixedly connected to the side of the first connecting plate at the top of the finger assembly 2 away from the middle table 11, and the pulling rope 22 sequentially bypasses the first pulley 211 and the second pulley 212 of each finger unit 2A from the top to the root of the finger assembly 2. Thus, it is easy to realize the bending action of each finger unit 2A towards the middle table 11, thereby realizing the grasping function of the mechanical gripper.

[0058] Exemplarily, refer to Figure 5 and Figure 8 , before use, the pulling rope 22 is at the first tightened length in the finger assembly 2 and the torsion springs of each link assembly are in the energy storage state. The hinge portions 233 of the first link 231 and the second link 232 of each finger unit 2A all move close to the center of the finger unit 2A, and the first connecting plate and the second connecting plate 242 of each finger unit 2A also approach each other, and a plurality of finger assemblies 2 are all in a compressed state.

[0059] Exemplarily, refer to Figure 6 and Figure 9 , before performing the grasping action, the pulling rope 22 is in a relaxed state, and the first link 231 and the second link 232 of each finger assembly 2 are in a stretched state under the reset action of the torsion spring, and the mechanical gripper is in an open state.

[0060] Exemplarily, refer toFigure 7 and Figure 10 When performing a grasping action, the pulling rope 22 is at the second tightened length in the finger assembly 2. The deformation amount of the torsion spring between the first link 231 and the second link 232 of each finger assembly 2 close to the middle tabletop 11 is greater than that of the torsion springs on other link assemblies. The hinge portions 233 of only the first link 231 and the second link 232 of each finger assembly 2 close to the middle tabletop 11 move to the center of the phalanx unit 2A, so that the finger assembly 2 is in a bent state as a whole and the mechanical gripper is in a grasping state.

[0061] Among them, the first tightened length of the pulling rope 22 when the finger assembly 2 is in the compressed state is less than the second tightened length of the pulling rope 22 when the finger assembly 2 is in the bent state. At the same time, the tension of the pulling rope 22 when the finger assembly 2 is in the bent state is also small, which is beneficial to improving the convenience of realizing the grasping action of the mechanical gripper.

[0062] In this embodiment, the mechanical gripper includes a housing 1, a plurality of finger assemblies 2 and at least one power assembly 3. Driving the pulling rope 22 to tighten by the power assembly 3 and each finger assembly 2 to overcome the elastic force of the torsion spring is beneficial to saving the space occupied by the mechanical gripper during storage after compression and enabling the mechanical gripper to complete the grasping action; when the power assembly 3 drives the pulling rope 22 to the relaxed state, each finger assembly 2 is in the stretched state under the elastic reset action of the torsion spring to prepare for performing the grasping action. Thus, the volume of the mechanical gripper is reduced and the convenience of use is improved, making the mechanical gripper easier to be utilized when performing space missions.

[0063] It should be understood that although this specification is described according to each embodiment, not every embodiment or implementation manner only contains an independent technical solution. This narrative manner of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other implementation manners that can be understood by those skilled in the art.

[0064] The above are only the schematic specific implementation manners of the embodiments of the present application, and are not intended to limit the scope of the embodiments of the present application. Any equivalent changes, modifications and combinations made by those skilled in the art without departing from the concept and principles of the embodiments of the present application shall fall within the scope of protection of the embodiments of the present application.

Claims

1. A mechanical gripper used in a weightless environment, characterized in that, Comprising: A housing (1) formed with a central tabletop (11) and a plurality of mounting surfaces (12) formed by extending downwardly and obliquely from the periphery of the central tabletop (11); A plurality of finger assemblies (2), the root of one of the finger assemblies (2) being connected to one of the mounting surfaces (12), each finger assembly (2) including a plurality of phalanx units (2A) connected in sequence, each phalanx unit (2A) being provided with a torsion spring, a pulley assembly (21) and a pulling rope (22), the torsion spring being configured to enable each phalanx unit (2A) to be in an extended state through elastic reset, and the pulling rope (22) being wound from the pulley assembly (21) of the phalanx unit (2A) at the top of the finger assembly (2) to the pulley assembly (21) of the phalanx unit (2A) at the root; At least one power assembly (3) provided inside the housing (1) and configured to drive the pulling rope (22) to perform a tightening or loosening movement so that each finger assembly (2) is converted between a compressed state, an extended state and a bent state.

2. The mechanical gripper according to claim 1, wherein, The body of the phalanx unit (2A) includes: Multiple pairs of link assemblies, a pair of link assemblies including a first link (231) and a second link (232), the first link (231) and the second link (232) being hinged and a torsion spring being provided at the hinge portion (233), and a rotation limiting portion being provided at the end of the first link (231) or the second link (232); A first connecting plate hinged to the end of the first link (231); A second connecting plate (242) hinged to the end of the second link (232); Wherein, the rotation limiting portion of the first link (231) cooperates with the first connecting plate, or the rotation limiting portion of the second link (232) cooperates with the second connecting plate, and the first link (231) and the second link (232) are in an extended state by means of the elastic reset of the torsion spring; Wherein, in two adjacent phalanx units (2A) in each finger assembly (2), the second connecting plate (242) of the phalanx unit (2A) close to the top of the finger assembly (2) is connected to the first connecting plate (241) of the phalanx unit (2A) close to the root of the finger assembly (2).

3. The mechanical gripper according to claim 2, wherein The pulley assembly (21) includes: A first pulley (211) connected to the hinge portion (233) of the first link (231) and the second link (232) on the side of each phalanx unit (2A) close to the central tabletop (11); A second pulley (212) connected to the second connecting plate (242) on the side of each phalanx unit (2A) away from the central tabletop (11), or the second pulley (212) is connected to the first connecting plate (241) of another phalanx unit (2A) connected to the second connecting plate on the side of each phalanx unit (2A) away from the central tabletop (11).

4. The mechanical gripper according to claim 3, characterized in that, One end of the drawstring (22) is fixedly connected to the side of the first connecting plate at the top of the finger assembly (2) away from the middle tabletop (11), and the drawstring (22) sequentially bypasses the first pulley (211) and the second pulley (212) of each phalanx unit (2A) from the top to the root of the finger assembly (2).

5. The mechanical gripper according to claim 2, characterized in that, Before use, the drawstring (22) is at a first tightened length in the finger assembly (2), and the torsion springs of each link assembly are in an energy storage state. The hinge portion (233) of the first link (231) and the second link (232) of each phalanx unit (2A) moves close to the center of the phalanx unit (2A), and the first connecting plate and the second connecting plate (242) of each phalanx unit (2A) also approach each other. A plurality of the finger assemblies (2) are in a compressed state.

6. The mechanical gripper according to claim 2, characterized in that Before performing a grasping action, the power assembly (3) drives the drawstring (22) to be in a relaxed state, and the first link (231) and the second link (232) of each finger assembly (2) are in a stretched state under the reset action of the torsion spring, and the mechanical gripper is in an open state.

7. The mechanical gripper according to claim 2, wherein When performing a grasping action, the power assembly (3) drives the drawstring (22) to be at a second tightened length in the finger assembly (2). The deformation amount of the torsion spring between the first link (231) and the second link (232) of each finger assembly (2) close to the middle tabletop (11) is greater than that of the torsion spring on other link assemblies. The hinge portion (233) of the first link (231) and the second link (232) of each finger assembly (2) only close to the middle tabletop (11) moves to the center of the phalanx unit (2A), so that the finger assembly (2) as a whole is in a bent state and the mechanical gripper is in a grasping state.

8. The mechanical gripper according to claim 2, characterized in that, Each phalanx unit (2A) has three pairs of link assemblies. The rod lengths of the first link (231) and the second link (232) are equal, and the rod length is one-third of the straight-line distance between the same ends of adjacent link assemblies. The interval distances and angles between the same ends of the three pairs of link assemblies are equal.

9. The mechanical gripper according to claim 2, wherein, Both the first link (231) and the second link (232) are solid rods, and a plurality of hollow portions (230) are respectively arranged at intervals along their own lengths.

10. The mechanical gripper according to claim 1, wherein, There are a plurality of the power assemblies (3). Each power assembly (3) includes a motor (31) and a disk (32) driven by the motor (31). The disk (32) is used to wind the drawstring (22) of one finger assembly (2); or Finger sleeves are provided outside the finger assembly (2).

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