Mechanical clamping hand and constant-temperature and constant-humidity closed box system comprising same

Abstract

The invention relates to the technical field of mechanical clamping hands, and discloses a mechanical clamping hand and a constant-temperature and constant-humidity closed box system comprising the mechanical clamping hand, the mechanical clamping hand comprises a mechanical arm and a mounting plate, the mounting plate is arranged at one end of the mechanical arm, and a T-shaped rail is arranged on the outer surface of the mounting plate. The first plate bodies are limited through the second plate bodies, one of the two first plate bodies can be static relative to the block bodies, the other first plate body rotates relative to the block bodies, at the moment, one of the two block bodies is static at the fixed position of the T-shaped rail, and the other block body is driven by the first plate bodies to move close to the static block body in the central axis direction of the T-shaped rail; by means of the device, when the distance between the measuring cylinder and the inner wall of the closed box is small, one block close to the measuring cylinder is still, then the measuring cylinder is clamped through the other block, and normal sample separation of samples cannot be affected.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical grippers, and in particular to a mechanical gripper and a constant temperature and humidity closed box system comprising the mechanical gripper. Background Art

[0002] In fields such as environmental monitoring, hazardous waste disposal, biosafety research, and deep geological exploration, it is often necessary to collect and analyze water and soil samples in highly enclosed, isolated environments (such as glove boxes, hot rooms, biosafety cabinets, pressure chambers, or deep-sea probes). These enclosed environments are typically designed to strictly limit direct contact between personnel and the substances within.

[0003] In order to be able to sample water and soil samples inside the existing closed box, a mechanical gripper is set inside the closed box to clamp the measuring cylinder containing the sample through the mechanical gripper. Because the space in the closed box is limited, the measuring cylinder is placed on a placement rack close to the inner wall of one side of the closed box. In order to enable the mechanical gripper to clamp a large measuring cup, the stroke between the two jaws on the mechanical gripper is set to be large, much larger than the diameter of the measuring cylinder. The distance between the measuring cylinder and the inner wall of the closed box is small, which makes it impossible to clamp the measuring cylinder between the two jaws, affecting the normal sampling of the sample. Summary of the Invention

[0004] The purpose of the present invention is to solve the shortcomings of the prior art and to propose a mechanical gripper and a constant temperature and humidity closed box system including the mechanical gripper.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions: A mechanical gripper, comprising: robotic arm; A mounting plate, which is arranged at one end of the robotic arm, and the outer surface of the mounting plate is provided with a T-shaped rail; Two blocks are provided on the outer surface of the T-rail, the two blocks being configured to be able to move toward or away from each other along the central axis of the T-rail, and the outer surfaces of the two blocks near the mounting plate are both fixedly connected to support blocks; Two first plates, which are respectively arranged on the outer surfaces of the two blocks, the first plates are rotatably connected to the support block via a second shaft, the first plates are configured to be able to rotate about the central axis of the second shaft as the rotation center, and the first plates are configured to drive the blocks to move along the central axis of the T-rail when they are stationary relative to the blocks; Two second plates are arranged on the outer surface of one side of the mounting plate. When the outer surfaces of the two second plates are respectively against one end of the two first plates, the first plates can be kept stationary relative to the block.

[0006] As a further solution of the present invention, the two second plates are fixedly connected to the outer surfaces of one side close to the mounting plate with two columns, the other ends of the two columns pass through the outer surface of the other side of the mounting plate and are fixedly connected to the third plate, the second plate is configured to be able to move along the central axis direction of the two columns, the outer surface of one of the two columns is sleeved with a first tension spring, one end of the first tension spring is fixedly connected to the outer surface of the third plate, and the other end of the first tension spring is fixedly connected to the outer surface of the other side of the mounting plate.

[0007] As a further solution of the present invention, a third driving unit is provided on the outer surface of the other side of the mounting plate, and the third driving unit includes: a drive motor fixedly mounted on the outer surface of the other side of the mounting plate; A sixth plate body is rotatably mounted on an outer surface of one side of the mounting plate, and an output end of the drive motor passes through the outer surface of one side of the mounting plate and is fixedly connected to a rotation center of the sixth plate body; The two seventh plates are rotatably mounted on both ends of the sixth plate, and the other ends of the two seventh plates are rotatably connected to the bottom ends of the two first plates via the first shaft.

[0008] As a further solution of the present invention, a T-slot matching the T-rail is provided at the bottom end of the block, and the T-rail is slidably installed on the inner wall of the T-slot. A cavity is provided inside the block, and a second through hole is provided on the bottom wall of the cavity. A first driving unit is provided inside the cavity to drive the second plate to move along the central axis direction of the two columns.

[0009] As a further solution of the present invention, the first driving unit includes: The second rod body is slidably mounted inside the second through hole, the bottom end of the second rod body passes through the outer surface of the block body and is provided with an oblique angle, the oblique angle abuts against the outer surface of the third plate body close to the mounting plate, the top end of the second rod body is provided with a guide groove, the upper surface of the T-rail is provided with a through groove, the second rod body passes through the through groove and is slidably mounted on the inner wall thereof; A fixed plate, which is fixedly installed between the inner walls on opposite sides of the cavity; A first rod body is inserted through the interior of the fixed plate and is slidably mounted on the inner wall of the fixed plate. A guide post is fixedly mounted on the inner wall of the first rod body near one end of the second rod body, and the guide post is slidably mounted on the inner wall of the guide groove. a baffle fixedly mounted on an upper surface of the first rod body close to one end of the second rod body; The second tension spring is sleeved on the outer surface of the first rod body, one end of the second tension spring is fixedly connected to the outer surface of the baffle, and the other end of the second tension spring is fixedly connected to the outer surface of the fixing plate.

[0010] As a further solution of the present invention, the outer surfaces of the adjacent sides of the two blocks are each provided with a notch, the outer wall of the notch is provided with a first through hole, a fourth plate is provided inside the notch, a third rod is fixedly installed on the outer surface of one side of the fourth plate, the third rod is slidably installed with the inner wall of the first through hole, the other end of the third rod passes through the first through hole and is fixedly connected to a spring, and the other end of the spring is fixedly connected to the outer surface of the baffle.

[0011] As a further solution of the present invention, a third through hole is provided on the outer surfaces of the two blocks close to the first plate body, and a fifth plate body is provided on the outer surfaces of the two blocks close to the third through hole. The outer surface of one side of the fifth plate body is fixedly connected to the fourth rod body, and the fourth rod body is slidably installed on the inner wall of the third through hole. The cross-section of the fifth plate body is L-shaped, and the outer surface of the fifth plate body is abutted against the outer surface of the fourth plate body. The outer surface of the block is provided with a second driving unit that drives the fifth plate body to move along the central axis of the fourth rod body close to the fourth plate body.

[0012] As a further solution of the present invention, the second driving unit includes: a threaded rod rotatably mounted on an outer surface of the block on a side close to the first plate, the threaded rod passing through an outer surface of the fifth plate and being threadedly connected thereto; A connecting rod is fixedly mounted on the other end of the threaded rod, and a sliding groove is formed on the outer surface of the connecting rod near the bottom end; a fixed block, which is fixedly mounted on one end of the second shaft; The sliding column is fixedly mounted on the outer surface of one side of the fixed block, the sliding column is slidably mounted on the inner wall of the sliding groove, and the sliding column is arranged on the outer surface of the fixed block away from the end of the second shaft.

[0013] As a further solution of the present invention, a second card block is fixedly installed on the upper surface of the two second plates, and a first card block is fixedly installed on the lower surface of the two blocks. A card slot is provided on the lower surface of the first card block, and the second card block is arranged inside the card slot.

[0014] The present invention limits the first plate body by the second plate body so that one of the two first plate bodies can be stationary relative to the block body while the other rotates relative to the block body. At this time, one of the two blocks is stationary at a fixed position on the T-shaped rail, and the other block is driven by the first plate body to move close to the stationary block along the central axis of the T-shaped rail, thereby clamping the measuring cylinder between the two blocks. Through this device, when the distance between the measuring cylinder and the inner wall of the closed box is small, the block close to the measuring cylinder can be made stationary, and then the measuring cylinder can be clamped by the other block, which will not affect the normal sampling of the sample. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1This is a schematic diagram of a closed box for a mechanical gripper proposed in the present invention; Figure 2 A schematic diagram of a mechanical arm of a mechanical gripper proposed by the present invention; Figure 3 This is a schematic diagram of a mounting plate for a mechanical gripper proposed in the present invention; Figure 4 This is a bottom view of a mounting plate of a mechanical gripper proposed by the present invention; Figure 5 This is a rear view schematic diagram of a mounting plate of a mechanical gripper proposed by the present invention; Figure 6 This is a schematic diagram of a driving motor for a mechanical gripper proposed in the present invention; Figure 7 This is a schematic diagram of the sixth plate of a mechanical gripper proposed in the present invention; Figure 8 This is a block diagram of a mechanical gripper proposed by the present invention; Figure 9 This is a schematic diagram of a first driving unit of a mechanical gripper proposed in the present invention; Figure 10 This is a schematic diagram of a second drive unit of a mechanical gripper proposed in the present invention; Figure 11 This is a schematic diagram of a first rod of a mechanical gripper proposed by the present invention; Figure 12 This is a schematic diagram of the second rod of a mechanical gripper proposed in the present invention.

[0016] In the picture: 100, sealed box; 200, robotic arm; 300, mounting plate; 310, T-rail; 311, through slot; 400, block; 410, T-slot; 420, cavity; 430, first through hole; 440, second through hole; 450, third through hole; 460, notch; 470, support block; 500, first plate; 510, first axis; 520, second axis; 600, second plate; 610, column; 620, third plate; 630, first tension spring; 700, first drive unit; 710, first rod; 711, guide post; 720, second rod; 721, bevel; 722, guide groove; 730, fixing plate; 740, second tension spring; 750, baffle; 800, fourth plate; 810, third rod; 820, spring; 900, fifth plate; 910, fourth rod; 1000, second drive unit; 1010, threaded rod; 1020, connecting rod; 1021, slide groove; 1030, fixing block; 1040, slide column; 1100, third driving unit; 1110, driving motor; 1120, sixth plate; 1130, seventh plate; 1200, first card block; 1210, card slot; 1300, second card block. DETAILED DESCRIPTION

[0017] In order to make the technical means, creative features, objectives and effects achieved by the present invention easier to understand, the present invention is further described below in conjunction with specific implementation methods.

[0018] In order to realize the clamping of the measuring cylinder in the limited space inside the sealed box 100, Figure 1 、 Figure 2 and Figure 3 As shown, the present invention provides a mechanical gripper, comprising: a mechanical arm 200, a mounting plate 300, two blocks 400, two first plates 500 and two second plates 600. Specifically, as Figure 2 As shown, the mounting plate 300 is disposed at one end of the robot arm 200 and can be driven by the robot arm 200 to move along a set motion trajectory. In order to install the two blocks 400, as shown in FIG. Figure 4 As shown, the outer surface of the mounting plate 300 is fixedly mounted with a T-shaped rail 310, and two blocks 400 are arranged on the outer surface of the T-shaped rail 310, and the two blocks 400 are arranged to move toward or away from each other along the central axis of the T-shaped rail 310, so as to clamp the measuring cylinder when moving toward each other and release the measuring cylinder when moving away from each other. Figure 4 As shown, the outer surfaces of the two blocks 400 close to the mounting plate 300 are fixedly connected with support blocks 470, and two first plates 500 are respectively provided on the outer surfaces of the two blocks 400. The first plates 500 are rotatably connected to the support blocks 470 via the second shaft 520. It should be noted that the second shaft 520 and the first plates 500 are fixedly connected, and the second shaft 520 passes through the support blocks 470 and is rotatably connected thereto. Figure 3 As shown, when the first plate 500 rotates with the central axis of the second shaft 520 as the rotation center, the first plate 500 will not drive the two blocks 400 to move closer to or away from each other along the central axis of the T-rail 310. When the first plate 500 is set to be stationary relative to the block 400, it can drive the block 400 to move along the central axis of the T-rail 310. In order to make the first plate 500 stationary relative to the block 400 or rotate with the central axis of the second shaft 520 as the rotation center, as shown in FIG. Figure 3 As shown, two second plates 600 are arranged on the outer surface of one side of the mounting plate 300, as shown in FIG. Figure 8 As shown, the two second plates 600 are arranged so that when their outer surfaces respectively abut against one end of the two first plates 500, the first plate 500 is limited. At this time, the first plate 500 is stationary relative to the block 400 and can drive the block 400 to move along the central axis of the T-rail 310. On the contrary, when the second plate 600 leaves the first plate 500, the first plate 500 is released from the limit. At this time, the first plate 500 can rotate with the central axis of the second shaft 520 as the rotation center, and the rotation of the first plate 500 will not drive the block 400 to move along the central axis of the T-rail 310. By limiting the first plate 500 by the second plate 600, one of the two first plates 500 can be stationary relative to the block 400 while the other can rotate relative to the block 400. At this time, one of the two blocks 400 is stationary at a fixed position on the T-rail 310, and the other block 400 is driven by the first plate 500 to move along the central axis of the T-rail 310 close to the stationary block 400, thereby clamping the measuring cylinder between the two blocks 400. Through this device, when the distance between the measuring cylinder and the inner wall of the sealed box 100 is small, one of the blocks 400 close to the measuring cylinder can be kept stationary, and the measuring cylinder can be clamped by the other block 400, which will not affect the normal sampling of the sample.

[0019] In order to limit the movement of the block 400 along the central axis of the T-rail 310, as shown in FIG. Figure 6 As shown, a T-slot 410 matching the T-rail 310 is provided at the bottom end of the block 400, and the T-rail 310 is slidably installed with the inner wall of the T-slot 410. The cooperation between the T-slot 410 and the T-rail 310 limits the moving direction of the block 400, which is convenient for subsequent clamping.

[0020] In order to make the second plate 600 switchable to offset or not offset the first plate 500, as shown in FIG. Figure 5 As shown, the outer surface of the two second plates 600 close to the mounting plate 300 is fixedly connected with two columns 610, and the other ends of the two columns 610 pass through the outer surface of the other side of the mounting plate 300 and are fixedly connected with the third plate 620. Since the second plate 600 is configured to be able to move along the central axis direction of the two columns 610, when the second plate 600 moves close to the first plate 500, it will move to the top end of the first plate 500 and abut against the end surface of the top end. At this time, the current first plate 500 will be stationary relative to the block 400 connected to it. On the contrary, when the second plate 600 moves away from the first plate 500, it will leave the top end of the first plate 500. At this time, the first plate 500 can rotate with the central axis of the second shaft 520 as the rotation center. In order to facilitate the position switching of the second plate 600, as shown in FIG. Figure 8As shown, a first tension spring 630 is sleeved on the outer surface of one of the two columns 610, one end of the first tension spring 630 is fixedly connected to the outer surface of the third plate 620, and the other end of the first tension spring 630 is fixedly connected to the outer surface of the other side of the mounting plate 300. Through the first tension spring 630, the second plate 600 tends to move toward the first plate 500.

[0021] In order to enable one of the blocks 400 to move closer to the other block 400 through the first plate 500 after the second plate 600 presses against the top of the first plate 500, as shown in FIG. Figure 5 、 Figure 6 and Figure 7 As shown, a third driving unit 1100 is provided on the outer surface of the other side of the mounting plate 300 . The third driving unit 1100 includes a driving motor 1110 , a sixth plate 1120 and two seventh plates 1130 . The driving motor 1110 is fixedly mounted on the outer surface of the other side of the mounting plate 300, and the sixth plate body 1120 is rotatably mounted on the outer surface of one side of the mounting plate 300. The output end of the driving motor 1110 passes through the outer surface of one side of the mounting plate 300 and is fixedly connected to the rotation center of the sixth plate body 1120. The rotation of the output end of the driving motor 1110 drives the sixth plate body 1120 to rotate. Since the two seventh plate bodies 1130 are respectively rotatably mounted on the two ends of the sixth plate body 1120, and the other ends of the two seventh plate bodies 1130 are respectively rotatably connected to the bottom ends of the two first plate bodies 500 through the first shaft 510, when the sixth plate body 1120 rotates, one of the seventh plate bodies 1130 pulls the first plate body 500 to move along the central axis direction of the T-rail 310. At this time, the top end of the first plate body 500 slides along the outer surface of the second plate body 600, and the first plate body 500 drives one of the blocks 400 to move close to the other block 400 through the support block 470. Because the other first plate 500 is not limited by the second plate 600, at this time, the first plate 500 can rotate with the central axis of the second shaft 520 as the rotation center, so the sixth plate 1120 drives the unrestricted first plate 500 to rotate through the seventh plate 1130, thereby keeping the other block 400 in place.

[0022] In order to ensure that the position of the other block 400 is fully limited, as shown in FIG. Figure 10 As shown, the upper surfaces of the two second plates 600 are fixedly mounted with second clamping blocks 1300, as shown in FIG. Figure 4As shown, the lower surfaces of the two blocks 400 are fixedly installed with a first clamping block 1200, the lower surface of the first clamping block 1200 is provided with a clamping slot 1210, and the second clamping block 1300 is arranged inside the clamping slot 1210. When the second plate 600 moves along the central axis direction of the two columns 610 and leaves the top of the first plate 500, it will drive the second clamping block 1300 on its upper surface to be clamped into the inside of the clamping slot 1210. Because the second plate 600 is restricted by the two columns 610, the second plate 600 can limit the position of the block 400 through the second clamping block 1300 and the clamping slot 1210, so that it cannot move and maintains its current position.

[0023] In order to drive the second plate 600 to move along the central axis of the two columns 610, as shown in FIG. Figure 6 As shown, a cavity 420 is provided inside the block 400, a second through hole 440 is provided on the bottom wall of the cavity 420, and a first driving unit 700 is provided inside the cavity 420 to drive the second plate 600 to move along the central axis of the two columns 610. Figure 8 As shown, the first driving unit 700 includes: a second rod 720, a fixing plate 730, a first rod 710, a baffle 750 and a second tension spring 740. Because the second rod 720 is slidably mounted inside the second through hole 440, it can move downward along the direction of its axis. Figure 12 As shown, the bottom end of the second rod 720 passes through the outer surface of the block 400 and is provided with an oblique angle 721. The oblique angle 721 abuts against the outer surface of the third plate 620 on the side close to the mounting plate 300. When the second rod 720 moves downward, the oblique angle 721 abuts against the third plate 620, so that when the second rod 720 continues to move downward, it can drive the third plate 620 to move away from the first plate 500, so that the third plate 620 drives the second plate 600 away from the top of the first plate 500 through the two columns 610, thereby releasing the limit on the first plate 500. In order to drive the second rod 720 to move downward, as shown in FIG. Figure 3 and Figure 9 As shown, the fixing plate 730 is fixedly installed between the inner walls of the cavity 420 on both sides, and the first rod 710 is inserted into the interior of the fixing plate 730 and slidably installed with the inner wall of the fixing plate 730. Therefore, the first rod 710 can move along the axis direction. When it moves toward the second rod 720, due to the Figure 12 The top of the second rod body 720 is provided with a guide groove 722, and the guide groove 722 and the central axis of the second rod body 720 are provided with an inclination angle, and as shown in FIG. Figure 11As shown, a guide post 711 is fixedly installed on the inner wall of one end of the first rod 710 close to the second rod 720. The guide post 711 is slidably installed with the inner wall of the guide groove 722. When the first rod 710 moves in the direction close to the second rod 720, the second rod 720 is driven to move downward by the cooperation between the guide post 711 and the guide groove 722. In order to make the first rod 710 move close to the second rod 720, in actual use, the other end of the first rod 710 is driven by the robot arm 200 to abut against the inner wall of one side of the sealed box 100, so that the first rod 710 can be squeezed by the inner wall of the sealed box 100, thereby moving close to the second rod 720. In order to keep the initial position of the first rod 710 when it is not squeezed (that is, the second rod 720 does not move downward), as shown in FIG. Figure 11 As shown, the baffle 750 is fixedly mounted on the upper surface of the first rod 710 near one end of the second rod 720, and the second tension spring 740 is sleeved on the outer surface of the first rod 710. One end of the second tension spring 740 is fixedly connected to the outer surface of the baffle 750, and the other end of the second tension spring 740 is fixedly connected to the outer surface of the fixing plate 730. The force of the second tension spring 740 enables the first rod 710 to maintain its initial position when not squeezed. In order for one of the blocks 400 to slide along the T-rail 310, as shown in FIG. Figure 6 As shown, a through slot 311 is provided on the upper surface of the T-shaped rail 310 , and the second rod 720 passes through the through slot 311 and is slidably installed on the inner wall thereof. This arrangement does not affect the sliding of the block 400 .

[0024] Since the diameter of the measuring cylinder may vary, and the block 400 is clamped by unilateral motion, which is not as accurate as the bilateral self-centering motion, in order to ensure that the two blocks 400 can maintain the accuracy of their clamped positions when clamping the measuring cylinder, Figure 4 As shown, the outer surfaces of the adjacent sides of the two blocks 400 are each provided with a notch 460, the outer wall of the notch 460 is provided with a first through hole 430, a fourth plate 800 is provided inside the notch 460, a third rod 810 is fixedly installed on the outer surface of one side of the fourth plate 800, the third rod 810 is slidably installed with the inner wall of the first through hole 430, the other end of the third rod 810 passes through the first through hole 430 and is fixedly connected to a spring 820, the other end of the spring 820 One end is fixedly connected to the outer surface of the baffle 750. Because the outer surface of the measuring cylinder is arc-shaped, when the block 400 drives the fourth plate 800 to be inserted into the gap between the measuring cylinder and the inner wall of the sealed box 100, the first rod 710 will push the fourth plate 800 to protrude from the notch 460 through the spring 820. Under the action of the spring 820, the fourth plate 800 will transition through the arc-shaped outer surface so that its outer surface is in contact with the outer surface of the measuring cylinder, thereby making the fourth plate 800 press against the outer surface of the measuring cylinder.

[0025] In order to keep the fourth plate 800 in a fixed state after it abuts against the outer surface of the measuring cylinder, Figure 7 As shown, the outer surfaces of the two blocks 400 close to the first plate 500 are both provided with third through holes 450. Figure 3 As shown, the outer surfaces of the two blocks 400 near the third through hole 450 are both provided with a fifth plate 900, and the outer surface of one side of the fifth plate 900 is fixedly connected with a fourth rod 910, and as shown Figure 6 As shown, the fourth rod 910 is slidably mounted on the inner wall of the third through hole 450, so the fifth plate 900 can move close to the fourth plate 800 in the direction of the central axis of the fourth rod 910. Figure 11 As shown, the cross-section of the fifth plate 900 is L-shaped. When the fifth plate 900 moves close to the fourth plate 800, the outer surface of the fifth plate 900 is against the outer surface of the fourth plate 800, thereby squeezing the fourth plate 800 inside the notch 460 to keep it in place, thereby ensuring the accuracy of the subsequent clamping of the measuring cylinder.

[0026] In order to enable the fifth plate 900 to move closer to the fourth plate 800, Figure 3 and Figure 10 As shown, the outer surface of the block 400 is provided with a second driving unit 1000 that drives the fifth plate 900 to move along the central axis of the fourth rod 910 toward the fourth plate 800. The second driving unit 1000 includes: a threaded rod 1010, a connecting rod 1020, a fixed block 1030, and a sliding column 1040. Because the threaded rod 1010 is rotatably mounted on the outer surface of the block 400 on the side close to the first plate 500, the threaded rod 1010 passes through the outer surface of the fifth plate 900 and is threadedly connected thereto, so the rotation of the threaded rod 1010 can drive the fifth plate 900 to move toward the fourth plate 800, thereby squeezing the fourth plate 800 and keeping it in place. In order to drive the threaded rod 1010 to rotate, as shown in FIG. Figure 10As shown, the connecting rod 1020 is fixedly installed on the other end of the threaded rod 1010, and the outer surface of the connecting rod 1020 near the bottom end is penetrated with a sliding groove 1021, the fixed block 1030 is fixedly installed on one end of the second shaft 520, and the sliding column 1040 is fixedly installed on the outer surface of one side of the fixed block 1030. The sliding column 1040 is slidably installed with the inner wall of the sliding groove 1021. It should be noted that the sliding column 1040 is set on the outer surface of the end of the fixed block 1030 away from the second shaft 520 (eccentric setting). When one of the first plates 500 is not restricted When the second shaft 520 is in the right position, because it can rotate with the central axis of the second shaft 520 as the rotation center, the second shaft 520 will also rotate, thereby driving the fixed block 1030 to rotate with the central axis of the second shaft 520 as the rotation center, and the fixed block 1030 drives the sliding column 1040 to rotate eccentrically, so that the sliding column 1040 cooperates with the sliding groove 1021, and drives the connecting rod 1020 to rotate upward by an angle with the central axis of the threaded rod 1010 as the rotation center, and drives the threaded rod 1010 to rotate by itself through the connecting rod 1020, thereby driving the fifth plate body 900 to approach the fourth plate body 800.

[0027] It should be noted that in the present invention, the position of the first plate 500 is limited by the second plate 600, so that the two blocks 400 can move closer to each other and implement normal simultaneous clamping of the two jaws. When the two blocks 400 move closer to each other, the slide column 1040 is driven by cooperating with the slide groove 1021. When one of the second plates 600 releases the restriction on the first plate 500, the current position of the block 400 is restricted, thereby realizing single-claw movement clamping.

[0028] In order to limit the first rod 710, the third rod 810 and the fourth rod 910 to move only along their own central axis, the connecting rod 1020 rotates downward, and the threaded rod 1010 also rotates in the opposite direction. The fifth plate 900 moves away from the fourth plate 800. Because the surface of the fifth plate 900 is lower than the surface of the fourth plate 800 used to clamp objects, it will not affect the clamping of the measuring cup by the two fourth plates 800; when one of the second plates 600 releases the restriction on the first plate 500, the current position of the block 400 is restricted, thereby realizing single-claw motion clamping.

[0029] In order to restrict the first rod 710 , the third rod 810 and the fourth rod 910 to move only along their own central axis, in this embodiment, the first rod 710 , the third rod 810 and the fourth rod 910 are all square in shape.

[0030] The basic principles, main features and advantages of the present invention are shown and described above. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention, and such changes and modifications fall within the scope of the invention as claimed.

Claims

1. A mechanical gripper, characterized in that: include: Robotic Arm (200); A mounting plate (300) is provided at one end of the robotic arm (200), wherein the outer surface of the mounting plate (300) is provided with a T-shaped rail (310); Two blocks (400) are arranged on the outer surface of the T-shaped rail (310), and the two blocks (400) are arranged to be able to move toward or away from each other along the central axis of the T-shaped rail (310). The outer surfaces of the two blocks (400) close to the mounting plate (300) are fixedly connected to support blocks (470); Two first plates (500) are respectively arranged on the outer surfaces of the two blocks (400), the first plates (500) being rotatably connected to the support block (470) via a second shaft (520), the first plates (500) being arranged to be rotatable about the central axis of the second shaft (520) as the rotation center, and the first plates (500) being arranged to drive the blocks (400) to move along the central axis of the T-rail (310) when they are stationary relative to the blocks (400); Two second plates (600) are arranged on the outer surface of one side of the mounting plate (300). The two second plates (600) are arranged so that when their outer surfaces respectively abut against one end of the two first plates (500), the first plates (500) can be kept stationary relative to the block (400).

2. The mechanical gripper according to claim 1, characterized in that: The outer surfaces of the two second plates (600) on one side close to the mounting plate (300) are fixedly connected to two columns (610), and the other ends of the two columns (610) pass through the outer surface of the other side of the mounting plate (300) and are fixedly connected to the third plate (620). The second plate (600) is configured to be movable along the central axis of the two columns (610), and the outer surface of one of the two columns (610) is sleeved with a first tension spring (630), one end of the first tension spring (630) is fixedly connected to the outer surface of the third plate (620), and the other end of the first tension spring (630) is fixedly connected to the outer surface of the other side of the mounting plate (300).

3. The mechanical gripper according to claim 1, characterized in that: A third drive unit (1100) is provided on the outer surface of the other side of the mounting plate (300), and the third drive unit (1100) comprises: A driving motor (1110) is fixedly mounted on the outer surface of the other side of the mounting plate (300); A sixth plate (1120) is rotatably mounted on the outer surface of one side of the mounting plate (300), and an output end of the drive motor (1110) passes through the outer surface of one side of the mounting plate (300) and is fixedly connected to the rotation center of the sixth plate (1120); The two seventh plates (1130) are rotatably mounted on the two ends of the sixth plate (1120), and the other ends of the two seventh plates (1130) are rotatably connected to the bottom ends of the two first plates (500) via the first shaft (510).

4. The mechanical gripper according to claim 1, characterized in that: The bottom end of the block (400) is provided with a T-shaped slot (410) matching the T-shaped rail (310), the T-shaped rail (310) is slidably mounted on the inner wall of the T-shaped slot (410), a cavity (420) is provided inside the block (400), a second through hole (440) is provided on the bottom wall of the cavity (420), and a first driving unit (700) is provided inside the cavity (420) for driving the second plate (600) to move along the central axis direction of the two columns (610).

5. The mechanical gripper according to claim 3, characterized in that: The first driving unit (700) comprises: A second rod (720) is slidably mounted inside the second through hole (440); the bottom end of the second rod (720) passes through the outer surface of the block (400) and is provided with an oblique angle (721); the oblique angle (721) abuts against the outer surface of the third plate (620) on the side close to the mounting plate (300); a guide groove (722) is provided at the top end of the second rod (720); a through groove (311) is provided on the upper surface of the T-rail (310); the second rod (720) passes through the through groove (311) and is slidably mounted on the inner wall thereof; A fixing plate (730) fixedly mounted between inner walls on opposite sides of the cavity (420); A first rod (710) is inserted into the interior of the fixing plate (730) and is slidably mounted on the inner wall of the fixing plate (730); a guide post (711) is fixedly mounted on the inner wall of one end of the first rod (710) close to the second rod (720); and the guide post (711) is slidably mounted on the inner wall of the guide groove (722); a baffle (750) fixedly mounted on an upper surface of the first rod (710) near one end of the second rod (720); A second tension spring (740) is sleeved on the outer surface of the first rod (710), one end of the second tension spring (740) is fixedly connected to the outer surface of the baffle (750), and the other end of the second tension spring (740) is fixedly connected to the outer surface of the fixing plate (730).

6. The mechanical gripper according to claim 5, characterized in that: The outer surfaces of the adjacent sides of the two blocks (400) are each provided with a notch (460), the outer wall of the notch (460) is provided with a first through hole (430), a fourth plate (800) is provided inside the notch (460), a third rod (810) is fixedly installed on the outer surface of one side of the fourth plate (800), the third rod (810) is slidably installed with the inner wall of the first through hole (430), the other end of the third rod (810) passes through the first through hole (430) and is fixedly connected to a spring (820), and the other end of the spring (820) is fixedly connected to the outer surface of the baffle (750).

7. The mechanical gripper according to claim 6, characterized in that: The outer surfaces of the two blocks (400) on one side close to the first plate (500) are both provided with a third through hole (450), and the outer surfaces of the two blocks (400) on the other side close to the third through hole (450) are both provided with a fifth plate (900), and the outer surface of one side of the fifth plate (900) is fixedly connected with a fourth rod (910), and the fourth rod (910) is slidably mounted on the inner wall of the third through hole (450), and the cross-section of the fifth plate (900) is L-shaped, and the outer surface of the fifth plate (900) is abutted against the outer surface of the fourth plate (800), and the outer surface of the block (400) is provided with a second driving unit (1000) for driving the fifth plate (900) to move along the central axis of the fourth rod (910) in a direction close to the fourth plate (800).

8. The mechanical gripper according to claim 7, characterized in that: The second driving unit (1000) comprises: a threaded rod (1010) rotatably mounted on the outer surface of the block (400) on a side close to the first plate (500), the threaded rod (1010) passing through the outer surface of the fifth plate (900) and being threadedly connected thereto; A connecting rod (1020) is fixedly mounted on the other end of the threaded rod (1010), and a sliding groove (1021) is formed through the outer surface of the connecting rod (1020) near the bottom end; a fixed block (1030) fixedly mounted on one end of the second shaft (520); A sliding column (1040) is fixedly mounted on the outer surface of one side of the fixed block (1030), the sliding column (1040) being slidably mounted on the inner wall of the slide groove (1021), and the sliding column (1040) being arranged on the outer surface of the end of the fixed block (1030) away from the second shaft (520).

9. The mechanical gripper according to claim 1, characterized in that: A second clamping block (1300) is fixedly mounted on the upper surfaces of the two second plates (600), and a first clamping block (1200) is fixedly mounted on the lower surfaces of the two blocks (400). A clamping slot (1210) is provided on the lower surface of the first clamping block (1200), and the second clamping block (1300) is arranged inside the clamping slot (1210).

10. A constant temperature and humidity closed box system for a mechanical gripper, characterized in that: The invention comprises the mechanical gripper according to any one of claims 1 to 9, wherein the constant temperature and humidity closed box system of the mechanical gripper comprises: a closed box (100), and the mechanical arm (200) is arranged inside the closed box (100).

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