Mechanical gripper

Abstract

The invention provides a mechanical gripper which is characterized in that a left-right moving module drives a cam to rotate through a first motor and drives a roller and a connecting rod mechanism to move, so that a sliding block linearly slides in a reciprocating mode in the radial direction of the cam, and transverse displacement is achieved; according to the up-down moving module, a second motor drives a rotating body, and a rotating sliding block is pushed to do vertical movement through change of an included angle between a swing connecting rod and a rotating connecting rod; the linear driving mechanism symmetrically drives the force transmission units on the two sides and controls the clamping parts to be opened and closed so as to grab objects. The left-right moving module and the up-down moving module are connected with the grabbing and clamping module and drive the grabbing and clamping module to move left and right and move up and down. According to the mechanical grabbing and clamping device, on the premise that basic functions and proper precision are guaranteed, the structure is more simplified, and control is more economical and efficient.

Description

Technical Field

[0001] This invention relates to the field of gripping device technology, and more specifically, to a mechanical gripper. Background Technology

[0002] In the design of automated equipment, especially robot end effectors, achieving precise and reliable motion control of the gripping device in the vertical and horizontal directions is a core requirement. Currently, a widely used and mature technical solution is to use a transmission combination of "servo motor + ball screw + linear guide".

[0003] This solution uses a servo motor to provide precise power, which is then converted into linear motion via a ball screw. Linear guides ensure the accuracy and stability of the motion. Two systems arranged orthogonally can achieve two-dimensional positioning of the target. Although this solution technically meets the performance requirements in terms of accuracy, speed, and load, its most prominent problem is the high overall control cost, which constitutes the main obstacle to its large-scale application in cost-sensitive scenarios.

[0004] The high cost stems primarily from three aspects: First, the three core components—servo motors, high-precision ball screws, and linear guides—are all high-value parts with exorbitant procurement costs. Second, the implementation of this solution is not limited to these components; it also requires dedicated servo drives, high-precision mechanical installation and calibration, which significantly increases the complexity of system integration and indirect costs. Finally, achieving coordinated multi-axis motion necessitates complex motion control algorithms and specialized debugging experience, placing higher demands on the control system and personnel skills, further driving up development and maintenance costs.

[0005] Therefore, this traditional model of trading high cost for high performance has largely limited its adoption in many low-to-mid-range or large-scale application scenarios. The market urgently calls for an innovative technological solution that, while ensuring basic functionality and appropriate accuracy, offers a simpler structure and more cost-effective control. Summary of the Invention

[0006] This invention provides a mechanical gripper designed to address the high cost of existing servo motors, high-precision ball screw pairs, and linear guides. It offers a mechanical gripper device with a simpler structure and more economical and efficient control while ensuring basic functionality and appropriate accuracy.

[0007] To achieve the above objectives, the present invention provides a mechanical gripper, comprising:

[0008] The left and right movement module includes multiple hinged links, a contour drive unit, and a first motor. The contour drive unit includes a cam and a roller. A slider is provided in the middle of the link, and the slider is connected to the roller. The roller is placed above the cam. The first motor drives the cam to rotate, and the cam drives the roller to rotate relative to the cam, so that the roller is always above the cam. During the rotation of the cam, the distance between the rotation axis of the cam and the roller and the slider changes, so that the slider slides left and right on the straight line where the rotation axis of the cam and the roller are located.

[0009] The up-and-down movement module includes a second motor, a rotating body, a swing link, a rotating link, and a rotating slider. The output shaft of the second motor is connected to the rotating body, the swing link is connected to the rotating body, one end of the rotating link is connected to the swing link, and the other end is rotatably connected to the rotating slider. The second motor drives the rotating body to rotate, and the rotating body drives the swing link to swing, causing the angle between the swing link and the rotating link to change, thereby driving the rotating slider to move up and down.

[0010] The gripping module includes a linear drive mechanism, a force transmission unit, and a clamping part. Two force transmission units and two clamping parts are provided and symmetrically arranged on both sides of the linear drive mechanism. One end of each force transmission unit is connected to the linear drive mechanism and the other end is connected to the corresponding clamping part. The linear drive mechanism drives the force transmission unit to expand outward and contract inward, causing the two clamping parts to close and open to grip the object.

[0011] The left-right moving module and the up-down moving module are connected to the gripping module, which drives the gripping module to move left-right and up-down.

[0012] In one embodiment, the left-right moving module is provided with a left-right moving fixing plate, the left-right moving fixing plate is provided with a first cam dovetail groove, and the slider moves left and right within the first cam dovetail groove.

[0013] In one embodiment, when the connecting rods are hinged, the middle connecting parts of the staggered intersecting connecting rods are connected by a rotating shaft to form a connecting rod junction. The roller is set at the connecting rod junction near the cam and is rotatably connected to the slider. A spring is set between the two junctions near the cam. The spring is always in an extended state to ensure that the roller and the cam are always in contact.

[0014] In one embodiment, the up-and-down movement module includes a locking unit, which is disposed on a second motor.

[0015] In one embodiment, the rotating link and the rotating slider are connected by a pin.

[0016] The rotating body is provided with a hole, and the swing link moves axially within the hole of the rotating body and rotates around the rotation axis of the rotating body.

[0017] In one embodiment, the vertical moving module is provided with a vertical moving fixed plate, the horizontal moving fixed plate is provided with a second cam dovetail groove, and a trapezoidal protrusion is provided above the vertical moving fixed plate, the trapezoidal protrusion being connected to the second cam dovetail groove of the horizontal moving fixed plate.

[0018] The vertically movable fixing plate is provided with two grooves, and a second slider is provided at the end of the connecting rod farthest from the cam. The second slider slides in the groove.

[0019] The vertically movable fixing plate is also provided with a rotating dovetail groove, and the rotating slider moves up and down within the rotating dovetail groove.

[0020] In one embodiment, the linear drive mechanism includes a cylinder and a piston, the force transmission unit includes a clamping swing arm, and the clamping part includes a claw plate;

[0021] The gripping module is provided with a gripping fixing plate. The cylinder, piston, gripping swing arm, and claw disk are mounted on the gripping fixing plate. A first positioning pin is provided in the middle of the gripping swing arm. The gripping swing arm rotates around the first positioning pin under the action of the cylinder and piston. The gripping swing arm is rotatably connected to the cylinder. The gripping swing arm is connected to the claw disk through a first claw connecting rod.

[0022] In one embodiment, a positioning shaft disk is provided below the claw disk. The positioning shaft disk is T-shaped. When the clamping swing arm rotates, it drives the first rotating link to move. The first rotating link drives the claw disk to move laterally above the T-shape of the positioning shaft disk.

[0023] In one embodiment, the clamping arm can also be configured as an F-type. The first end of the F-type clamping arm is connected to the cylinder and piston, the second end is connected to the T-type positioning shaft disk through the second claw connecting rod, and the third end is connected to the claw disk through the first claw connecting rod. The second claw connecting rod moves back and forth around the T-shaped vertical direction through a sleeve.

[0024] In one embodiment, one end of the rotating slider is connected to a rotating connecting rod, and the other end of the rotating slider is provided with multiple screw holes. The gripping module is connected to the rotating slider through the screw holes.

[0025] The present invention has the following advantages: the present application can achieve up-down and left-right positioning using ordinary motors, and the cost is low. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the structure of a mechanical gripper according to an embodiment of the present invention;

[0027] Figure 2 This is a schematic diagram of the multi-angle structure of a mechanical gripper according to an embodiment of the present invention;

[0028] Figure 3 This is a schematic diagram of the left-right movement module of a mechanical gripper according to an embodiment of the present invention;

[0029] Figure 4 This is a multi-angle structural diagram of the left-right movement module of the mechanical gripper according to an embodiment of the present invention;

[0030] Figure 5 for Figure 4 A schematic diagram of the AA cross-sectional structure;

[0031] Figure 6 for Figure 5 A schematic diagram of the BB cross-sectional structure;

[0032] Figure 7 This is a schematic diagram of the up-and-down movement module of a mechanical gripper according to an embodiment of the present invention;

[0033] Figure 8 This is a rear view structural schematic diagram of the up-and-down movement module of a mechanical gripper according to an embodiment of the present invention;

[0034] Figure 9 This is a front view schematic diagram of the up-and-down movement module of a mechanical gripper according to an embodiment of the present invention;

[0035] Figure 10a for Figure 9 A schematic diagram of the AA cross-sectional structure;

[0036] Figure 10b for Figure 9 A schematic diagram of the BB cross-sectional structure;

[0037] Figure 11a for Figure 10a Enlarged schematic diagram of the structure at point A;

[0038] Figure 11b for Figure 10b Enlarged schematic diagram of the structure at point B;

[0039] Figure 11c for Figure 10b Enlarged schematic diagram of the structure at point C;

[0040] Figure 12a This is a schematic diagram of the gripping module of a mechanical gripper according to an embodiment of the present invention;

[0041] Figure 12b This is a multi-angle structural diagram of the gripping module of a mechanical gripper according to an embodiment of the present invention;

[0042] Figure 13 This is a top view of the gripping module of a mechanical gripper according to an embodiment of the present invention;

[0043] Figure 14 This is a side view of a mechanical gripper according to an embodiment of the present invention;

[0044] Figure 15 for Figure 13 A schematic diagram of the BB cross-sectional structure;

[0045] Figure 16a for Figure 15 Enlarged schematic diagram of the structure at point A;

[0046] Figure 16b for Figure 15 Enlarged schematic diagram of the structure at point B;

[0047] The components include: 1. Linkage; 2. First motor; 3. Cam; 4. Roller; 5. Slider; 6. Spring; 7. Left and right moving fixing plate; 8. First cam dovetail groove; 9. Second motor; 10. Rotating body; 11. Rotating link; 12. Rotating slider; 13. Ball head link; 14. Ball head screw; 15. Ball head; 16. Up and down moving fixing plate; 17. Pin; 18. Trapezoidal protrusion; 19. Groove; 20. Second cam dovetail groove; 21. Rotating dovetail groove; 22. Motor platform; 23. Cylinder; 24. Piston; 25. Clamping swing arm; 26. Claw plate; 27. Clamping fixing plate; 28. First positioning pin; 29. ​​First claw link; 30. Positioning shaft plate; 31. Second claw link; 32. Collar; 33. Second positioning pin; 34. Third positioning pin; 35. Fourth positioning pin; 36. Second slider. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be described in more detail below with reference to the accompanying drawings. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions. The described embodiments are some embodiments of this application, but not all embodiments. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0049] Figure 1 , Figure 2 , Figure 14 as well as Figure 15 This is a schematic diagram of the structure of a mechanical gripper according to an embodiment of the present invention. The mechanical gripper includes:

[0050] Left and right movement modules, such as Figures 3 to 6As shown, the device includes multiple hinged links, a contour drive unit, and a first motor. The contour drive unit includes a cam and a roller. A slider is disposed in the middle of the link, and the slider is connected to the roller. The roller is positioned above the cam. The first motor drives the cam to rotate, and the cam drives the roller to rotate relative to it, ensuring that the roller is always positioned above the cam. During the rotation of the cam, the distance between the cam's rotation axis and the roller and slider changes, causing the slider to lie on the straight line between the cam's rotation axis and the roller. Figure 1 The slide is shown in the left and right directions;

[0051] Up and down moving modules, such as Figures 7 to 11c As shown, the system includes a second motor, a rotating body, a swing linkage, a rotating linkage, and a rotating slider. The output shaft of the second motor is connected to the rotating body, and the swing linkage is connected to the rotating body. One end of the rotating linkage is connected to the swing linkage, and the other end is rotatably connected to the rotating slider. The second motor drives the rotating body to rotate, which in turn drives the swing linkage to swing, causing a change in the angle between the swing linkage and the rotating linkage, thus causing the rotating slider to move as shown in the diagram. Figure 1 The movement is shown in the up and down direction;

[0052] Gripping module, such as Figures 12a to 13 It includes a linear drive mechanism, a force transmission unit, and a clamping part. There are two force transmission units and clamping parts, which are symmetrically arranged on both sides of the linear drive mechanism. One end of the force transmission unit is connected to the linear drive mechanism, and the other end is connected to the clamping part. The linear drive mechanism drives the force transmission unit to expand outward and contract inward, which drives the two clamping parts to close and open to grasp the object.

[0053] The left-right moving module and the up-down moving module are connected to the gripping module, which drives the gripping module to move left-right and up-down.

[0054] Specifically, the oscillating link can be a ball-end link, which includes a ball-end screw and a ball end. The rotating body is connected to the ball-end screw, and the rotating link is connected to the ball end.

[0055] Furthermore, there are two versions of the second motor, ball joint connecting rod, and rotating body, symmetrically arranged on both sides of the rotating connecting rod and the rotating slider. The ball joints of the two ball joint connecting rods are connected to the rotating connecting rod by bolts.

[0056] In one embodiment, the left-right moving module is provided with a left-right moving fixing plate, the left-right moving fixing plate is provided with a first cam dovetail groove, and the slider moves left and right within the first cam dovetail groove.

[0057] As shown in the figure, the first cam dovetail groove is a straight line, and the slider moves along a straight line within the first cam dovetail groove.

[0058] In one embodiment, when the connecting rods are hinged, the middle connecting parts of the staggered intersecting connecting rods are connected by a rotating shaft to form a connecting rod junction. The roller is set at the connecting rod junction near the cam and is rotatably connected to the slider. A spring is set between the two junctions near the cam. The spring is always in an extended state to ensure that the roller and the cam are always in contact.

[0059] In one embodiment, the up-and-down movement module includes a locking unit, which is disposed on a second motor.

[0060] In one embodiment, the rotating link and the rotating slider are connected by a pin.

[0061] The rotating body is provided with a hole, and the swing link moves axially within the hole of the rotating body and rotates around the rotation axis of the rotating body.

[0062] In one embodiment, the vertical moving module is provided with a vertical moving fixed plate, the horizontal moving fixed plate is provided with a second cam dovetail groove, and a trapezoidal protrusion is provided above the vertical moving fixed plate, the trapezoidal protrusion being connected to the second cam dovetail groove of the horizontal moving fixed plate.

[0063] The vertically movable fixing plate is provided with two grooves, and a second slider is provided at the end of the connecting rod farthest from the cam. The second slider slides in the groove.

[0064] The vertically movable fixing plate is also provided with a rotating dovetail groove, and the rotating slider moves up and down within the rotating dovetail groove.

[0065] Specifically, each of the two second motors has a motor platform, which is fixed to the upper and lower movable fixed plate by bolts.

[0066] When the cam rotates, it drives the roller to move radially towards the axis of rotation. The two ends of the connecting rod furthest from the cam open up in the two grooves. When the roller is closest to the axis of rotation of the cam, the two ends are on the outside of the grooves, and the distance between the two ends is the greatest. When the roller is furthest from the axis of rotation of the cam, the two ends are on the inside of the two grooves, and the distance between the two ends is the greatest.

[0067] Furthermore, such as Figure 16a As shown, four bolts and nuts are provided at the connection between the trapezoidal protrusion and the second cam dovetail groove of the left and right movable fixing plate to fix the left and right movable fixing plate and the up and down movable fixing plate.

[0068] In one embodiment, the linear drive mechanism includes a cylinder and a piston, the force transmission unit includes a clamping swing arm, and the clamping part includes a claw plate;

[0069] The gripping module is provided with a gripping fixing plate. The cylinder, piston, gripping swing arm, and claw disk are mounted on the gripping fixing plate. A first positioning pin is provided in the middle of the gripping swing arm. The gripping swing arm rotates around the first positioning pin under the action of the cylinder and piston. The gripping swing arm is rotatably connected to the cylinder. The gripping swing arm is connected to the claw disk through a first claw connecting rod.

[0070] In one embodiment, a positioning shaft disk is provided below the claw disk. The positioning shaft disk is T-shaped. When the clamping swing arm rotates, it drives the first rotating link to move. The first rotating link drives the claw disk to move laterally above the T-shape of the positioning shaft disk.

[0071] In one embodiment, the clamping arm can also be configured as an F-type. The first end of the F-type clamping arm is connected to the cylinder and piston, the second end is connected to the T-type positioning shaft disk through the second claw connecting rod, and the third end is connected to the claw disk through the first claw connecting rod. The second claw connecting rod moves back and forth around the T-shaped vertical direction through a sleeve.

[0072] Specifically, the collar is fitted onto the vertical part of the T-shape, the second claw connecting rod is connected to the positioning shaft disk through the collar, the second claw connecting rod is connected to the positioning shaft disk and the collar through the third positioning pin, and the collar is slidably connected to the vertical part of the T-shape.

[0073] Specifically, when the two claw discs are in a close contact state, the second claw connecting rod is at the lowest point of the T-shape in the vertical direction, and the second rotating rod is away from the lateral direction of the T-shape. When the cylinder drives the piston to move, one end of the clamping arm connected to the piston gradually moves closer to the cylinder and piston, and one end of the clamping arm connected to the claw discs expands to both sides, causing the two close claw discs to gradually separate. At this time, the second claw connecting rod moves towards the lateral direction of the T-shape.

[0074] In one embodiment, such as Figure 16a As shown, one end of the rotating slider is connected to the rotating connecting rod, and the other end of the rotating slider is provided with multiple screw holes. The gripping module is connected to the rotating slider through the screw holes.

[0075] Specific implementation principle: When the first motor starts, the cam rotates, driving the roller to move in the direction of the cam's rotation axis. At this time, the hinged connecting rod is compressed in the direction of the cam's rotation axis, driving the up and down moving fixed plate and the gripping module in the direction of the cam's rotation axis, thereby realizing the left and right movement of the gripping module.

[0076] When the second motor starts, it drives the rotating body to rotate around its axis. The ball joint is located on the non-rotating axis portion of the rotating body, causing it to rotate around the axis and changing the angle between the ball joint and the rotating link. This causes the rotating link to move the rotating slider up and down, thus realizing the up and down movement of the gripping module. Since the axis of the rotating body is not coaxial with the rotating slider, the transport motion of the rotating body can result in different reciprocating speeds of the rotating slider, adapting to the needs of the production process.

[0077] When the cylinder is running, the piston drives the gripper disk connected to the gripping arm to expand or compress, thereby adjusting the distance between the gripper disks and achieving successful gripping of the item.

[0078] The present invention has the following advantages: the present application can achieve up-down and left-right positioning using ordinary motors, and the cost is low.

[0079] In the description of this application, it should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. For ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0080] It should be noted that, in this application, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. It should also be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Furthermore, features described with reference to certain examples may be combined in other examples.

[0081] Furthermore, it should be noted that, unless otherwise explicitly stated and limited, the terms "connection," "driving," and similar terms used in the description of this application should be interpreted broadly. They can refer to direct connections, connections through an intermediate medium, or relationships within two elements. Those skilled in the art can understand their specific meaning in this application based on the specific circumstances. In this document, terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any actual relationship or order between these entities or operations.

[0082] The above embodiments are provided for those skilled in the art to implement or use this application. Those skilled in the art can make various modifications or changes to the above embodiments without departing from the spirit of this application. Therefore, the scope of protection of this application is not limited to the above embodiments, but should be the maximum scope that conforms to the innovative features mentioned in the claims.

Claims

1. A mechanical gripper, characterized in that, include: The left and right movement module includes multiple hinged links, a contour drive unit, and a first motor. The contour drive unit includes a cam and a roller. A slider is provided in the middle of the link, and the slider is connected to the roller. The roller is placed above the cam. The first motor drives the cam to rotate, and the cam drives the roller to rotate relative to the cam, so that the roller is always above the cam. During the rotation of the cam, the distance between the rotation axis of the cam and the roller and the slider changes, so that the slider slides left and right on the straight line where the rotation axis of the cam and the roller are located. The up-and-down movement module includes a second motor, a rotating body, a swing link, a rotating link, and a rotating slider. The output shaft of the second motor is connected to the rotating body, and the swing link is connected to the rotating body. One end of the rotating link is connected to the swing link, and the other end is rotatably connected to the rotating slider. The second motor drives the rotating body to rotate, and the rotating body drives the swing link to swing, causing the angle between the swing link and the rotating link to change, thus driving the rotating slider to move up and down. The axis of the rotating body is not coaxial with the axis of the rotating slider, and the transport motion of the rotating body causes the reciprocating speed of the rotating slider to be different. The gripping module includes a linear drive mechanism, a force transmission unit, and a clamping part. Two force transmission units and two clamping parts are provided and symmetrically arranged on both sides of the linear drive mechanism. One end of each force transmission unit is connected to the linear drive mechanism and the other end is connected to the corresponding clamping part. The linear drive mechanism drives the force transmission unit to expand outward and contract inward, causing the two clamping parts to close and open to grip the object. The left-right moving module and the up-down moving module are connected to the gripping module, which drives the gripping module to move left-right and up-down.

2. The mechanical gripper according to claim 1, characterized in that, The left and right moving module is provided with a left and right moving fixed plate, and the left and right moving fixed plate is provided with a first cam dovetail groove, and the slider moves left and right in the first cam dovetail groove.

3. The mechanical gripper according to claim 1, characterized in that, When the connecting rods are hinged, the middle connecting parts of the staggered intersecting connecting rods are connected by a rotating shaft to form the connecting rod junction. The roller is set at the connecting rod junction near the cam and is rotatably connected to the slider. A spring is set between the two connecting rod junctions near the cam. The spring is always under tension to ensure that the roller and the cam are always in contact.

4. The mechanical gripper according to claim 1, characterized in that, The up-and-down movement module includes a locking unit, which is mounted on the second motor.

5. The mechanical gripper according to claim 1, characterized in that, The rotating connecting rod and the rotating slider are connected by a pin. The rotating body is provided with a hole, and the swing link moves axially within the hole of the rotating body and rotates around the rotation axis of the rotating body.

6. The mechanical gripper according to claim 2, characterized in that, The up-down moving module is provided with an up-down moving fixed plate, the left-right moving fixed plate is provided with a second cam dovetail groove, and a trapezoidal protrusion is provided above the up-down moving fixed plate, which is connected to the second cam dovetail groove of the left-right moving fixed plate. The vertically movable fixing plate is provided with two grooves, and a second slider is provided at the end of the connecting rod farthest from the cam. The second slider slides in the groove. The vertically movable fixing plate is also provided with a rotating dovetail groove, and the rotating slider moves up and down within the rotating dovetail groove.

7. The mechanical gripper according to claim 1, characterized in that, The linear drive mechanism includes a cylinder and a piston, the force transmission unit includes a clamping swing arm, and the clamping part includes a claw plate; The gripping module is provided with a gripping fixing plate. The cylinder, piston, gripping swing arm, and claw disk are mounted on the gripping fixing plate. A first positioning pin is provided in the middle of the gripping swing arm. The gripping swing arm rotates around the first positioning pin under the action of the cylinder and piston. The gripping swing arm is rotatably connected to the cylinder. The gripping swing arm is connected to the claw disk through a first claw connecting rod.

8. The mechanical gripper according to claim 7, characterized in that, A positioning shaft disk is provided below the claw disk. The positioning shaft disk is T-shaped. When the clamping arm rotates, it drives the first rotating link to move. The first rotating link drives the claw disk to move laterally above the T-shape of the positioning shaft disk.

9. The mechanical gripper according to claim 8, characterized in that, The clamping arm can also be configured as an F-type. The first end of the F-type clamping arm is connected to the cylinder and piston, the second end is connected to the T-type positioning shaft disk through the second claw connecting rod, and the third end is connected to the claw disk through the first claw connecting rod. The second claw connecting rod moves back and forth in the vertical direction around the T-shape through a sleeve.

10. The mechanical gripper according to claim 1, characterized in that, One end of the rotating slider is connected to the rotating connecting rod, and the other end of the rotating slider is provided with multiple screw holes. The gripping module is connected to the rotating slider through the screw holes.

Images