High-precision mechanical claw and robot

Abstract

The high-precision mechanical claw comprises a clamping assembly and a positioning assembly, the clamping assembly comprises a first cylinder body, a clamping transmission device and a clamping device, the first cylinder body is in pneumatic connection with the clamping transmission device, the clamping device comprises a first pneumatic claw and a second pneumatic claw, and the first pneumatic claw is in pneumatic connection with the clamping transmission device. Anti-skid rubber pads are arranged on the opposite faces of the first pneumatic claw and the second pneumatic claw, the positioning assembly comprises a first positioning assembly and a second positioning assembly, and the first positioning assembly and the second positioning assembly are arranged on the two sides of the first cylinder body respectively; wherein the first cylinder body drives the clamping device to open and close through the clamping transmission device, the anti-skid rubber mat is used for preventing a product from slipping and moving, and the first positioning assembly and the second positioning assembly are used for positioning the product and preventing the product from deviating. The problems that the surface of a product is smooth and the product is damaged due to clamping are solved through the anti-skid rubber mat, meanwhile, the problem that the product is inaccurate in displacement and positioning is solved through the first positioning assembly and the second positioning assembly, and practicability is high.

Description

Technical Field

[0001] This utility model relates to the field of mechanical gripper technology, and in particular to a high-precision mechanical gripper and robot. Background Technology

[0002] In the existing technology, robotic arms are widely used in the industrial field to grip and transfer products. However, the mechanical grippers used in existing robotic arms still have problems such as unstable gripping, product displacement, and easy damage to products due to the smooth surface of the product.

[0003] There is no effective solution yet to address the problems of unstable gripping, product displacement, and injury caused by existing mechanical grippers in related technologies. Utility Model Content

[0004] In view of this, it is necessary to provide a high-precision mechanical gripper to at least solve the problems of unstable gripping, easy product displacement and damage caused by existing mechanical grippers in related technologies.

[0005] The present invention adopts the following technical solution: Firstly, the present invention provides a high-precision mechanical gripper, including a clamping assembly and a positioning assembly. The clamping assembly includes a first cylinder, a clamping transmission device, and a clamping device. The first cylinder is pneumatically connected to the clamping transmission device. The clamping device includes a first pneumatic gripper and a second pneumatic gripper. Anti-slip pads are provided on the opposing surfaces of both the first and second pneumatic grippers. The positioning assembly includes a first positioning assembly and a second positioning assembly, which are respectively located on both sides of the first cylinder. The first cylinder drives the clamping device to open and close via the clamping transmission device. The anti-slip pads prevent the product from slipping or shifting. The first and second positioning assemblies are used for product positioning to prevent product deviation.

[0006] In some embodiments, the first cylinder body has a limiting cavity in the middle, and the clamping transmission device is movably disposed in the limiting cavity. One end of the limiting cavity is provided with a first pressurized air intake channel communicating with it. The air inlet of the first pressurized air intake channel is provided with a first air inlet. The other end of the limiting cavity is also connected to a first exhaust hole provided on the first cylinder body. The limiting cavity is ventilated or vented through the first pressurized air intake channel and the first exhaust hole, driving the clamping transmission device to work, so as to drive the first air gripper and the second air gripper to open and close.

[0007] In some embodiments, the clamping transmission device includes a first piston rod, a first movable block, a second movable block, a third movable block, and a first spring. A first piston rod mounting groove is provided in the middle of the limiting cavity. The first piston rod is mounted in the first piston rod mounting groove, and a sealing ring is fitted onto the first piston rod. The first spring is mounted around the first piston rod. The first movable block is located at the upper end of the first piston rod. The second and third movable blocks are respectively located on both sides of the first movable block. The first and second pneumatic grippers are respectively mounted on the second and third movable blocks. When the limiting cavity is ventilated, the first spring is stretched, the first piston rod and the first movable block are pushed outwards, and the second and third movable blocks expand outwards, causing the first and second pneumatic grippers to open. When the limiting cavity is ventilated, the first spring returns to its original position, the first piston rod and the first movable block retract, and the second and third movable blocks contract inwards, causing the first and second pneumatic grippers to clamp together.

[0008] In some embodiments, the first movable block has a stepped structure, both sides of the first movable block are inclined surfaces, one side of the second movable block is provided with a first inclined surface tangent to one side of the inclined surface of the first movable block, and one side of the third movable block is provided with a second inclined surface tangent to the other side of the inclined surface of the first movable block.

[0009] In some embodiments, a limiting baffle is provided at the limiting cavity and at the upper end of the first movable block; wherein the limiting baffle is used to abut against the first movable block to prevent the first movable block from flying out of the limiting cavity.

[0010] In some embodiments, the first positioning component includes a second cylinder and a first positioning device. The second cylinder is disposed on one side of the first cylinder, and the first positioning device is disposed at the lower end of the second cylinder. The interior of the second cylinder is provided with a second pressurized air intake passage. One end of the second pressurized air intake passage is provided with a second air inlet, and the other end of the second pressurized air intake passage is connected to one end of the first positioning device. The other end of the first positioning device is also connected to a second exhaust port provided on the second cylinder. The second cylinder is ventilated or vented through the second pressurized air intake passage and the second exhaust port to drive the first positioning device to position the product.

[0011] In some embodiments, the first positioning device includes a first fixed seat, a second spring, a first movable seat, and a first positioning post. The first fixed seat is installed at the lower end of the second cylinder and is connected to the second pressurized air intake and the second exhaust port, respectively. The first movable seat is movably mounted on the first fixed seat via the second spring. A first sealing area is formed between the first fixed seat and the first movable seat. The second spring is located within the first sealing area, and the first positioning post is located at the lower end of the first movable seat. When the first sealing area is ventilated, the second spring is stretched, and the first movable seat and the first positioning post extend downward relative to the first fixed seat to position the product. When the first sealing area is ventilated, the second spring returns to its original position, and the first movable seat and the first positioning post retract upward relative to the first fixed seat to return to their original position.

[0012] In some embodiments, the second positioning component includes a third cylinder and a second positioning device. The third cylinder is located on the other side of the first cylinder, and the second positioning device is located at the lower end of the third cylinder. The interior of the third cylinder is provided with a third pressurized air intake passage. One end of the third pressurized air intake passage is provided with a third air inlet, and the other end of the third pressurized air intake passage is connected to one end of the second positioning device. The other end of the second positioning device is also connected to a third exhaust port provided on the third cylinder. The third cylinder is vented or vented through the third pressurized air intake passage and the third exhaust port to drive the second positioning device to position the product.

[0013] In some embodiments, the second positioning device includes a second fixed seat, a third spring, a second movable seat, and a second positioning post. The second fixed seat is installed at the lower end of the third cylinder and is connected to the third pressurized air intake and the third exhaust port, respectively. The second movable seat is movably mounted on the second fixed seat via the third spring, forming a second sealing area between the second fixed seat and the second movable seat. The third spring is located within the second sealing area, and the second positioning post is located at the lower end of the second movable seat. When the second sealing area is vented, the third spring is stretched, and the second movable seat and the second positioning post extend downward relative to the second fixed seat to position the product. When the second sealing area is vented, the third spring returns to its original position, and the second movable seat and the second positioning post retract upward relative to the second fixed seat to return to their original position.

[0014] Secondly, embodiments of this application also provide a robot, including the aforementioned high-precision mechanical gripper.

[0015] Compared with the prior art, the beneficial effects of this utility model are as follows: The embodiments of this application provide a high-precision mechanical gripper. By adding anti-slip rubber pads to the first and second grippers, the friction between the gripping device and the product is increased, solving the problem of product slippage due to smooth product surface. At the same time, the anti-slip rubber pads are relatively soft, solving the problem of the gripping device easily damaging the product. Meanwhile, by adopting the structural design of the first and second positioning components and using a pin-type positioning method for the product, the problem of inaccurate product positioning is solved, making it highly practical. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the assembly structure of the embodiment and product of this application;

[0017] Figure 2 This is a schematic diagram of the overall structure of an embodiment of this application;

[0018] Figure 3 This is a schematic diagram of the structure of the first cylinder and clamping device according to an embodiment of this application;

[0019] Figure 4 This is a schematic diagram of the clamping transmission device and clamping device according to an embodiment of this application;

[0020] Figure 5 This is an exploded view of the first positioning component and the second positioning component in an embodiment of this application.

[0021] Figure label:

[0022] 100. Clamping assembly; 11. First cylinder; 111. Limiting cavity; 112. First air inlet; 113. Limiting baffle; 12. Clamping transmission device; 121. First piston rod; 122. First movable block; 123. Second movable block; 124. Third movable block; 125. First spring; 13. Clamping device; 131. First pneumatic gripper; 132. Second pneumatic gripper; 133. Anti-slip rubber pad;

[0023] 200. First positioning assembly; 21. Second cylinder; 211. Second air inlet; 22. First positioning device; 221. First fixed seat; 222. Second spring; 223. First movable seat; 224. First positioning pin;

[0024] 300. Second positioning assembly; 31. Third cylinder; 311. Third air inlet; 32. Second positioning device; 321. Second fixed seat; 322. Third spring; 323. Second movable seat; 324. Second positioning post;

[0025] 400. Products. Detailed Implementation

[0026] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0027] It should be noted that when a component is said to be "mounted on" another component, it can be directly mounted on the other component or may be interspersed with a component. When a component is said to be "set on" another component, it can be directly set on the other component or may be interspersed with a component. When a component is said to be "fixed to" another component, it can be directly fixed to the other component or may be interspersed with a component.

[0028] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "or / and" as used herein includes any and all combinations of one or more of the associated listed items.

[0029] See Figures 1 to 5 This application provides a high-precision mechanical gripper, including a clamping assembly 100 and a positioning assembly. The clamping assembly 100 includes a first cylinder 11, a clamping transmission device 12, and a clamping device 13. The first cylinder 11 and the clamping transmission device 12 are pneumatically connected. The clamping device 13 includes a first pneumatic gripper 131 and a second pneumatic gripper 132. Anti-slip pads 133 are provided on the opposing surfaces of the first pneumatic gripper 131 and the second pneumatic gripper 132. The positioning assembly includes a first positioning assembly 200 and a second positioning assembly 300, which are respectively located on both sides of the first cylinder 11. The first cylinder 11 drives the clamping device 13 to open and close through the clamping transmission device 12. The anti-slip pads 133 are used to prevent the product 400 from slipping and shifting. The first positioning assembly 200 and the second positioning assembly 300 are used to position the product 400 and prevent the product 400 from deviating.

[0030] This design, as explained, increases the friction between the clamping device 13 and the product 400 by adding anti-slip pads 133 to the first gripper 131 and the second gripper 132. This solves the problem of product 400 being too smooth and prone to shifting during clamping. At the same time, the anti-slip pads 133 are relatively soft, which solves the problem of the clamping device 13 easily damaging the product 400. Furthermore, by adopting the structural design of the first positioning component 200 and the second positioning component 300, and by using a pin-type limit positioning of the product 400, the problem of inaccurate positioning of the product 400 is solved.

[0031] In order to realize the function of clamping product 400 by clamping component 100, in some optional embodiments, the middle part of the first cylinder 11 is provided with a limiting cavity 111, the clamping transmission device 12 is movably disposed in the limiting cavity 111, one end of the limiting cavity 111 is provided with a first pressurized air inlet passage communicating therewith, the air inlet of the first pressurized air inlet passage is provided with a first air inlet 112, and the other end of the limiting cavity 111 is also connected to a first exhaust hole provided on the first cylinder 11.

[0032] It should be noted that the limiting cavity 111 is ventilated or ventilated through the first pressurized air inlet and the first exhaust port, thereby driving the clamping transmission device 12 to work. The first air gripper 131 and the second air gripper 132 are opened and closed by using a cylinder, thereby improving the clamping accuracy of the mechanical gripper of this application.

[0033] To achieve the function of the first gripper 131 and the second gripper 132 accurately gripping the product 400, in some optional embodiments, the clamping transmission device 12 includes a first piston rod 121, a first movable block 122, a second movable block 123, a third movable block 124, and a first spring 125. The limiting cavity 111 is provided with a first piston rod mounting groove in the middle. The first piston rod 121 is installed in the first piston rod mounting groove. A seal is sleeved on the first piston rod 121. The first spring 125 is installed around the first piston rod 121. The first movable block 122 is located at the upper end of the first piston rod 121. The second movable block 123 and the third movable block 124 are respectively located on both sides of the first movable block 122. The first pneumatic gripper 131 and the second pneumatic gripper 132 are respectively installed on the second movable block 123 and the third movable block 124.

[0034] It should be noted that when the external air pump vents the limiting cavity 111, the first spring 125 is stretched due to the airflow thrust, which drives the first piston rod 121 and the first movable block 122 to push out, thereby causing the second movable block 123 and the third movable block 124 to expand outward, and thus causing the first air gripper 131 and the second air gripper 132 to open, ready to grip the product 400; when the limiting cavity 111 is vented, the thrust on the first spring 125 disappears and it springs back to its original position, the first piston rod 121 and the first movable block 122 retract, and the second movable block 123 and the third movable block 124 contract inward, causing the first air gripper 131 and the second air gripper 132 to clamp together, thereby gripping the product 400. The gripping process is simple and clear, eliminating the cumbersome gripping process, improving work efficiency and reducing work difficulty.

[0035] In order to realize the function of opening or clamping the first pneumatic gripper 131 and the second pneumatic gripper 132, in some optional embodiments, the first movable block 122 has a stepped structure, both sides of the first movable block 122 are inclined surfaces, one side of the second movable block 123 is provided with a first inclined surface tangent to one side of the inclined surface of the first movable block 122, and one side of the third movable block 124 is provided with a second inclined surface tangent to the other side of the inclined surface of the first movable block 122.

[0036] It should be noted that with this configuration, when the first movable block 122 is pushed out or retracted, the first movable block 122 engages with the first inclined surface of the second movable block 123 and the second inclined surface of the third movable block 124 through the inclined surfaces on both sides, thereby driving the second movable block 123 and the third movable block 124 to make corresponding pushing out or retracting actions, thus realizing the function of loosening or clamping.

[0037] In order to stabilize the transmission of the clamping transmission device 12, in some optional embodiments, a limiting baffle 113 is provided at the limiting cavity 111 and at the upper end of the first movable block 122; wherein, the limiting baffle 113 is used to abut against the first movable block 122 to prevent the first movable block 122 from flying out of the limiting cavity 111, thereby restricting the movement of the first movable block 122, avoiding instability during the clamping process, and improving the safety of the mechanical gripper of this application.

[0038] To achieve the positioning function on one side of product 400, in some optional embodiments, the first positioning component 200 includes a second cylinder 21 and a first positioning device 22. The second cylinder 21 is located on one side of the first cylinder 11, and the first positioning device 22 is located at the lower end of the second cylinder 21. The interior of the second cylinder 21 is provided with a second pressurized air intake passage. One end of the second pressurized air intake passage is provided with a second air inlet 211, and the other end of the second pressurized air intake passage is connected to one end of the first positioning device 22. The other end of the first positioning device 22 is also connected to a second exhaust port provided on the second cylinder 21. The second cylinder 21 is ventilated or vented through the second pressurized air intake passage and the second exhaust port to drive the first positioning device 22 to position product 400.

[0039] To further achieve the positioning function of one side of product 400, in some optional embodiments, the first positioning device 22 includes a first fixed seat 221, a second spring 222, a first movable seat 223, and a first positioning post 224. The first fixed seat 221 is installed at the lower end of the second cylinder 21 and is connected to the second pressurized air intake and the second exhaust port respectively. The first movable seat 223 is movably mounted on the first fixed seat 221 via the second spring 222. A first sealing area is formed between the first fixed seat 221 and the first movable seat 223. The second spring 222 is located within the first sealing area, and the first positioning post 224 is located at the lower end of the first movable seat 223. When the first sealing area is ventilated, the second spring 222 is stretched, and the first movable seat 223 and the first positioning post 224 extend downward relative to the first fixed seat 221 to position product 400. When the first sealing area is ventilated, the second spring 222 returns to its original position, and the first movable seat 223 and the first positioning post 224 retract upward relative to the first fixed seat 221 to return to their original position.

[0040] It should be noted that with this configuration, the external air pump draws air through the third air inlet 311 and the third pressurized air intake passage of the third cylinder 31, thereby applying a downward thrust to the first movable seat 223, which in turn stretches the second spring 222. The first movable seat 223 and the first positioning post 224 extend downward relative to the first fixed seat 221, thereby positioning the positioning hole of the product 400 and preventing the product 400 from shifting. The first positioning post 224 and the positioning hole adopt a pin-type structure, which has a good positioning effect.

[0041] To achieve the positioning function on the other side of product 400, in some optional embodiments, the second positioning component 300 includes a third cylinder 31 and a second positioning device 32. The third cylinder 31 is located on the other side of the first cylinder 11, and the second positioning device 32 is located at the lower end of the third cylinder 31. The interior of the third cylinder 31 is provided with a third pressurized air intake passage. One end of the third pressurized air intake passage is provided with a third air inlet 311, and the other end of the third pressurized air intake passage is connected to one end of the second positioning device 32. The other end of the second positioning device 32 is also connected to a third exhaust port provided on the third cylinder 31. The third cylinder 31 is ventilated or vented through the third pressurized air intake passage and the third exhaust port to drive the second positioning device 32 to position the product 400.

[0042] To further achieve the positioning function on the other side of product 400, in some optional embodiments, the second positioning device 32 includes a second fixed seat 321, a third spring 322, a second movable seat 323, and a second positioning post 324. The second fixed seat 321 is installed at the lower end of the third cylinder 31 and is connected to the third pressurized air intake and the third exhaust port, respectively. The second movable seat 323 is movably mounted on the second fixed seat 321 via the third spring 322. A second sealing area is formed between the second fixed seat 321 and the second movable seat 323. The third spring 322 is located within the second sealing area, and the second positioning post 324 is located at the lower end of the second movable seat 323. When the second sealing area is ventilated, the third spring 322 is stretched, and the second movable seat 323 and the second positioning post 324 extend downward relative to the second fixed seat 321 to position product 400. When the second sealing area is ventilated, the third spring 322 returns to its original position, and the second movable seat 323 and the second positioning post 324 retract upward relative to the second fixed seat 321 to return to their original position.

[0043] Secondly, a robot is also provided, including the aforementioned high-precision mechanical gripper.

[0044] Those skilled in the art should recognize that the above embodiments are only used to illustrate the present utility model and are not intended to limit the present utility model. Any appropriate changes and variations made to the above embodiments within the scope of the essential spirit of the present utility model shall fall within the scope of protection claimed by the present utility model.

Claims

1. A high-precision mechanical gripper, characterized in that, The system includes a clamping assembly (100) and a positioning assembly. The clamping assembly (100) includes a first cylinder (11), a clamping transmission device (12), and a clamping device (13). The first cylinder (11) and the clamping transmission device (12) are pneumatically connected. The clamping device (13) includes a first pneumatic gripper (131) and a second pneumatic gripper (132). Anti-slip rubber pads (133) are provided on the opposing surfaces of both the first pneumatic gripper (131) and the second pneumatic gripper (132). The positioning assembly includes a first positioning assembly (200) and a second positioning assembly (300). The first positioning assembly (200) and the second positioning assembly (300) are respectively located on both sides of the first cylinder (11). The first cylinder (11) drives the clamping device (13) to open and close through the clamping transmission device (12). The anti-slip pad (133) is used to prevent the product (400) from slipping and moving. The first positioning component (200) and the second positioning component (300) are used to position the product (400) and prevent the product (400) from deviating.

2. The high-precision mechanical gripper according to claim 1, characterized in that, The first cylinder (11) has a limiting cavity (111) in the middle. The clamping transmission device (12) is movably disposed in the limiting cavity (111). One end of the limiting cavity (111) is provided with a first pressurized air intake passage connected thereto. The air inlet of the first pressurized air intake passage is provided with a first air inlet (112). The other end of the limiting cavity (111) is also connected to a first exhaust hole provided on the first cylinder (11). The limiting cavity (111) is ventilated or vented through the first pressurized air intake passage and the first exhaust hole, thereby driving the clamping transmission device (12) to work, so as to drive the first air gripper (131) and the second air gripper (132) to open and close.

3. The high-precision mechanical gripper according to claim 2, characterized in that, The clamping transmission device (12) includes a first piston rod (121), a first movable block (122), a second movable block (123), a third movable block (124), and a first spring (125). A first piston rod mounting groove is provided in the middle of the limiting cavity (111). The first piston rod (121) is installed in the first piston rod mounting groove. A seal is fitted onto the first piston rod (121). The first spring (125) is installed around the first piston rod (121). The first movable block (122) is located at the upper end of the first piston rod (121). The second movable block (123) and the third movable block (124) are respectively located on both sides of the first movable block (122). The first pneumatic gripper (131) and the second pneumatic gripper (132)... The first spring (125) is installed on the second movable block (123) and the third movable block (124) respectively; wherein, when the limiting cavity (111) is ventilated, the first spring (125) is stretched, the first piston rod (121) and the first movable block (122) are pushed out, and the second movable block (123) and the third movable block (124) expand outward, so that the first air gripper (131) and the second air gripper (132) open; when the limiting cavity (111) is ventilated, the first spring (125) is reset, the first piston rod (121) and the first movable block (122) retract, and the second movable block (123) and the third movable block (124) contract inward, so that the first air gripper (131) and the second air gripper (132) clamp together.

4. The high-precision mechanical gripper according to claim 3, characterized in that, The first movable block (122) has a stepped structure. Both sides of the first movable block (122) are inclined surfaces. One side of the second movable block (123) is provided with a first inclined surface that is tangent to one side of the inclined surface of the first movable block (122). One side of the third movable block (124) is provided with a second inclined surface that is tangent to the other side of the inclined surface of the first movable block (122).

5. The high-precision mechanical gripper according to claim 4, characterized in that, A limiting baffle (113) is provided at the limiting cavity (111) and at the upper end of the first movable block (122); wherein the limiting baffle (113) is used to abut against the first movable block (122) to prevent the first movable block (122) from flying out of the limiting cavity (111).

6. The high-precision mechanical gripper according to claim 1, characterized in that, The first positioning component (200) includes a second cylinder (21) and a first positioning device (22). The second cylinder (21) is located on one side of the first cylinder (11), and the first positioning device (22) is located at the lower end of the second cylinder (21). The interior of the second cylinder (21) is provided with a second pressurized air intake passage. One end of the second pressurized air intake passage is provided with a second air inlet (211), and the other end of the second pressurized air intake passage is connected to one end of the first positioning device (22). The other end of the first positioning device (22) is also connected to a second exhaust hole provided on the second cylinder (21). The second cylinder (21) is ventilated or vented through the second pressurized air intake passage and the second exhaust hole to drive the first positioning device (22) to position the product (400).

7. The high-precision mechanical gripper according to claim 6, characterized in that, The first positioning device (22) includes a first fixed seat (221), a second spring (222), a first movable seat (223), and a first positioning post (224). The first fixed seat (221) is installed at the lower end of the second cylinder (21) and is connected to the second pressurized air intake and the second exhaust port, respectively. The first movable seat (223) is movably mounted on the first fixed seat (221) via the second spring (222). A first sealing area is formed between the first fixed seat (221) and the first movable seat (223). The second spring (222) Located within the first sealed area, the first positioning post (224) is located at the lower end of the first movable seat (223); wherein, when the first sealed area is ventilated, the second spring (222) is stretched, and the first movable seat (223) and the first positioning post (224) extend downward relative to the first fixed seat (221) to position the product (400); when the first sealed area is ventilated, the second spring (222) returns to its original position, and the first movable seat (223) and the first positioning post (224) retract upward relative to the first fixed seat (221) to return to their original position.

8. The high-precision mechanical gripper according to claim 1, characterized in that, The second positioning component (300) includes a third cylinder (31) and a second positioning device (32). The third cylinder (31) is located on the other side of the first cylinder (11), and the second positioning device (32) is located at the lower end of the third cylinder (31). The interior of the third cylinder (31) is provided with a third pressurized air intake passage. One end of the third pressurized air intake passage is provided with a third air inlet (311). The other end of the third pressurized air intake passage is connected to one end of the second positioning device (32). The other end of the second positioning device (32) is also connected to a third exhaust hole provided on the third cylinder (31). The third cylinder (31) is ventilated or vented through the third pressurized air intake passage and the third exhaust hole to drive the second positioning device (32) to position the product (400).

9. The high-precision mechanical gripper according to claim 8, characterized in that, The second positioning device (32) includes a second fixed seat (321), a third spring (322), a second movable seat (323), and a second positioning post (324). The second fixed seat (321) is installed at the lower end of the third cylinder (31) and is connected to the third pressurized air intake and the third exhaust port, respectively. The second movable seat (323) is movably mounted on the second fixed seat (321) via the third spring (322). A second sealing area is formed between the second fixed seat (321) and the second movable seat (323). The third spring (322) Located within the second sealing area, the second positioning post (324) is located at the lower end of the second movable seat (323); wherein, when the second sealing area is ventilated, the third spring (322) is stretched, and the second movable seat (323) and the second positioning post (324) extend downward relative to the second fixed seat (321) to position the product (400); when the second sealing area is ventilated, the third spring (322) resets, and the second movable seat (323) and the second positioning post (324) retract upward relative to the second fixed seat (321) to reset.

10. A robot, characterized in that, The high-precision mechanical gripper includes any one of claims 1 to 9.

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