Handheld clamping jaw tool

Abstract

The utility model relates to the technical field of humanoid robots, in particular to a handheld clamping jaw tool. The device comprises a clamping jaw support, a left transmission connecting rod, a right transmission connecting rod, a left clamping jaw and a right clamping jaw, wherein one end of the left transmission connecting rod is rotationally mounted on one side of the upper end of the clamping jaw support; one end of the right transmission connecting rod is rotationally mounted on the other side of the upper end of the clamping jaw support; the left clamping jaw is rotationally mounted at the other end of the left transmission connecting rod; and the right clamping jaw is rotationally mounted at the other end of the right transmission connecting rod. The humanoid robot data acquisition device has the characteristics of light weight and low cost, and can complete large-scale data acquisition work of the humanoid robot. The structural parts of the handheld clamping jaw tool can be machined through 3D printing, cost is low, the weight is light, the handheld clamping jaw tool is suitable for mass production, and large-scale data collection work can be completed.

Description

Technical Field

[0001] This utility model relates to the field of humanoid robot technology, and in particular to a handheld gripper tool. Background Technology

[0002] Data acquisition is fundamental to the training and development of humanoid robots. With the rise of large-scale artificial intelligence models, dedicated large-scale models will be deployed within humanoid robots, and the training of these models requires vast amounts of data. Therefore, developing low-cost, high-precision data acquisition tools is crucial for the development of humanoid robot technology and industry in my country.

[0003] Existing data acquisition tools include electric grippers and handheld grippers. Electric grippers have two transmission methods: one is that a motor drives a worm gear to rotate, which in turn drives a worm wheel to rotate, which in turn drives the grippers to open and close; the other is that a motor drives a lead screw to rotate, which in turn drives a nut to move linearly. The nut is connected to a connecting rod structure, which in turn drives the grippers to open and close. Electric grippers are expensive and heavy, making them unsuitable for long-term data acquisition. Handheld grippers use a gear and rack mechanism, with the grippers connected to a slider on a guide rail for parallel movement. These handheld grippers have a complex structure, long manufacturing cycle, and high cost, making them unsuitable for large-scale data acquisition. Utility Model Content

[0004] In view of the shortcomings of the prior art described above, the purpose of this utility model is to provide a lightweight, low-cost handheld gripper tool to complete large-scale data collection for humanoid robots.

[0005] To achieve the above and other related objectives, this utility model provides a handheld gripper tool, comprising:

[0006] Clamping support; and,

[0007] The left transmission connecting rod has one end rotatably mounted on the upper side of the gripper support;

[0008] The right transmission link is rotatably mounted at one end to the other side of the upper end of the gripper support;

[0009] The left gripper is rotatably mounted on the other end of the left transmission link;

[0010] The right gripper is rotatably mounted on the other end of the right transmission link.

[0011] In one embodiment of this utility model, the gripper support includes:

[0012] The sliding grip is slidably connected to the grip base via a groove.

[0013] The lower cover plate is fixedly connected to the grip base by screws;

[0014] An upper cover plate, which is located above the lower cover plate;

[0015] The guide post front support is fixedly connected to the lower cover plate and the upper cover plate respectively by screws;

[0016] The guide post rear support is located behind the guide post front support, and the guide post rear support is fixedly connected to the lower cover plate and the upper cover plate by screws respectively;

[0017] The guide post is fixedly connected to the front support and the rear support of the guide post, respectively.

[0018] In one embodiment of this utility model, the left transmission link includes:

[0019] The first connecting rod is rotatably connected to the upper cover plate and the lower cover plate respectively via the first rotating shaft;

[0020] The second link is rotatably connected to the upper cover plate and the lower cover plate respectively via the first rotating shaft;

[0021] The first pull rod is rotatably connected to the second connecting rod and the sliding grip respectively via the first rotating shaft;

[0022] The first rotating shaft has retaining ring grooves at both ends;

[0023] The first retaining ring is installed in the retaining ring groove of the first rotating shaft to restrict the axial movement of the first rotating shaft.

[0024] In one embodiment of this utility model, the right transmission link includes:

[0025] The third link is rotatably connected to the upper cover plate and the lower cover plate respectively via the second pivot.

[0026] The fourth link is rotatably connected to the upper cover plate and the lower cover plate respectively via the second rotating shaft;

[0027] The second pull rod is rotatably connected to the fourth link and the sliding grip respectively via the second pivot.

[0028] The second rotating shaft has retaining ring grooves at both ends;

[0029] The second retaining ring is installed in the retaining ring groove of the second rotating shaft to restrict the axial movement of the second rotating shaft.

[0030] In one embodiment of this utility model, the left gripper includes:

[0031] The first gripper is rotatably connected to the first connecting rod and the second connecting rod respectively via a third rotating shaft;

[0032] A first buffer pad is fixedly connected to the first gripper.

[0033] The third rotating shaft has retaining ring grooves at both ends;

[0034] The third retaining ring is installed in the retaining ring groove of the third rotating shaft to restrict the axial movement of the third rotating shaft;

[0035] The third gasket is installed at the rotational connection position of the third rotating shaft.

[0036] In one embodiment of this utility model, the right gripper includes:

[0037] The second gripper is rotatably connected to the third link and the fourth link via a fourth pivot.

[0038] The second buffer pad is fixedly connected to the second gripper.

[0039] The fourth rotating shaft has retaining ring grooves at both ends;

[0040] The fourth retaining ring is installed in the retaining ring groove of the fourth rotating shaft to restrict the axial movement of the fourth rotating shaft;

[0041] The fourth gasket is installed at the rotational connection position of the fourth rotating shaft.

[0042] In one embodiment of this utility model, the left transmission link further includes:

[0043] The first gasket is installed at the rotational connection position of the first rotating shaft.

[0044] In one embodiment of this utility model, the right transmission link further includes:

[0045] The second gasket is installed at the rotational connection position of the second rotating shaft.

[0046] In one embodiment of this utility model, the gripper support further includes:

[0047] A spring is mounted on the guide post.

[0048] As described above, the handheld gripper tool of this utility model has the following beneficial effects:

[0049] (1) The handheld gripper tool of this utility model includes a gripper support, a left transmission link, a right transmission link, a left gripper, and a right gripper. This utility model has the characteristics of being lightweight and low-cost, and can complete large-scale data collection work for humanoid robots.

[0050] (2) The structural components of the handheld gripper tool of this utility model can all be processed by 3D printing, which is low in cost, light in weight, suitable for mass production, and can complete large-scale data collection work.

[0051] (3) The structural component of the handheld gripper tool of this utility model adopts a parallel four-bar structure, which can expand the stroke of the parallel gripper and improve the working ability of the handheld gripper compared with the traditional worm gear structure. Attached Figure Description

[0052] Figure 1 This is a structural diagram of a handheld gripper tool provided in an embodiment of this application.

[0053] Figure 2 An exploded view of a handheld gripper tool provided in an embodiment of this application.

[0054] Figure 3 This is a structural diagram of the clamping state of a handheld gripper tool provided in an embodiment of this application.

[0055] Figure 4 This is a structural diagram of a handheld gripper tool in its open state, provided as an embodiment of this application.

[0056] Component designation explanation

[0057] 1. Gripper support

[0058] 2. Left transmission connecting rod

[0059] 3. Right drive linkage

[0060] 4 left gripper

[0061] 5 right gripper

[0062] 11. Grip base

[0063] 12 Sliding grips

[0064] 13 guide pillars

[0065] 14. Lower cover plate

[0066] 15. Top cover plate

[0067] 16. Front support of guide post

[0068] 17. Guide post rear support

[0069] 18 Springs

[0070] 21 First Link

[0071] 22 Second Link

[0072] 23 First pull rod

[0073] 24 First pivot

[0074] 25 First snap ring

[0075] 26 First gasket

[0076] 31 Third Link

[0077] 32 Fourth Link

[0078] 33 Second pull rod

[0079] 34 Second pivot

[0080] 35 Second snap ring

[0081] 36 Second gasket

[0082] 41 First gripper

[0083] 42 First Buffer Pad

[0084] 43 Third pivot

[0085] 44 Third snap ring

[0086] 45 Third gasket

[0087] 51 Second gripper

[0088] 52 Second Buffer Pad

[0089] 53 Fourth pivot

[0090] 54 Fourth snap ring

[0091] 55 Fourth gasket Detailed Implementation

[0092] The following specific examples illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification. This utility model can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this utility model. It should be noted that, unless otherwise specified, the following embodiments and features described therein can be combined with each other.

[0093] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the illustrations only show the components related to the present invention and are not drawn according to the number, shape and size of the components in actual implementation. In actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0094] Terms such as "first" or "second" may be used to describe various components, but these components are not limited by the terms described above. The terms described above are used to distinguish one component from another; for example, without departing from the scope of the concept according to this disclosure, a first component may be referred to as a second component, and similarly, a second component may be referred to as a first component.

[0095] Furthermore, "connected / linked" indicates that one component is directly electrically connected to another component or indirectly electrically connected through another component. Unless otherwise explicitly stated in the sentence, the singular form may include the plural form. Additionally, the terms "comprising / including" or "containing / including" as used in this specification indicate the presence or addition of one or more components, steps, operations, and elements. Specific structural or functional descriptions of examples of embodiments of the concepts disclosed in this specification are merely illustrative to describe examples of embodiments of the concepts, and examples of embodiments of the concepts can be implemented in various forms, but these descriptions are not limited to the examples of embodiments described in this specification.

[0096] Based on the concept, various modifications and changes can be applied to examples of embodiments, such that examples of embodiments will be illustrated in the accompanying drawings and described in the specification. However, examples of embodiments based on the concept are not limited to specific embodiments, but include all changes, equivalents, or substitutions included within the spirit and scope of this disclosure.

[0097] It should be understood that when describing an element as "connected" or "linked" to another element, the element may be directly connected or linked to the other element, or it may be connected or linked to the other element via a third element. Conversely, it should be understood that when an element is described as "directly connected to" or "directly linked to" another element, no other element is placed between them. Other expressions describing relationships between components (i.e., "between" and "directly between" or "adjacent to" and "directly adjacent to") need to be interpreted in the same way.

[0098] The terminology used in this specification is for the purpose of describing specific examples of implementations only and is not intended to limit this disclosure. The singular form may include the plural form unless there is an explicit contrary meaning in the context. It should be understood in this specification that the terms "comprising" or "having" indicate the presence of the features, quantities, steps, operations, components, parts, or combinations thereof described in the specification, but do not preclude the possibility of the presence or addition of one or more other features, quantities, steps, operations, components, parts, or combinations thereof.

[0099] Unless otherwise defined, all terms used herein (including technical or scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art. If a term is not clearly defined in a common dictionary in this specification, it shall be interpreted as having the same meaning as in the context of the relevant art, and not as an ideal or overly formal meaning.

[0100] Descriptions of known components and processing techniques may be omitted to avoid unnecessarily obscuring the embodiments of this disclosure.

[0101] Throughout this specification, the same reference numerals refer to the same elements. Therefore, even if a reference numeral is not mentioned or described with reference to one drawing, it may be mentioned or described with reference to another drawing. Furthermore, even if a reference numeral is not shown in one drawing, it may be mentioned or described with reference to another drawing.

[0102] Additionally, the logic level of a signal may be different from or opposite to the logic level described. For example, a signal described as having a logic "high" level may optionally have a logic "low" level, and a signal described as having a logic "low" level may optionally have a logic "high" level.

[0103] The embodiments of this disclosure will now be described in detail with reference to the accompanying drawings. However, those skilled in the art will understand that many technical details have been provided in the embodiments of this disclosure to facilitate a better understanding of the disclosure. However, the technical solutions claimed in this disclosure can be implemented even without these technical details and various variations and modifications based on the following embodiments.

[0104] Please see Figure 1 , Figure 2 , Figure 1 This is a structural diagram of a handheld gripper tool provided in an embodiment of this application. Figure 2 This is an exploded structural view of a handheld gripper tool provided in an embodiment of this application. The present invention provides a handheld gripper tool, including a gripper support 1, a left transmission link 2, a right transmission link 3, a left gripper 4, and a right gripper 5. One end of the left transmission link 2 is rotatably mounted on one side of the upper end of the gripper support 1; one end of the right transmission link 3 is rotatably mounted on the other side of the upper end of the gripper support 1; the left gripper 4 is rotatably mounted on the other end of the left transmission link 2; and the right gripper 5 is rotatably mounted on the other end of the right transmission link 3.

[0105] Specifically, the gripper support 1 includes a grip base 11, a sliding grip 12, a guide post 13, a lower cover plate 14, an upper cover plate 15, a guide post front support 16, a guide post rear support 17, and a spring 18. The sliding grip 12 is slidably connected to the grip base 11 via a sliding groove; the lower cover plate 14 is fixedly connected to the grip base 11 by screws; the upper cover plate 15 is located above the lower cover plate 14; the guide post front support 16 is fixedly connected to both the lower cover plate 14 and the upper cover plate 15 by screws; the guide post rear support 17 is located behind the guide post front support 16, and is fixedly connected to both the lower cover plate 14 and the upper cover plate 15 by screws; the guide post 13 is fixedly connected to both the guide post front support 16 and the guide post rear support 17.

[0106] In one embodiment of this utility model, the gripper support 1 includes a grip base 11, a sliding grip 12, a guide post 13, a lower cover plate 14, an upper cover plate 15, a guide post front support 16, a guide post rear support 17, and a spring 18. The sliding grip 12 is slidably connected to the grip base 11 via a sliding groove. The lower cover plate 14 is fixedly connected to the grip base 11 by screws. The guide post front support 16 is fixedly connected to the lower cover plate 14 and the upper cover plate 15 by screws. The upper cover plate 15 is located above the lower cover plate 14. The guide post front support 16 is located in front of the guide post rear support 17. The guide post rear support 17 is fixedly connected to the lower cover plate 14 and the upper cover plate 15 by screws. The guide post 13 is fixedly connected to the guide post front support 16 and the guide post rear support 17. The spring 18 is mounted on the guide post 13.

[0107] Specifically, the left transmission link 2 includes a first link 21, a second link 22, a first pull rod 23, a first rotating shaft 24, a first retaining ring 25, and a first washer 26. The first link 21 is rotatably connected to the upper cover plate 15 and the lower cover plate 14 via the first rotating shaft 24. The second link 22 is rotatably connected to the upper cover plate 15 and the lower cover plate 14 via the first rotating shaft 24. The first pull rod 23 is rotatably connected to the second link 22 and the sliding grip 12 via the first rotating shaft 24. The first rotating shaft 24 has retaining ring grooves at both ends. The first retaining ring 25 is installed in the retaining ring groove of the first rotating shaft 24 to restrict the axial movement of the first rotating shaft 24. The first washer 26 is installed at the rotatable connection position of the first rotating shaft 24.

[0108] In one embodiment of this utility model, the left transmission link 2 includes a first link 21, a second link 22, a first pull rod 23, a first rotating shaft 24, a first retaining ring 25, and a first washer 26. The first link 21 is rotatably connected to the upper cover plate 15 and the lower cover plate 14 via the first rotating shaft 24. The second link 22 is rotatably connected to the upper cover plate 15 and the lower cover plate 14 via the first rotating shaft 24. The first pull rod 23 is rotatably connected to the second link 22 and the sliding grip 12 via the first rotating shaft 24. The first rotating shaft 24 has retaining ring grooves at both ends, and the first retaining ring 25 is installed in the retaining ring grooves of the first rotating shaft 24 to restrict the axial movement of the first rotating shaft 24. The first washer 26 is installed at each rotating connection position to improve transmission accuracy.

[0109] Specifically, the right transmission link 3 includes a third link 31, a fourth link 32, a second pull rod 33, a second rotating shaft 34, a second retaining ring 35, and a second washer 36. The third link 31 is rotatably connected to the upper cover plate 15 and the lower cover plate 14 via the second rotating shaft 34. The fourth link 32 is rotatably connected to the upper cover plate 15 and the lower cover plate 14 via the second rotating shaft 34. The second pull rod 33 is rotatably connected to the fourth link 32 and the sliding grip 12 via the second rotating shaft 34. The second rotating shaft 34 has retaining ring grooves at both ends. The second retaining ring 35 is installed in the retaining ring grooves of the second rotating shaft 34 to restrict the axial movement of the second rotating shaft 34. The second washer 36 is installed at the rotatable connection position of the second rotating shaft 34.

[0110] In one embodiment of this utility model, the right transmission link 3 includes a third link 31, a fourth link 32, a second pull rod 33, a second rotating shaft 34, a second retaining ring 35, and a second washer 36. The third link 31 is rotatably connected to the upper cover plate 15 and the lower cover plate 14 via the second rotating shaft 34. The fourth link 32 is rotatably connected to the upper cover plate 15 and the lower cover plate 14 via the second rotating shaft 34. The second pull rod 33 is rotatably connected to the fourth link 32 and the sliding grip 12 via the second rotating shaft 34. The second rotating shaft 34 has retaining ring grooves at both ends, and the second retaining ring 35 is installed in the retaining ring grooves of the second rotating shaft 34 to restrict the axial movement of the second rotating shaft 34. The second washer 36 is installed at each rotating connection position to improve transmission accuracy.

[0111] Specifically, the left gripper 4 includes a first gripper 41, a first buffer pad 42, a third rotating shaft 43, a third retaining spring 44, and a third washer 45. The first gripper 41 is rotatably connected to the first connecting rod 21 and the second connecting rod 22 respectively via the third rotating shaft 43. The first buffer pad 42 is fixedly connected to the first gripper 41. The third rotating shaft 43 has retaining spring grooves at both ends. The third retaining spring 44 is installed in the retaining spring grooves of the third rotating shaft 43 to restrict the axial movement of the third rotating shaft 43. The third washer 45 is installed at the rotational connection position of the third rotating shaft 43.

[0112] In one embodiment of this utility model, the left gripper 4 includes a first gripper 41, a first buffer pad 42, a third rotating shaft 43, a third retaining spring 44, and a third washer 45. The first gripper 41 is rotatably connected to the first connecting rod 21 and the second connecting rod 22 via the third rotating shaft 43. The first buffer pad 42 is fixedly connected to the first gripper 41. The third rotating shaft 43 has retaining spring grooves at both ends, and the third retaining spring 44 is installed in the retaining spring grooves of the third rotating shaft 43 to restrict the axial movement of the third rotating shaft 43. The third washer 45 is installed at each rotating connection position to improve transmission accuracy.

[0113] Specifically, the right gripper 5 includes a second gripper 51, a second buffer pad 52, a fourth rotating shaft 53, a fourth retaining spring 54, and a fourth washer 55. The second gripper 51 is rotatably connected to the third connecting rod 31 and the fourth connecting rod 32 respectively via the fourth rotating shaft 53. The second buffer pad 52 is fixedly connected to the second gripper 51. The fourth rotating shaft 53 has retaining spring grooves at both ends. The fourth retaining spring 54 is installed in the retaining spring groove of the fourth rotating shaft 53 to restrict the axial movement of the fourth rotating shaft 53. The fourth washer 55 is installed at the rotatable connection position of the fourth rotating shaft 53.

[0114] In one embodiment of this utility model, the right gripper 5 includes a second gripper 51, a second buffer pad 52, a fourth rotating shaft 53, a fourth retaining ring 54, and a fourth washer 55. The second gripper 51 is rotatably connected to the third connecting rod 31 and the fourth connecting rod 32 via the fourth rotating shaft 53. The second buffer pad 52 is fixedly connected to the second gripper 51. The fourth rotating shaft 53 has retaining ring grooves at both ends. The fourth retaining ring 54 is installed in the retaining ring grooves of the fourth rotating shaft 53 to restrict the axial movement of the fourth rotating shaft 53. The fourth washer 55 is installed at each rotating connection position to improve transmission accuracy.

[0115] Please see Figure 3 , Figure 4 , Figure 3 This is a structural diagram of the clamping state of a handheld gripper tool provided in an embodiment of this application. Figure 4This is a structural diagram of a handheld gripper tool in its open state, provided in an embodiment of this application. In the handheld gripper tool provided by this utility model, the first connecting rod 21, the second connecting rod 22, the upper cover plate 15, the lower cover plate 14, and the first gripper 41 form a four-bar linkage structure. The third connecting rod 31, the fourth connecting rod 32, the upper cover plate 15, the lower cover plate 14, and the second gripper 51 also form a four-bar linkage structure. Due to the elastic force of the spring 18, the initial state of the handheld gripper is open. When the hand grips the sliding handle 12 tightly, the sliding handle 12 moves backward, driving the four-bar linkage structures on both sides to move through the first pull rod 23 and the second pull rod 33, causing the first gripper 41 and the second gripper 51 to move towards the center, ultimately achieving a clamping state.

[0116] In summary, this utility model provides a handheld gripper tool comprising a gripper support, a left transmission link, a right transmission link, a left gripper, and a right gripper. This utility model is characterized by its lightweight and low cost, enabling it to perform large-scale data acquisition for humanoid robots. The structural components of this handheld gripper tool can all be manufactured using 3D printing, resulting in low cost, light weight, and suitability for mass production, thus facilitating large-scale data acquisition.

[0117] The above embodiments are merely illustrative of the principles and effects of this utility model and are not intended to limit the scope of this utility model. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this utility model. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this utility model should still be covered by the claims of this utility model.

Claims

1. A handheld gripper tool, characterized in that, include: Clamping support (1); and, The left transmission link (2) is rotatably mounted at one end on the upper side of the gripper support (1); The right transmission link (3) is rotatably mounted at one end on the other side of the upper end of the gripper support (1); The left gripper (4) is rotatably mounted on the other end of the left transmission link (2); The right gripper (5) is rotatably mounted on the other end of the right transmission link (3).

2. The handheld gripper tool according to claim 1, characterized in that, The gripper support (1) includes: A sliding grip (12) is slidably connected to a grip base (11) via a groove; The lower cover plate (14) is fixedly connected to the grip base (11) by screws; The upper cover plate (15) is located above the lower cover plate (14); The guide post front support (16) is fixedly connected to the lower cover plate (14) and the upper cover plate (15) by screws; The guide post rear support (17) is located behind the guide post front support (16), and the guide post rear support (17) is fixedly connected to the lower cover plate (14) and the upper cover plate (15) by screws. The guide post (13) is fixedly connected to the front support (16) and the rear support (17) of the guide post, respectively.

3. A handheld gripper tool according to claim 2, characterized in that, The left transmission link (2) includes: The first connecting rod (21) is rotatably connected to the upper cover plate (15) and the lower cover plate (14) respectively via the first rotating shaft (24); The second link (22) is rotatably connected to the upper cover plate (15) and the lower cover plate (14) respectively via the first rotating shaft (24); The first pull rod (23) is rotatably connected to the second connecting rod (22) and the sliding grip (12) respectively via the first rotating shaft (24); The first rotating shaft (24) has retaining ring grooves at both ends; A first retaining ring (25) is installed in the retaining ring groove of the first rotating shaft (24) to restrict the axial movement of the first rotating shaft (24).

4. A handheld gripper tool according to claim 2, characterized in that, The right transmission link (3) includes: The third link (31) is rotatably connected to the upper cover plate (15) and the lower cover plate (14) respectively via the second rotating shaft (34); The fourth link (32) is rotatably connected to the upper cover plate (15) and the lower cover plate (14) respectively via the second rotating shaft (34); The second pull rod (33) is rotatably connected to the fourth link (32) and the sliding grip (12) respectively via the second pivot (34); The second rotating shaft (34) has retaining ring grooves at both ends; The second snap ring (35) is installed in the snap ring groove of the second rotating shaft (34) to restrict the axial movement of the second rotating shaft (34).

5. A handheld gripper tool according to claim 3, characterized in that, The left gripper (4) includes: The first gripper (41) is rotatably connected to the first connecting rod (21) and the second connecting rod (22) respectively via the third rotating shaft (43); The first buffer pad (42) is fixedly connected to the first gripper (41); The third rotating shaft (43) has retaining ring grooves at both ends; The third snap ring (44) is installed in the snap ring groove of the third rotating shaft (43) to restrict the axial movement of the third rotating shaft (43); The third gasket (45) is installed at the rotational connection position of the third rotating shaft (43).

6. A handheld gripper tool according to claim 4, characterized in that, The right gripper (5) includes: The second gripper (51) is rotatably connected to the third link (31) and the fourth link (32) respectively via the fourth rotating shaft (53); The second buffer pad (52) is fixedly connected to the second gripper (51); The fourth rotating shaft (53) has retaining ring grooves at both ends; The fourth snap ring (54) is installed in the snap ring groove of the fourth rotating shaft (53) to restrict the axial movement of the fourth rotating shaft (53); The fourth gasket (55) is installed at the rotational connection position of the fourth rotating shaft (53).

7. A handheld gripper tool according to claim 3, characterized in that, The left transmission link (2) also includes: The first gasket (26) is installed at the rotational connection position of the first rotating shaft (24).

8. A handheld gripper tool according to claim 4, characterized in that, The right transmission link (3) also includes: The second gasket (36) is installed at the rotational connection position of the second shaft (34).

9. A handheld gripper tool according to claim 2, characterized in that, The gripper support (1) further includes: A spring (18) is mounted on the guide post (13).

Images