Multifunctional mechanical gripper

Abstract

The utility model provides a multifunctional mechanical gripper. The multifunctional mechanical gripper comprises a two-finger clamping jaw, a three-finger clamping jaw, a holding clamping jaw and a supporting mechanism. The two-finger clamping jaw is used for grabbing an annular part and a disc-shaped part, and the two-finger clamping jaw is fixed to the supporting mechanism; the three-finger clamping jaw is used for grabbing a part with an inner hole, and the three-finger clamping jaw is fixed on the supporting mechanism; the holding and clamping jaw is used for grabbing rod-shaped parts, and the holding and clamping jaw is fixed to the supporting mechanism; the supporting mechanism is used for being connected with a mechanical arm, and the mechanical arm controls the two-finger clamping jaw, the three-finger clamping jaw and the holding clamping jaw to move through the supporting mechanism. The technical effect of grabbing parts of various shapes and models is achieved, the situation that at present, clamping jaws need to be frequently replaced for grabbing the parts is avoided, and the part grabbing and conveying efficiency is improved.

Description

TECHNICAL FIELD

[0001] The application relates to the mechanical technical field, in particular to a multifunctional mechanical gripper. BACKGROUND

[0002] The mechanical gripper is used as the end effector of the robot and is controlled by the mechanical arm to grasp and transport parts, so that the automatic production is realized.

[0003] However, the inventor finds that the conventional gripper can only grasp the parts with specific shapes, and the mechanical gripper needs to be replaced when different shapes of parts need to be grasped, so that the mechanical arm needs to frequently replace the mechanical gripper, and the grasping and transporting efficiency of parts with multiple shapes is reduced. CONTENT OF THE UTILITY MODEL

[0004] The application provides a multifunctional mechanical gripper to solve the problem that the conventional gripper can only grasp the parts with specific shapes, and the mechanical gripper needs to be replaced when different shapes of parts need to be grasped, so that the mechanical arm needs to frequently replace the mechanical gripper, and the grasping and transporting efficiency of parts with multiple shapes is reduced.

[0005] The application provides a multifunctional mechanical gripper, which comprises:

[0006] a two-fingered gripper, a three-fingered gripper, a clamping gripper and a supporting mechanism;

[0007] The two-fingered gripper is used for grasping ring-shaped parts and disc-shaped parts, and the two-fingered gripper is fixed on the supporting mechanism.

[0008] The three-fingered gripper is used for grasping parts with inner holes, and the three-fingered gripper is fixed on the supporting mechanism.

[0009] The clamping gripper is used for grasping rod-shaped parts, and the clamping gripper is fixed on the supporting mechanism.

[0010] The supporting mechanism is used for being connected with the mechanical arm, and the mechanical arm controls the movement of the two-fingered gripper, the three-fingered gripper and the clamping gripper through the supporting mechanism.

[0011] In the above scheme, the two-fingered gripper comprises a first cylinder, two first grippers and a first connecting plate.

[0012] The first cylinder has two first cylinder fingers, and one first cylinder finger is connected with one first gripper.

[0013] The top of the first cylinder is connected with the bottom end of the supporting mechanism through the first connecting plate.

[0014] The first clamping jaw has a positioning groove for accommodating the side edges of the ring-shaped part and the disc-shaped part.

[0015] The positioning grooves of the two first clamping jaws are oppositely arranged.

[0016] The three-fingered clamping jaw comprises a second cylinder, a second connecting plate and three second clamping jaws.

[0017] The top of the second cylinder is connected with the lower surface of the second connecting plate, and the second connecting plate is connected with the support mechanism.

[0018] The bottom of the second cylinder has three second cylinder fingers, and each second cylinder finger is connected with a second clamping jaw.

[0019] The clamping clamping jaw comprises a third cylinder, a clamping structure and a top rod.

[0020] The third cylinder is fixed on the support mechanism, and the clamping structure is fixed on the bottom of the support mechanism.

[0021] One end of the top rod is connected with the cylinder rod of the third cylinder, and the other end of the top rod is used for penetrating through the clamping structure.

[0022] The clamping structure comprises a connecting seat, an expansion sleeve and at least one rubber ring.

[0023] The top end of the connecting seat is fixed on the bottom end of the support mechanism.

[0024] The top end of the expansion sleeve is connected with the bottom end of the connecting seat, and the top rod penetrates through the expansion sleeve from the top end of the expansion sleeve to the bottom end of the expansion sleeve.

[0025] At least one rubber ring is sleeved on the expansion sleeve.

[0026] The support mechanism comprises a conversion plate, a fixed plate, a floating plate and at least one elastic structure.

[0027] The conversion plate is used for being connected with a mechanical arm.

[0028] The bottom of the conversion plate is connected with the upper surface of the fixed plate.

[0029] The floating plate is connected with the fixed plate through the elastic structure.

[0030] The two-fingered clamping jaw, the three-fingered clamping jaw and the clamping clamping jaw are respectively connected with the floating plate.

[0031] The elastic structure comprises a connecting rod, a spring, a seat sleeve and a limiting block.

[0032] The bottom end of the connecting rod is fixedly connected with the floating plate.

[0033] The seat sleeve passes through the fixed plate and is detachably connected with the fixed plate.

[0034] The top end of the connecting rod passes through the seat sleeve and is connected with the limiting block.

[0035] The bottom of the limiting block is in contact with the seat sleeve.

[0036] The bottom of the limiting block has a tapered surface, and the top of the seat sleeve has a tapered hole.

[0037] The tapered surface of the limiting block is inserted into the tapered hole and is in contact with the side wall of the tapered hole.

[0038] The support mechanism further comprises at least one reinforcing plate.

[0039] The reinforcing plate has two mutually perpendicular side edges, one of which is connected with the upper surface of the fixed plate, and the other is connected with one side surface of the adapter plate.

[0040] The multifunctional mechanical gripper provided by the application integrates two finger clamps, three finger clamps and a clamping clamp on a support mechanism, so that the mechanical arm only needs to be connected to the support mechanism to grasp annular parts, disc-shaped parts, parts with inner holes and rod-shaped parts, thereby achieving the technical effect of grasping parts of various shapes and models, avoiding the need to frequently replace the clamps to grasp parts, and improving the efficiency of part grasping and transportation. BRIEF DESCRIPTION OF DRAWINGS

[0041] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0042] Figure 1 is a schematic diagram of the three-dimensional structure of a multifunctional mechanical gripper provided by the application;

[0043] Figure 2 is a schematic diagram of the front view structure of a multifunctional mechanical gripper provided by the application;

[0044] Figure 3 is a schematic diagram of the side view structure of a multifunctional mechanical gripper provided by the application;

[0045] Figure 4 is Figure 3Cross-sectional structure of the middle A-A portion.

[0046] Reference signs:

[0047] 1: two-fingered clamping jaw

[0048] 2: three-fingered clamping jaw

[0049] 3: embracing clamping jaw

[0050] 4: support mechanism

[0051] 11: first air cylinder

[0052] 12: first clamping jaw

[0053] 13: first connecting plate

[0054] 14: first air cylinder finger

[0055] 15: positioning groove

[0056] 21: second air cylinder

[0057] 22: second connecting plate

[0058] 23: second clamping jaw

[0059] 24: second air cylinder finger

[0060] 31: third air cylinder

[0061] 32: embracing clamping structure

[0062] 33: top rod

[0063] 34: third connecting piece

[0064] 321: connecting seat

[0065] 322: expansion sleeve

[0066] 323: rubber ring

[0067] 41: adapter plate

[0068] 42: fixed plate

[0069] 43: floating plate

[0070] 44: elastic structure

[0071] 45: reinforcing plate

[0072] 441: connecting rod

[0073] 442: spring

[0074] 443: seat sleeve

[0075] 444: limiting block;

[0076] 445: conical surface;

[0077] 446: conical hole.

[0078] The specific embodiments of the present application have been shown and described in the above-described drawings, and will be described in more detail hereinafter. These drawings and detailed description are not intended to limit the scope of the present application concept in any way, but to illustrate the present application concept to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0079] The exemplary embodiments will be described in detail herein with reference to the attached drawings. In the following description, like reference numerals refer to like elements, unless the context clearly dictates otherwise. The embodiments described in the following exemplary embodiments are not meant to represent all embodiments consistent with embodiments of the present application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of embodiments of the present application as detailed in the appended claims.

[0080] The technical solutions of the embodiments of the present application and how the technical solutions of the embodiments of the present application solve the current problems will be described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes can not be described again in some embodiments. The embodiments of the embodiments of the present application will be described below with reference to the drawings.

[0081] Please refer to Figures 1-4 The present application provides a multifunctional mechanical gripper, comprising:

[0082] a two-fingered gripper 1, a three-fingered gripper 2, a clamping gripper 3, a support mechanism 4;

[0083] The two-fingered gripper 1 is used to grasp annular parts and disc-shaped parts, and the two-fingered gripper 1 is fixed on the support mechanism 4;

[0084] The three-fingered gripper 2 is used to grasp parts with inner holes, and the three-fingered gripper 2 is fixed on the support mechanism 4;

[0085] The clamping gripper 3 is used to grasp rod-shaped parts, and the clamping gripper 3 is fixed on the support mechanism 4;

[0086] The support mechanism 4 is used to connect with a mechanical arm, and the mechanical arm controls the movement of the two-fingered gripper 1, the three-fingered gripper 2 and the clamping gripper 3 through the support mechanism 4.

[0087] In this example, by integrating the two-fingered gripper 1, the three-fingered gripper 2 and the clamping gripper 3 on the support mechanism 4, the mechanical arm only needs to be connected to the support mechanism 4 to grasp ring-shaped parts, disc-shaped parts, parts with internal holes and rod-shaped parts, achieving the technical effect of grasping parts of various shapes and sizes, avoiding the need to frequently change grippers to grasp parts, and improving the efficiency of part grasping and transportation.

[0088] In summary, the traditional gripper can only grasp parts of a specific shape, while the multifunctional mechanical gripper provided by the application can grasp ring-shaped parts, disc-shaped parts, parts with internal holes and rod-shaped parts, greatly expanding the application range of the gripper.

[0089] For parts of different shapes, the multifunctional mechanical gripper provided by the application is designed with different gripper structures, and through precise mechanical design and control algorithms, high-precision grasping of parts is achieved, ensuring the stability and accuracy of the parts during grasping.

[0090] Through the connection of the mechanical arm and the support mechanism 4, the gripper can quickly and accurately move to a designated position and grasp and place the parts, greatly improving production efficiency.

[0091] In a preferred embodiment, the two-fingered gripper 1 comprises a first cylinder 11, two first grippers 12 and a first connecting plate 13.

[0092] The first cylinder 11 has two first cylinder fingers 14; one of the first cylinder fingers 14 is connected to one of the first grippers 12.

[0093] The top of the first cylinder 11 is connected to the bottom end of the support mechanism 4 through the first connecting plate 13.

[0094] In this example, the first cylinder 11 is a two-fingered cylinder. By controlling the relative movement of the first cylinder fingers 14 of the two-fingered cylinder, the two first grippers 12 can tightly grip ring-shaped parts (e.g., bearing outer rings) or disc-shaped parts (e.g., brake pads). By controlling the opposite movement of the first cylinder fingers 14 of the two-fingered cylinder, the two first grippers 12 can release the ring-shaped parts, thereby achieving the grasping and transportation of ring-shaped parts.

[0095] Specifically, the top of the first cylinder 11 is connected to the lower surface of the floating plate 43 of the support mechanism 4 through the first connecting plate 13.

[0096] It should be noted that the two-fingered cylinder realizes the clamping function through the movement of two fingered cylinder pistons. Each piston is connected with a roller and a first cylinder finger 14 of double-curved structure to form a special driving unit. When the cylinder is working, the axial force of compressed air is converted into the lateral force of the first cylinder finger 14, so that the two first cylinder fingers 14 move to the intermediate position to clamp or grab the workpiece to be grabbed. If the first cylinder finger 14 needs to move reversely, the previously pressed piston is in the exhaust state, and the other piston is in the compression state, so as to realize the reverse movement of the cylinder.

[0097] In a preferred embodiment, the first clamping jaw 12 has a positioning groove 15 for accommodating the side edges of the ring-shaped part and the disc-shaped part;

[0098] The positioning grooves 15 of the two first clamping jaws 12 are oppositely arranged.

[0099] In this example, the positioning grooves 15 are arranged to position the ring-shaped part and the disc-shaped part, so as to ensure the stability and reliability of the first clamping jaw 12 in clamping the ring-shaped part and the disc-shaped part.

[0100] In a preferred embodiment, the three-fingered clamping jaw 2 comprises a second cylinder 21, a second connecting plate 22 and three second clamping jaws 23.

[0101] The top of the second cylinder 21 is connected with the lower surface of the second connecting plate 22, and the second connecting plate 22 is connected with the support mechanism 4.

[0102] The bottom of the second cylinder 21 has three second cylinder fingers 24, and one second cylinder finger 24 is connected with one second clamping jaw 23.

[0103] In this example, the second cylinder 21 is a three-fingered cylinder. By inserting the three second clamping jaws 23 into the inner hole of a part (for example, a differential) having an inner hole and controlling the opposite movement of the second cylinder fingers 24 of the three-fingered cylinder, the three second clamping jaws 23 are brought into contact with the inner hole wall, so as to realize the grabbing of the cylindrical part. By controlling the relative movement of the second cylinder fingers 24 of the three-fingered cylinder, the three second clamping jaws 23 are separated from the inner hole wall, so as to realize the grabbing and transportation of the cylindrical part.

[0104] Specifically, the top of the second cylinder 21 is connected with the lower surface of the floating plate 43 of the support mechanism 4 through the second connecting plate 22.

[0105] It should be noted that the three-finger pneumatic cylinder is used to control the opening and closing state of the three second pneumatic fingers 24. The three pneumatic cylinders in the three-finger pneumatic cylinder are respectively connected with the three second pneumatic fingers 24, and the pistons inside the three pneumatic cylinders are connected with the push rods. When the air source provides air to the pneumatic cylinder, the piston will push outward, thereby pushing the push rod, so that the three second pneumatic fingers 24 move outward, thereby clamping the object. When the air source is turned off, the air pressure disappears, and the spring 442 in the pneumatic cylinder pushes the piston back, thereby closing the three second pneumatic fingers 24 and releasing the clamped object.

[0106] In a preferred embodiment, the clamping jaw 3 comprises a third pneumatic cylinder 31, a clamping structure 32 and a top rod 33.

[0107] The third pneumatic cylinder 31 is fixed on the support mechanism 4, and the clamping structure 32 is fixed on the bottom of the support mechanism 4.

[0108] One end of the top rod 33 is connected with the cylinder rod of the third pneumatic cylinder 31, and the other end of the top rod 33 is used to pass through the clamping structure 32.

[0109] In this example, the top end of the rod-shaped part is in contact with the bottom end of the top rod 33, the third pneumatic cylinder 31 is controlled to retract the top rod 33, and the mechanical arm is controlled to move the support mechanism 4 and the clamping structure 32 towards the top rod 33, so that the top rod 33 can be inserted into the clamping structure 32, and the clamping structure 32 clamps the rod-shaped part; after the mechanical arm moves the rod-shaped part to the designated position through the support mechanism 4 and the clamping jaw 3, the cylinder rod of the third pneumatic cylinder 31 is extended to push the rod-shaped part out of the clamping structure 32, so that the rod-shaped part is separated from the clamping structure 32.

[0110] Further, the clamping jaw 3 further comprises a third connecting piece 34.

[0111] The top end of the third pneumatic cylinder 31 passes through the floating plate 43 and the fixed plate 42 of the support mechanism 4, the side surface of the third pneumatic cylinder 31 is fixed on the upper surface of the floating plate 43 through the third connecting piece 34, the cylinder rod of the third pneumatic cylinder 31 is located below the floating plate 43, and the cylinder rod and the top rod 33 are located inside the clamping structure 32; therefore, by passing the third pneumatic cylinder 31 through the floating plate 43 and the fixed plate 42, installation space is provided for the clamping structure 32 on the floating plate 43.

[0112] In a preferred embodiment, the clamping structure 32 comprises a connecting seat 321, a swelling sleeve 322 and at least one rubber ring 323.

[0113] The top end of the connecting seat 321 is fixed on the bottom end of the support mechanism 4.

[0114] The top end of the expansion sleeve 322 is connected to the bottom end of the connecting seat 321, and the push rod 33 passes through the expansion sleeve 322 from the top end to the bottom end of the expansion sleeve 322.

[0115] At least one of the rubber rings 323 is fitted onto the expansion sleeve 322.

[0116] In this example, by setting a connecting seat 321, the clamping structure 32 can be fixed on the support mechanism 4; by setting an expansion sleeve 322, the rod-shaped part is gripped. The third cylinder 31 controls the push rod 33 to pass through a through hole in the expansion sleeve 322, which extends through both the top and bottom ends of the expansion sleeve 322. The robotic arm, through the support mechanism 4, controls the push rod 33 to contact the top of the rod-shaped part and continue moving, causing the rod-shaped part to push the push rod 33 back to the third cylinder 31, allowing the rod-shaped part to insert into the expansion sleeve 322. The expansion sleeve 322 then applies a clamping force to the rod-shaped part. A rubber ring 323 limits the degree of expansion of the expansion sleeve 322, preventing it from being overstretched and breaking.

[0117] Specifically, the connecting seat 321 is fixed to the lower surface of the floating plate 43 of the support mechanism 4, and the expansion sleeve 322 is connected to the bottom of the connecting seat 321.

[0118] In a preferred embodiment, the support mechanism 4 includes: a transition plate 41, a fixed plate 42, a floating plate 43, and at least one elastic structure 44;

[0119] The adapter plate 41 is used to connect to the robotic arm;

[0120] The bottom of the adapter plate 41 is connected to the upper surface of the fixing plate 42;

[0121] The floating plate 43 is connected to the fixed plate 42 through the elastic structure 44;

[0122] The two-finger gripper 1, the three-finger gripper 2, and the clamping gripper 3 are respectively connected to the floating plate 43.

[0123] In this example, the floating plate 43 moves relative to the fixed plate 42 through the elastic structure 44 to dissipate the impact on the two-finger gripper 1, the three-finger gripper 2, and the clamping gripper 3 when they come into contact with a fixed object or part, thereby ensuring the safety of the two-finger gripper 1, the three-finger gripper 2, and the clamping gripper 3.

[0124] In a preferred embodiment, the elastic structure 44 includes: a connecting rod 441, a spring 442, a seat sleeve 443, and a limiting block 444;

[0125] The bottom end of the connecting rod 441 is fixedly connected to the floating plate 43;

[0126] The seat sleeve 443 passes through the fixed plate 42 and is detachably connected with the fixed plate 42;

[0127] The top end of the connecting rod 441 passes through the seat sleeve 443 and is connected with the limiting block 444;

[0128] The bottom of the limiting block 444 is in contact with the seat sleeve 443.

[0129] In this example, the limiting block 444 is in contact with the seat sleeve 443 by the pushing force of the spring 442, so as to realize the mutual fixation and positioning between the floating plate 43 and the fixed plate 42, and the impact of the two-fingered clamp jaw 1, the three-fingered clamp jaw 2 and the embracing clamp jaw 3 when contacting the fixed object or part is eliminated by the spring 442.

[0130] In a preferred embodiment, the bottom of the limiting block 444 has a tapered surface 445, and the top of the seat sleeve 443 has a tapered hole 446;

[0131] The tapered surface 445 of the limiting block 444 is inserted into the tapered hole 446 and is in contact with the side wall of the tapered hole 446.

[0132] In this example, the spring 442 applies a pushing force to the fixed plate 42 and the floating plate 43, so that the bottom of the limiting block 444 is inserted into the tapered hole 446, and the tapered surface 445 is in contact with and tightly attached to the side wall of the tapered hole 446, thereby realizing that the two-fingered clamp jaw 1, the three-fingered clamp jaw 2 and the embracing clamp jaw 3 are fixed at the specified position of the supporting mechanism 4, and the accuracy of grabbing the part is ensured.

[0133] When the two-fingered clamp jaw 1, the three-fingered clamp jaw 2 and the embracing clamp jaw 3 contact or collide with the fixed object or part and are subjected to force, the force will be transmitted to the spring 442 and press the spring 442, thereby eliminating the impact of the two-fingered clamp jaw 1, the three-fingered clamp jaw 2 and the embracing clamp jaw 3, and avoiding damage to the two-fingered clamp jaw 1, the three-fingered clamp jaw 2 and the embracing clamp jaw 3.

[0134] 10. In a preferred embodiment, the supporting mechanism 4 further comprises at least one reinforcing plate 45;

[0135] The reinforcing plate 45 has two mutually perpendicular side edges; one side edge is connected with the upper surface of the fixed plate 42, and the other side edge is connected with one side surface of the adapter plate 41.

[0136] In this example, the reinforcing plate 45 is provided to improve the connection strength between the fixed plate 42 and the adapter plate 41, thereby ensuring the service life of the multifunctional mechanical gripper.

[0137] It should be noted that, as used in this document, the terms "includes" and / or "containing", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements is not necessarily limited to those elements, but can include other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0138] Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. It is intended that the specification and examples be considered as exemplary only, with the true scope and spirit of the application being indicated by the following claims.

[0139] It should be understood that the application is not limited to the precise construction and will vary in form and detail without departing from the spirit of the application. The application is limited only as defined in the following claims.

Claims

1. A multi-functional mechanical gripper characterized by, The utility model relates to a support mechanism for a mechanical arm, and more particularly to a support mechanism for a mechanical arm with a two-fingered gripper, a three-fingered gripper, a clamping gripper and a support mechanism. The two-fingered gripper is used to grab ring-shaped parts and disc-shaped parts, and is fixed on the support mechanism. The three-fingered gripper is used to grab parts with inner holes, and is fixed on the support mechanism. The clamping gripper is used to grab rod-shaped parts, and is fixed on the support mechanism. The support mechanism is used to connect with the mechanical arm, and the mechanical arm controls the movement of the two-fingered gripper, the three-fingered gripper and the clamping gripper through the support mechanism. The two-fingered gripper comprises a first cylinder, two first grippers and a first connecting plate.

2. The multi-functional mechanical gripper of claim 1, wherein, The first cylinder has two first cylinder fingers, and one of the first cylinder fingers is connected with one of the first grippers. The top of the first cylinder is connected with the bottom end of the support mechanism through the first connecting plate. The first gripper has a positioning groove for accommodating the side edges of the ring-shaped parts and the disc-shaped parts.

3. The multi-functional mechanical gripper of claim 2, wherein, The positioning grooves of the two first grippers are oppositely arranged. The three-fingered gripper comprises a second cylinder, a second connecting plate and three second grippers.

4. The multi-functional mechanical gripper of claim 1, wherein, The top of the second cylinder is connected with the lower surface of the second connecting plate, and the second connecting plate is connected with the support mechanism. The bottom of the second cylinder has three second cylinder fingers, and one of the second cylinder fingers is connected with one of the second grippers. The clamping gripper comprises a third cylinder, a clamping structure and a top rod.

5. The multi-functional mechanical gripper of claim 1, wherein, The third cylinder is fixed on the support mechanism, and the clamping structure is fixed on the bottom of the support mechanism. One end of the top rod is connected with the cylinder rod of the third cylinder, and the other end of the top rod is used to pass through the clamping structure. The clamping structure comprises a connecting seat, an expansion sleeve and at least one rubber ring.

6. The multi-functional mechanical gripper of claim 5, wherein, The top end of the connecting seat is fixed on the bottom end of the support mechanism. The top end of the expansion sleeve is connected with the bottom end of the connecting seat, and the top rod passes through the expansion sleeve from the top end to the bottom end. At least one rubber ring is sleeved on the expansion sleeve. The support mechanism comprises an adapter plate, a fixed plate, a floating plate and at least one elastic structure.

7. The multi-functional mechanical gripper of claim 1, wherein, The adapter plate is used to connect with the mechanical arm. The bottom of the adapter plate is connected with the upper surface of the fixed plate. The floating plate is connected with the fixed plate through the elastic structure. The two-fingered gripper, the three-fingered gripper and the clamping gripper are respectively connected with the floating plate. The elastic structure comprises a connecting rod, a spring, a seat sleeve and a limiting block.

8. The multi-functional mechanical gripper of claim 7, wherein, The bottom end of the connecting rod is fixedly connected with the floating plate. The seat sleeve passes through the fixed plate and is detachably connected with the fixed plate. The top end of the connecting rod is connected with the limiting block through the seat sleeve. The bottom of the limiting block is in contact with the seat sleeve. The bottom of the limiting block has a tapered surface, and the top of the seat sleeve has a tapered hole.

9. The multi-functional mechanical gripper of claim 8, wherein, The tapered surface of the limiting block is inserted into the tapered hole and is in contact with the side wall of the tapered hole. The support mechanism further comprises at least one reinforcing plate.

10. The multi-functional mechanical gripper of claim 7, wherein, ​ The reinforcing plate has two mutually perpendicular side edges; one side edge is connected with the upper surface of the fixed plate, and the other side edge is connected with one side surface of the adapter plate.

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