Mechanical gripping device

Abstract

The application relates to the technical field of mechanical gripper, in particular to a mechanical clamping device. The mechanical clamping device comprises a mounting bracket, a driving piece, a sliding seat, two clamping jaws and a transmission piece, the end of the mounting bracket away from the driving piece is provided with a limiting part; the sliding seat is slidably arranged on the mounting bracket; the two clamping jaws are rotatably arranged on the sliding seat; one end of the transmission piece is connected with the driving end of the driving piece, and the other end of the transmission piece is used for abutting against the two clamping jaws; in a first movement state, the driving piece drives the transmission piece to move, so that the transmission piece abuts against the two clamping jaws, and then drives the two clamping jaws and the sliding seat to move to the limiting part; in a second movement state, the transmission piece abuts against the two clamping jaws, so that the two clamping jaws rotate and can clamp the to-be-clamped article. Through the connection among the sliding seat, the two clamping jaws and the transmission piece, only one driving piece is used to realize the two actions of moving the clamping jaws to a target position and clamping after reaching the target position.

Description

Technical Field

[0001] This application relates to the field of mechanical gripper structure technology, and in particular to a mechanical gripping device. Background Technology

[0002] Mechanical gripping devices have a wide range of applications in numerous fields. In industrial production, they are widely used in automated production lines, enabling precise and rapid gripping of parts. For example, in automobile manufacturing workshops, mechanical gripping devices can accurately transport engine parts to designated locations for assembly, greatly improving production efficiency and reducing errors that may be caused by manual operation. In the logistics and warehousing industry, they can handle the handling of goods. Whether it is small electronic components or large household appliances, they can grip and transfer them according to preset programs, optimizing the utilization of storage space and accelerating the turnover of goods.

[0003] Conventional mechanical gripping devices generally only have a gripping function. When it is necessary to move the gripper in a certain direction to grip an object, multiple driving components and some complex mechanical structures are usually required, which leads to a significant increase in the production cost of mechanical gripping devices. Utility Model Content

[0004] This application provides a mechanical gripping device to solve the problem that conventional mechanical gripping devices require multiple driving components and some complex mechanical structures to grip objects after the gripper moves in a certain direction, which leads to a significant increase in the production cost of the mechanical gripping device.

[0005] This application provides a mechanical gripping device, including: Mounting bracket; A driving component, wherein the driving component is connected to the mounting bracket, and a limiting portion is provided at the end of the mounting bracket away from the driving component; A sliding seat, which is slidably disposed on the mounting bracket; Two grippers, the two grippers being rotatably mounted on the sliding seat; A transmission component, one end of which is connected to the driving end of the driving component, and the other end of which is used to abut against the two grippers; The mechanical gripping device has a first motion state and a second motion state. In the first motion state, the driving member drives the transmission member to move, so that the transmission member abuts against the two grippers, thereby driving the two grippers and the sliding seat to move to the limiting part. In the second motion state, the transmission member abuts against the two grippers, so that the two grippers rotate and can grip the item to be gripped.

[0006] Optionally, each of the grippers has an abutment section and a clamping section, with the two abutment sections elastically connected so that the two clamping sections are far apart from each other.

[0007] Optionally, an elastic element is included, with both ends of the elastic element connected to a connecting portion disposed at the end of each abutment segment away from the sliding seat, thereby enabling the two abutment segments to be elastically connected.

[0008] Optionally, each of the abutting segments has a mating surface, and the two mating surfaces are arranged at an angle. In the second movement state, the transmission member abuts against the two mating surfaces, thereby gradually increasing the angle and causing the two clamping segments to move closer to each other.

[0009] Optionally, each of the clamping sections is provided with a clamping groove, the inner sidewall of which is used to clamp and limit the object to be clamped.

[0010] Optionally, the end of the transmission member away from the driving member is provided with an abutment portion, which is used to abut against the two grippers.

[0011] Optionally, the abutting part is an abutting wheel, and the abutting wheel is rotatably connected to the transmission member.

[0012] Optionally, the transmission member has a first transmission boss and the sliding seat has a second transmission boss. When the transmission member moves toward the driving member, the first transmission boss abuts against the second transmission boss to drive the sliding seat to move.

[0013] Optionally, the second transmission boss has a clearance groove, and the transmission component is movably inserted through the clearance groove.

[0014] Optionally, the mounting bracket is provided with a top limiting member at one end away from the limiting part. The top limiting member is used to abut against the second transmission boss to limit the sliding position of the sliding seat.

[0015] The technical solutions provided in this application have the following advantages compared with the prior art: This application discloses a mechanical gripping device comprising a mounting bracket, a drive component, a sliding seat, two grippers, and a transmission component. One end of the mounting bracket is connected to the drive component, and the other end has a limiting portion. The sliding seat can slide along the mounting bracket. The two grippers are rotatably mounted on the sliding seat. One end of the transmission component is connected to the drive end of the drive component, and the other end abuts against the two grippers. In the first motion state, the drive component drives the transmission component to move, causing the transmission component to abut against the grippers, and driving the grippers and sliding seat to slide along the mounting bracket to the limiting portion. In the second motion state, the transmission component abuts against the grippers, causing the grippers to rotate and grip the object. The mechanical gripping device provided in this application has a simple structure and low cost. By integrating components such as the drive component, transmission component, sliding seat, and grippers, it eliminates the need for complex mechanical structures and multiple drive components, simplifying the device structure and reducing production costs. Compared to traditional devices requiring multiple cylinders or motors, this device uses only one drive component to achieve both moving the grippers to the target position and gripping them after reaching the target position. Attached Figure Description

[0016] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0019] Figure 1 A schematic diagram of the structure of a mechanical gripping device provided in this application embodiment. Figure 1 ; Figure 2 A schematic diagram of the structure of a mechanical gripping device provided in this application embodiment. Figure 2 ; Figure 3 This is a schematic diagram of the gripper structure provided in an embodiment of this application; Figure 4 This is a schematic diagram of the transmission component provided in an embodiment of this application; Figure 5 This is a schematic diagram of the mounting bracket and sliding seat provided in the embodiments of this application.

[0020] Explanation of reference numerals in the attached figures: 1. Mounting bracket; 11. Limiting part; 2. Driving components; 3. Sliding seat; 31. Second transmission boss; 31a. Clearance groove; 4. Gripper; 41. Abutment section; 42. Clamping section; 411. Connecting part; 412. Mating surface; 42a. Clamping groove; 5. Transmission component; 51a. Abutment part; 51. Abutment wheel; 52. First transmission boss; 6. Elastic components; 7. Top limit component. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0022] The following disclosure provides numerous different embodiments or examples for implementing various structures of this application. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed.

[0023] For ease of description, spatial relative terms may be used in the text to describe the relative position or movement of one element or feature relative to another element or feature, as shown in the figure. These relative terms include, for example, "inside," "outside," "middle," "outer," "below," "below," "above," "front," "back," etc. Such spatial relative terms are intended to include different orientations of the device in use or operation, other than those depicted in the figure. For example, if the device in the figure undergoes a positional flip, orientation change, or change of motion, these directional indications will change accordingly. For instance, an element described as "below other elements or features" or "below other elements or features" will subsequently be oriented "above other elements or features" or "above other elements or features." Therefore, the example term "below" can include both upper and lower orientations. The device may be otherwise oriented (rotated 90 degrees or in other directions), and the spatial relative descriptors used in the text will be interpreted accordingly.

[0024] To address the problem that conventional mechanical gripping devices require multiple drive units 2 and complex mechanical structures to move the gripper 4 in a certain direction before gripping an object, which significantly increases the production cost of the mechanical gripping device, this application provides a mechanical gripping device that, through the connection between the sliding seat 3, the two grippers 4, and the transmission unit 5, can achieve both the movement of the gripper 4 to the target position and the gripping action after reaching the target position using only one drive unit 2.

[0025] Please see Figure 1 and Figure 2 This application provides a mechanical gripping device for gripping an item to be gripped. It includes a mounting bracket 1, a driving member 2, a sliding seat 3, two grippers 4, and a transmission member 5. The driving member 2 is connected to the mounting bracket 1, and a limiting portion 11 is provided at the end of the mounting bracket 1 away from the driving member 2. The sliding seat 3 is slidably disposed on the mounting bracket 1. The two grippers 4 are rotatably disposed on the sliding seat 3. One end of the transmission member 5 is connected to the driving end of the driving member 2, and the other end of the transmission member 5 is used to abut against the two grippers 4. The mechanical gripping device has a first motion state and a second motion state. In the first motion state, the driving member 2 drives the transmission member 5 to move, thereby causing the transmission member 5 to abut against the two grippers 4, and subsequently moving the two grippers 4 and the sliding seat 3 to the limiting portion 11. In the second motion state, the transmission member 5 abuts against the two grippers 4, causing the two grippers 4 to rotate and grip the item to be gripped.

[0026] In this embodiment, the mounting bracket 1 can be configured as a flat plate structure or a T-shaped structure, which can be adapted according to the design of the driving component 2 and the sliding seat 3. One end of the mounting bracket 1 is connected to the driving component 2 through a bolt or buckle, and the other end is connected to the limiting part 11 through a bolt or buckle. To ensure the stability of the mounting bracket 1, its material is generally a high-strength material such as aluminum alloy or stainless steel. The sliding seat 3 slides along the mounting bracket 1 through a guide rail 7 slider or other structure, and the specific sliding direction is consistent with the driving direction of the driving component 2. The two grippers 4 are rotatably mounted on the sliding seat 3 through a hinge or hole-shaft fit, and the rotation of the grippers 4 and the sliding of the sliding seat 3 will not interfere with each other. One end of the transmission component 5 is connected to the driving end of the driving component 2 through a coupling or bolt, and the other end directly abuts against the two grippers 4.

[0027] It should be noted that the mechanical gripping device has a first motion state and a second motion state. In the first motion state, the mounting base moves from a position away from the limiting part 11 to a position abutting against the limiting part 11. In this first motion state, the driving member 2 drives the transmission member 5 to move linearly, causing the transmission member 5 to abut against the gripper 4. At this time, the gripper 4 and the sliding seat 3 slide as a whole along the mounting bracket 1 to the limiting part 11 until they abut against it. In the second motion state, because the sliding seat 3 abuts against the limiting part 11, it cannot continue to move along the direction of the transmission member 5. At this time, the transmission member 5 continues to abut against the gripper 4, causing the gripper 4 to rotate and grip the object. For example, when used for handling automotive parts, the driving member 2 can be a cylinder or a linear motor, which drives the gripper 4 and the sliding seat 3 through the transmission member 5 to achieve rapid positioning and precise gripping of engine parts.

[0028] The mechanical gripping device provided in this application has a simple structure and low cost. By integrating components such as the drive component 2, transmission component 5, sliding seat 3, and gripper 4, it eliminates the need for complex mechanical structures and multiple drive components 2, simplifying the device structure and reducing production costs. Compared to traditional devices that require multiple cylinders or motors, this device only needs one drive component 2 to achieve two actions: moving the gripper 4 to the target position and gripping it after reaching the target position. Furthermore, the mechanical gripping device of this application is flexible and adaptable. The two movement states can be switched according to work requirements. The sliding seat 3 moves rapidly, and the gripper 4 rotates to achieve gripping and release, adapting to objects of different shapes and sizes, thus improving versatility and adaptability.

[0029] Please see Figures 1 to 3 To ensure that the contact between the transmission member 5 and the two grippers 4 does not cause the two grippers 4 to be in a clamping state during the first movement state, each gripper 4 has an abutment section 41 and a clamping section 42. The two abutment sections 41 are elastically connected so that the two clamping sections 42 are far apart from each other.

[0030] In one embodiment of this application, the abutting sections 41 of the two grippers 4 are connected by an elastic connector, such as a spring or elastic rubber strip, so that the two clamping sections 42 are naturally separated from each other. The abutting section 41 of the grippers 4 is located at the end closer to the transmission member 5, while the clamping section 42 is located at the end away from the transmission member 5. In the first motion state, the drive member 2 drives the transmission member 5 to move in a straight line, and the transmission member 5 abuts against the abutting section 41 of the grippers 4. Due to the elastic connection between the abutting sections 41, the clamping sections 42 of the grippers 4 will not come close to each other, thus maintaining an open state and preventing the clamping sections 42 of the grippers 4 from closing prematurely, which would affect the clamping of the object. This design effectively avoids the grippers 4 from accidentally closing during sliding, improving the reliability and stability of the device.

[0031] Please see Figures 1 to 3In order to achieve a stable elastic connection between the abutment sections 41, and at the same time, to ensure that the transmission component 5 can abut normally between the two abutment sections 41 without interfering with the elastic structure, the mechanical clamping device includes an elastic component 6. The two ends of the elastic component 6 are respectively connected to the connecting part 411 provided at the end of each abutment section 41 away from the sliding seat 3, so that the two abutment sections 41 are elastically connected.

[0032] In one embodiment, each gripper 4 has a connecting portion 411 at the end of its abutting section 41 away from the sliding seat 3. These connecting portions 411 can be protrusions, hooks, or other adaptable structures. The mechanical gripping device also includes an elastic element 6, such as a spring, elastic rubber strip, or elastic metal sheet, with both ends of the elastic element 6 connected to the connecting portions 411 of the two grippers 4. When the grippers 4 have a planar structure, the connecting portion 411 can be a protrusion located at the end of the abutting section 41, and the elastic element 6 is a tension spring, with both ends connected to the protrusions of the two grippers 4. In the first motion state, the transmission member 5 abuts between the two abutting sections 41. Due to the presence of the elastic element 6, the gripping section 42 of the gripper 4 remains open and will not close prematurely, affecting the gripping of the object. During this process, the elastic force of the elastic element 6 is greater than the force required for the sliding seat 3 to slide on the mounting bracket 1. When the transmission member 5 continues to move to the second motion state, although the elastic member 6 provides a certain elastic force to keep the clamping section 42 of the gripper 4 open, as the transmission member 5 further abuts against the contact section 41 of the gripper 4, the clamping section 42 of the gripper 4 will slowly move closer, thereby realizing the action of clamping the object.

[0033] Please see Figures 1 to 3 In order to make the movement of the gripper 4 more stable during the rotation of the transmission component 5 against the gripper 4, each abutting section 41 has a mating surface 412. The two mating surfaces 412 are set at an angle. In the second movement state, the transmission component 5 abuts against the two mating surfaces 412, thereby gradually increasing the angle and causing the two gripping sections 42 to move closer to each other.

[0034] In this embodiment, the abutting section 41 of each gripper 4 forms an inclined surface on the side near the transmission member 5, and these two inclined surfaces form an included angle in their natural state. In the second movement state, the transmission member 5 abuts against these two mating surfaces 412. As the transmission member 5 moves, the included angle gradually increases, thereby pushing the gripping sections 42 of the two grippers 4 closer together, realizing the action of gripping an object. The included angle between the two mating surfaces 412 can be designed to be 30 degrees to 60 degrees, so that when the transmission member 5 abuts, it can smoothly push the grippers 4 to close, ensuring the stability and reliability of the gripping action. This embodiment of the application significantly improves the stability of the grippers 4 during movement by designing mating surfaces 412 on the abutting section 41 of each gripper 4 and setting the two mating surfaces 412 at an included angle. In the second movement state, the transmission member 5 abuts against the mating surfaces 412, and the gradual increase in the included angle allows the gripping sections 42 of the grippers 4 to smoothly and evenly approach each other, thereby realizing a more stable gripping action.

[0035] Please see Figure 3 In order to enable the mechanical gripping device of this application to grip the item more stably, each gripping section 42 is provided with a gripping groove 42a, and the inner sidewall of the gripping groove 42a is used to grip and limit the item to be gripped.

[0036] In one embodiment, the shape and size of the clamping groove 42a can be designed according to the shape and size of the item to be clamped to ensure stability and reliability during clamping. For cylindrical items, the clamping groove 42a can be designed as a semi-circle or V-shape; for square items, the clamping groove 42a can be designed as a rectangle. The inner sidewall of the clamping groove 42a is used to contact the item to be clamped, providing clamping limitation. The inner sidewall of the clamping groove 42a can be provided with an anti-slip material, such as rubber or anti-slip texture, to increase friction and prevent the item from sliding during clamping. When clamping small electronic components, the clamping groove 42a can be designed as a long and narrow rectangular groove, and a rubber pad can be provided on the inner sidewall to ensure clamping stability and safety. By opening a clamping groove 42a in each clamping segment 42 and providing a clamping limitation structure on the inner sidewall of the clamping groove 42a, the clamping stability of the mechanical clamping device is significantly improved. The design of the clamping slot 42a can be customized to accommodate items of different shapes and sizes, ensuring a tight fit during clamping and reducing shaking and slippage. For example, when clamping large household appliances in logistics warehousing, the clamping slot 42a can be designed as a large rectangular slot with anti-slip textures on the inner wall to ensure stability and safety during clamping. Furthermore, the anti-slip design on the inner wall of the clamping slot 42a further enhances the reliability of clamping, making it suitable for items of various materials and surface conditions, thus improving the versatility and adaptability of the device.

[0037] Please see Figure 1 and Figure 4To prevent jamming between the transmission component 5 and the gripper 4, the end of the transmission component 5 away from the drive component 2 is provided with an abutment part 51a, which is used to abut against the two grippers 4.

[0038] In one embodiment of this application, the shape and size of the abutment portion 51a can be adapted to the abutment section 41 of the gripper 4 to ensure smooth contact. If the abutment section 41 of the gripper 4 is a planar structure, the abutment portion 51a can be designed as a matching planar or arc shape. In the first movement state, the abutment portion 51a of the transmission member 5 contacts the abutment section 41 of the gripper 4, pushing the gripper 4 and the sliding seat 3 to slide along the mounting bracket 1; in the second movement state, the abutment portion 51a continues to contact the mating surface 412 of the gripper 4, pushing the gripper 4 to rotate to achieve the gripping action. By providing the abutment portion 51a at the end of the transmission member 5 away from the driving member 2, this embodiment of the application effectively prevents jamming between the transmission member 5 and the gripper 4. The design of the abutment portion 51a improves the reliability and stability of the device, enabling it to better adapt to the needs of different working scenarios and enhancing the versatility and adaptability of the device.

[0039] Please see Figure 4 In order to further improve the smoothness of the contact between the transmission component 5 and the gripper 4, the contact part 51a is a contact wheel 51, and the contact wheel 51 is rotatably connected to the transmission component 5.

[0040] In this embodiment, the abutment wheel 51 can be mounted on the end of the transmission component 5 via a bearing, allowing it to rotate freely. The outer surface of the abutment wheel 51 can be made of a wear-resistant material, such as polytetrafluoroethylene (PTFE) or hard rubber, to reduce friction and wear between it and the abutment section 41 of the gripper 4. The abutment portion 51a is designed as the abutment wheel 51 and is rotatably connected to the transmission component 5, significantly improving the smoothness of the abutment between the transmission component 5 and the gripper 4. The rolling contact of the abutment wheel 51 can effectively reduce friction and wear during abutment, reduce the risk of jamming, and improve the reliability and stability of the device. For example, in the gripping of automotive parts, the rolling contact of the abutment wheel 51 can ensure smooth movement between the transmission component 5 and the gripper 4, maintaining stable movement of the gripper 4 even under frequent operation or high-speed movement, avoiding gripping failure or equipment damage due to jamming. In addition, the wear-resistant design of the abutment wheel 51 further extends the service life of the device, reduces maintenance costs, and allows it to better adapt to the needs of different working scenarios, enhancing the versatility and adaptability of the device.

[0041] Please see Figure 4 and Figure 5In order to enable the gripper 4 to slide synchronously with the sliding seat 3 to the initial position close to the drive member 2 after the gripping action is completed, the transmission member 5 is provided with a first transmission boss 52, and the sliding seat 3 is provided with a second transmission boss 31. When the transmission member 5 moves toward the drive member 2, the first transmission boss 52 and the second transmission boss 31 abut against each other to drive the sliding seat 3 to move.

[0042] In one embodiment, when the transmission member 5 moves toward the driving member 2, the first transmission boss 52 abuts against the second transmission boss 31, thereby driving the sliding seat 3 to move. The first transmission boss 52 and the second transmission boss 31 can be designed with matching shapes, such as both being rectangular or trapezoidal bosses, to ensure stable abutment and transmission. This embodiment of the application, by providing the first transmission boss 52 on the transmission member 5 and the second transmission boss 31 on the sliding seat 3, achieves synchronous sliding of the gripper 4 with the sliding seat 3 after completing the gripping action, ensuring that the device can accurately return to its initial position. This design improves the automation and reliability of the device, reducing gripping failures or equipment malfunctions caused by positional deviations. For example, in logistics warehousing, after the gripper 4 completes the gripping of goods and moves them to a designated location, the sliding seat 3 and the gripper 4 can smoothly return to their initial position through the abutment of the first transmission boss 52 and the second transmission boss 31, preparing for the next gripping operation. In addition, this design improves the operating efficiency of the device, reduces idle time, and enhances its versatility and adaptability, enabling it to better meet the needs of different working scenarios.

[0043] Please see Figure 5 In order to facilitate the back-and-forth movement of the transmission component 5 between the second transmission boss 31 and the gripper 4, the second transmission boss 31 is provided with a clearance groove 31a, and the transmission component 5 is movably inserted through the clearance groove 31a.

[0044] In one embodiment of this application, the shape and size of the clearance groove 31a can be designed according to the shape of the transmission member 5 to ensure that the transmission member 5 can slide smoothly within the clearance groove 31a. If the transmission member 5 is cylindrical, the clearance groove 31a can be designed as circular or elliptical; if the transmission member 5 is rectangular, the clearance groove 31a can be designed as rectangular. In the first movement state, the abutting part 51a of the transmission member 5 contacts the abutting section 41 of the gripper 4, pushing the gripper 4 and the sliding seat 3 to slide along the mounting bracket 1; in the second movement state, the abutting part 51a of the transmission member 5 contacts the mating surface 412 of the gripper 4, pushing the gripper 4 to rotate to achieve the gripping action. In the above two states, the transmission member 5 can slide within the clearance groove 31a, thereby avoiding interference with the second transmission boss 31. The design of the clearance groove 31a can effectively reduce the friction and interference between the transmission member 5 and the second transmission boss 31, ensuring that the transmission member 5 will not jam during movement, thus improving the reliability and stability of the device.

[0045] Please see Figure 1 , Figure 2 as well as Figure 5 When the transmission member 5 moves from bottom to top, in order to make the sliding seat slide within a predetermined range, the mounting bracket 1 is provided with a top limiting member 7 at one end away from the limiting part 11. The top limiting member 11 is used to abut against the second transmission boss 31 to limit the sliding position of the sliding seat 3.

[0046] In this embodiment, the top limiting member 7 can be connected to the mounting bracket 1 by bolts, welding, or other fixing methods to ensure its stability and reliability. The shape and size of the top limiting member 7 can be designed according to the shape of the second transmission boss 31 to ensure accurate abutment. If the second transmission boss 31 is a rectangular boss, the top limiting member 7 can be designed as a corresponding rectangular planar boss. When the transmission member 5 moves from bottom to top, the transmission member 5 will first gradually reduce the abutment pressure between itself and the abutment section 41 of the gripper 4. When the abutment pressure is less than the elastic force of the elastic member 6, the abutment section 41 gradually moves closer and the clamping section 42 gradually moves away, and then the clamping section 42 releases the object to be clamped. After the transmission member 5 moves further from bottom to top and separates from the abutment section 41, the first transmission boss 52 of the transmission member 5 abuts with the second transmission boss 31, thereby driving the entire sliding seat 3 to move upward. Finally, the entire sliding seat 3 moves to the position where the top limiting member 7 abuts with the second transmission boss 31 and stops moving. The top limiter 7 can be made of high-strength steel and fixed to the mounting bracket 1 by bolts to ensure that the position of the sliding seat 3 can be stably limited during the movement of the transmission component.

[0047] It should be understood that the terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “described” as used herein may also include the plural forms. The terms “comprising,” “including,” “containing,” and “having” are inclusive and therefore indicate the presence of the stated features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein are not construed as requiring them to be performed in a particular order described or illustrated unless the order of performance is explicitly indicated. It should also be understood that additional or alternative steps may be used.

[0048] Although terms such as first, second, third, etc., may be used in this document to describe multiple elements, components, regions, layers, and / or segments, these elements, components, regions, layers, and / or segments should not be limited by these terms. These terms may be used only to distinguish one element, component, region, layer, or segment from another. Unless the context clearly indicates otherwise, terms such as "first," "second," and other numerical terms used herein do not imply order or sequence. Therefore, the first element, component, region, layer, or segment discussed below may be referred to as the second element, component, region, layer, or segment without departing from the teachings of the exemplary embodiments.

[0049] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A mechanical gripping device for gripping an item to be gripped, characterized in that, include: Mounting bracket (1); A driving component (2) is connected to the mounting bracket (1), and a limiting part (11) is provided at one end of the mounting bracket (1) away from the driving component (2); A sliding seat (3) is slidably disposed on the mounting bracket (1); Two grippers (4) are rotatably disposed on the sliding seat (3); Transmission component (5), one end of which is connected to the driving end of the driving component (2), and the other end of which is used to abut against the two grippers (4); The mechanical gripping device has a first motion state and a second motion state. In the first motion state, the driving member (2) drives the transmission member (5) to move, so that the transmission member (5) abuts against the two grippers (4), thereby driving the two grippers (4) and the sliding seat (3) to move to the limiting part (11). In the second motion state, the transmission member (5) abuts against the two grippers (4), so that the two grippers (4) rotate and can grip the item to be gripped.

2. The mechanical gripping device according to claim 1, characterized in that, Each of the grippers (4) has an abutment section (41) and a clamping section (42), the two abutment sections (41) being elastically connected so that the two clamping sections (42) are far apart from each other.

3. The mechanical gripping device according to claim 2, characterized in that, The elastic element (6) is included, and its two ends are respectively connected to the connecting part (411) provided at the end of each abutment segment (41) away from the sliding seat (3), so that the two abutment segments (41) are elastically connected.

4. The mechanical gripping device according to claim 2, characterized in that, Each of the abutting sections (41) has a mating surface (412), and the two mating surfaces (412) are set at an angle. In the second movement state, the transmission member (5) abuts against the two mating surfaces (412), thereby gradually increasing the angle and causing the two clamping sections (42) to move closer to each other.

5. The mechanical gripping device according to claim 2, characterized in that, Each of the clamping sections (42) is provided with a clamping groove (42a), and the inner sidewall of the clamping groove (42a) is used to clamp and limit the item to be clamped.

6. The mechanical gripping device according to any one of claims 1-5, characterized in that, The transmission member (5) has an abutment portion (51a) at one end away from the driving member (2), and the abutment portion (51a) is used to abut against the two grippers (4).

7. The mechanical gripping device according to claim 6, characterized in that, The abutting part (51a) is an abutting wheel (51), which is rotatably connected to the transmission member (5).

8. The mechanical gripping device according to any one of claims 1-5, characterized in that, The transmission component (5) has a first transmission boss (52) protruding, and the sliding seat (3) has a second transmission boss (31) protruding. When the transmission component (5) moves toward the driving component (2), the first transmission boss (52) abuts against the second transmission boss (31) to drive the sliding seat (3) to move.

9. The mechanical gripping device according to claim 8, characterized in that, The second transmission boss (31) has a clearance groove (31a), and the transmission member (5) is movably inserted through the clearance groove (31a).

10. The mechanical gripping device according to claim 8, characterized in that, The mounting bracket (1) has a top limiting member (7) at one end away from the limiting part (11). The top limiting member (11) is used to abut against the second transmission boss (31) to limit the sliding position of the sliding seat (3).

Images