CN109715350B

CN109715350B - Robot and mechanical tongs thereof

Info

Publication number: CN109715350B
Application number: CN201880002446.4A
Authority: CN
Inventors: 刘礼谦
Original assignee: Shenzhen Lan Pangzi Machine Intelligence Co ltd
Current assignee: Shenzhen Lan Pangzi Machine Intelligence Co ltd
Priority date: 2018-05-07
Filing date: 2018-05-07
Publication date: 2022-07-05
Anticipated expiration: 2038-05-07
Also published as: CN109715350A; WO2019213825A1

Abstract

A mechanical gripper (100) for gripping an object, the mechanical gripper comprising a cylinder assembly (10), a gripping assembly (20), a first detection device (30) and a second detection device (40), wherein the cylinder assembly comprises a cylinder body (12) and a push rod (14) which is telescopic relative to the end of the cylinder body; the grabbing component is connected with the push rod; the first detection device is arranged on the cylinder body and used for detecting the position of an object; the second detection device is arranged on the grabbing component and used for detecting whether the object is in the grabbing range of the grabbing component. Also comprises a robot comprising the mechanical gripper. According to the robot and the mechanical gripper, the first detection device and the second detection device are arranged on the mechanical gripper, and the first detection device and the second detection device are matched to detect the position of an object and detect whether the object is in the grabbing range of the mechanical gripper, so that the phenomenon of grabbing empty can be avoided, and the carrying efficiency of the object is improved.

Description

Robot and mechanical gripper thereof

Technical Field

The invention relates to the technical field of intelligent robots, in particular to a robot and a mechanical gripper thereof.

Background

At present, in automatic production equipment, the robot is very common in carrying, and the robot is used for carrying, so that not only can objects with heavy weight be carried, but also the carrying efficiency is extremely high, and the robot can be used for carrying goods within 24 hours, so that the robot is most widely used for carrying goods.

The existing robot can only detect the approximate position of the object when clamping the object, cannot perform accurate judgment, and often grabs empty, so that the robot needs to be positioned and grabbed again, and the carrying efficiency is reduced.

Disclosure of Invention

The invention provides a robot and a mechanical gripper thereof, and aims to solve the technical problems that in the prior art, when the mechanical gripper carries an object, the robot is empty and the efficiency is low.

In order to solve the technical problems, the invention adopts a technical scheme that: providing a mechanical gripper for gripping an object, comprising: the cylinder assembly comprises a cylinder body and a push rod which can extend and retract relative to the end part of the cylinder body; the grabbing component is connected with the push rod; the first detection device is arranged on the cylinder body and used for detecting the position of an object; and the second detection device is arranged on the grabbing component and used for detecting whether the object is in the grabbing range of the grabbing component.

In order to solve the technical problem, the invention adopts another technical scheme that: provided is a robot including: a mechanical arm; mechanical tongs is fixed at the end of arm, includes: the cylinder assembly comprises a cylinder body and a push rod which can stretch relative to the end part of the cylinder body; the grabbing component is connected with the push rod; the first detection device is arranged on the cylinder body and used for detecting the position of an object; and the second detection device is arranged on the grabbing component and used for detecting whether the object is in the grabbing range of the grabbing component.

The beneficial effects of the above embodiment are as follows: the grabbing assembly is fixed on the push rod of the air cylinder, the first detection device and the second detection device are arranged on the mechanical grabbing hand, the position of an object is detected through the first detection device, the mechanical grabbing hand is controlled to move to the position of the object, when the second detection device detects that the object is in the grabbing range of the mechanical grabbing hand, the air cylinder assembly controls the grabbing assembly to grab, the phenomenon of grabbing empty can be avoided, and the carrying efficiency of the object is improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic perspective view of a mechanical gripper according to an embodiment of the present invention;

FIG. 2 is an exploded view of the mechanical grip of FIG. 1;

FIG. 3 is a schematic plan view of the mechanical gripper of FIG. 1;

FIG. 4 is an exploded view of the mechanical grip of FIG. 2 from another perspective;

fig. 5 is a schematic perspective view of a robot according to another embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be noted that the following examples are only illustrative of the present invention, and do not limit the scope of the present invention. Similarly, the following examples are only some but not all examples of the present invention, and all other examples obtained by those skilled in the art without any inventive work are within the scope of the present invention.

The terms "first", "second" and "third" in the present invention are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," or "third" may explicitly or implicitly include at least one of the feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise. All directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present invention are only used to explain the relative positional relationship between the components, the movement, and the like in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the invention. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

The present invention provides a mechanical gripper 100 for gripping an object. Referring to fig. 1 to 3, fig. 1 is a schematic perspective view illustrating a mechanical gripper according to an embodiment of the present invention, fig. 2 is an exploded view illustrating the mechanical gripper of fig. 1, and fig. 3 is a schematic plan view illustrating the mechanical gripper of fig. 1.

As shown in fig. 1 to 3, in the present embodiment, the mechanical gripper 100 may include: cylinder assembly 10, gripper assembly 20, first sensing device 30 and second sensing device 40. Wherein the grabbing assembly 20 is connected with the cylinder assembly 10, the first detection device 30 is arranged on the cylinder assembly 10, and the second detection device 40 is arranged on the grabbing assembly 20.

Specifically, in the present embodiment, with continued reference to fig. 1-3, the cylinder assembly 10 includes a cylinder body 12 and a push rod 14 that is extendable and retractable relative to an end of the cylinder body 12. The pushrod 14 may be disposed on one side of the cylinder assembly 10, or may be disposed on two opposite sides of the cylinder assembly 10. The push rod 14 is arranged in the axial direction of the cylinder body 12, and when the cylinder body 12 is inflated, the push rod 14 can extend outwards relative to the cylinder body 12; when the cylinder 12 sucks air, the push rod 14 can retract inwards relative to the cylinder 12, so that the push rod 14 can extend and retract.

In the present embodiment, push rods 14 are provided at opposite ends of the cylinder 12, respectively, and there are two push rods 14 at each end. When the cylinder 12 is inflated, the push rods 14 at the opposite ends of the cylinder 12 simultaneously extend outwards; when the cylinder 12 sucks air, the push rods 14 at the opposite ends of the cylinder 12 retract inwards at the same time, so that the extension and contraction of the push rods 14 at the two sides are realized.

Further, guide posts 16 are provided at the ends of the opposite ends of the cylinder body 12, and two guide posts 16 are provided at each end. The guide post 16 is fixed to the cylinder body 12 and extends outward in the axial direction of the cylinder body 12. In the present embodiment, as shown in fig. 1, each end of the cylinder 12 is provided with two push rods 14 and two guide posts 16, the two push rods 14 can extend and contract relative to the cylinder 12, and the two guide posts 16 are fixed on the end surface of the cylinder 12 and cannot extend and contract. The two push rods 14 and the two guide columns 16 are uniformly distributed on the end face of the cylinder body 12, and the central connecting line of the two push rods 14 is crossed with the central connecting line of the two guide columns 16. That is, the push rods 14 and the guide posts 16 are alternately arranged on the end surface of the cylinder 12.

As shown in fig. 1 to 3, the grasping assembly 20 is connected to the pushrod 14 of the cylinder assembly 10 such that the grasping assembly 20 can be opened with respect to the cylinder block 12 when the pushrod 14 of the cylinder assembly 10 is outwardly extended; when the push rod 14 of the cylinder assembly 10 retracts inwardly, the gripper assembly 20 may close against the cylinder block 12, thereby enabling the gripper assembly 20 to open and close.

In the present embodiment, as shown in fig. 1 to 3, the grasping assemblies 20 include two grasping assemblies 20, and the two grasping assemblies 20 are respectively located at opposite ends of the cylinder block 12 and are connected to the push rods 14 of the cylinder assembly 10.

Specifically, in the present embodiment, as shown in fig. 2, a coaxial through hole 22 is provided on the grasping assembly 20 at a position corresponding to the push rod 14, and the diameter of the through hole 22 is equal to or slightly smaller than the diameter of the push rod 14. After the push rod 14 is inserted into the through hole 22, the grasping assembly 20 is fixed relative to the push rod 14, so that the grasping assembly 20 is directly connected with the push rod 14 without an external fixing device.

In this embodiment, a coaxial guiding hole 24 is provided on the grasping assembly 20 corresponding to the guiding column 16, and the diameter of the guiding hole 24 is equal to the diameter of the guiding column 16 or the diameter of the guiding hole 24 is slightly larger than the diameter of the guiding column 16. After the guide post 16 is inserted into the guide hole 24 for fitting connection, the grasping assembly 20 is movable in the extending direction of the guide post 16 by the pushing rod 14.

In this embodiment, push rod 14 is connected to gripper assembly 20 for pushing gripper assemblies 20 at opposite ends of cylinder 12 to extend and retract relative to the ends of cylinder 12. The guide post 16 is matched with the guide hole 24 and used for guiding the grabbing component 20, so that the grabbing component 20 moves towards the direction of the guide post 16; meanwhile, the guide post 16 can reduce the stress of the push rod 14 and prevent the push rod 14 from deforming under the influence of the weight of an object.

Specifically, as shown in fig. 1 to 3, the grasping assembly 20 includes a first connecting plate 26 and a second connecting plate 27. Wherein the first connecting plate 26 is used for connecting with the push rod 14, and the second connecting plate 27 is used for grabbing objects. The first connecting plate 26 may be connected directly to the push rod 14 of the cylinder assembly 10 or may be connected via the remaining connecting plates.

In the present embodiment, the first connecting plate 26 is integrally formed with the second connecting plate 27. This has the advantage that the number of parts can be reduced, making installation convenient. Of course, in other embodiments, it is also possible to separately manufacture the first connecting plate 26 and the second connecting plate 27, and connect the first connecting plate 26 and the second connecting plate 27 by using a fastening device, and the invention is not limited in this regard.

In this embodiment, the first connecting plate 26 is connected to the cylinder assembly 10 by a fourth connecting plate 28. As shown in fig. 1, in the present embodiment, the first connecting plate 26 may be fixed to one end of the fourth connecting plate 28 by a fastening means such as a screw. The other end of the fourth connecting plate 28 is provided with a through hole 22 matched with the push rod 14 and a guide hole 24 matched with the guide post 16, so that the fourth connecting plate 28 is connected with the push rod 14, and the grabbing assembly 20 is connected with the push rod 14.

With reference to fig. 1 to 3, the second connecting plate 27 is perpendicular to the first connecting plate 26. In the present embodiment, the second connecting plates 27 of the two grabbing units 20 are respectively bent in opposite directions and perpendicular to the first connecting plate 26. This provides the advantage that after the second connecting plate 27 grips an object, the object can be positioned between the two gripper assemblies 20, so that the cylinder assembly 10 connected to the gripper assemblies 20 can be uniformly stressed.

Further, still be provided with baffle 29 on the subassembly 20 snatchs, baffle 29 is connected with first connecting plate 26 and second connecting plate 27 respectively for strengthen the joint strength of first connecting plate 26 with second connecting plate 27, prevent that second connecting plate 27 atress from being out of shape, in order to improve the bearing capacity who snatchs subassembly 20.

Referring to fig. 2 and 3, in the present embodiment, the baffle 29 is detachably connected to the first connecting plate 26 and the second connecting plate 27. Specifically, the baffle 29 includes a baffle main body 292 and connecting portions 294 located on both side edges of the baffle main body 292. The first connection holes 296 are provided on each of the connection portions 294, the second connection holes 298 are provided on the first connection plate 26 and the second connection plate 27 at positions corresponding to the first connection holes 296 on the connection portions 294, respectively, and the first connection holes 296 and the second connection holes 298 are relatively fixed by fastening means such as bolts, whereby the relative fixing of the first connection plate 26, the second connection plate 27, and the shutter 29 is achieved.

Of course, in other embodiments, the baffle 29 and the first and second connecting

plates

26, 27 may also be integrally formed. Specifically, the first connecting plate 26 and the second connecting plate 27 connected to each other are formed using an injection molding process, and the baffle plates 29 connected to the first connecting plate 26 and the second connecting plate 27, respectively, are formed at the junctions of the first connecting plate 26 and the second connecting plate 27, thereby reducing the number of parts and making assembly convenient.

Referring to fig. 1 to fig. 3, in the present embodiment, the end of the second connecting plate 27 is further provided with a scratch-proof guide portion 21. Since the second connecting plate 27 may come into contact with the surface of the object when it grips the object, the scratch prevention guide 21 serves to prevent the second connecting plate 27 from scratching the surface of the object when it comes into contact with the object.

In the present embodiment, the scratch guide 21 is integrally formed with the second connecting plate 27. Specifically, the scratch guide 21 is formed by extending and folding back the end of the second connecting plate 27 outward. The scratch-proof guide 21 can prevent objects from being scratched on one hand, and can increase the strength of the tail end of the second connecting plate 27 and prevent the tail end of the second connecting plate 27 from being deformed under stress on the other hand.

With continued reference to fig. 1-3, in the present embodiment, the gripper assembly 20 further includes a filler 23 disposed between the first connector plate 26, the second connector plate 27, and the baffle 29.

Specifically, in the present embodiment, as shown in fig. 2, the filler 23 is provided in the space surrounded by the first connecting plate 26, the second connecting plate 27, and the baffle 29. In one embodiment, the thickness of the filler 23 in the direction of the two baffles 29 may be slightly larger than the distance between the two baffles 29 on the same gripper assembly 20, so that the filler 23 may be clamped between the two opposing baffles 29.

In another embodiment, the filler 23 may also be adhered to the first or second connecting

plate

26, 27 or the baffle 29 by, for example, double-sided adhesive or glue. Of course, in other embodiments, the filler 23 can be fixed in other ways in the area between the first connecting plate 26, the second connecting plate 27 and the baffle 29, and the invention is not limited thereto.

The advantage of providing the filler 23 between the first connecting plate 26, the second connecting plate 27 and the baffle 29 is that: the position of the object on the gripper assemblies 20 can be made more secure, preventing the object from sliding between the two gripper assemblies 20 after the gripper assemblies 20 have gripped the object.

In one embodiment, the filler 23 is foam. The foam is a material foamed by plastic particles, and is classified into PU (Polyurethane) foam, antistatic foam, conductive foam, EPE (Expandable Polyethylene), EPDM (Ethylene Propylene Diene Monomer), and the like. The foam has the characteristics of elasticity, light weight, quick pressure-sensitive fixation, convenient use, free bending, ultrathin volume, reliable performance and the like.

In this embodiment, EPDM foam is used as the filler 23. Because the EPDM foam has good wear resistance, the filler 23 made of the EPDM foam in this embodiment has a longer service life, and the number of times of replacement is reduced.

Further, in the present embodiment, referring to fig. 2 and 3, the two ends of the cylinder 12 are respectively provided with the grabbing components 20, and the fillers 23 are respectively arranged between the first connecting plate 26, the second connecting plate 27 and the baffle 29 of each grabbing component 20, and the opposite grabbing surfaces 232 of the two fillers 23 are arranged in a V shape. That is, the distance between the opposing gripping surfaces 232 of the two fillings 23 gradually increases in a direction away from the second connecting plate 27. The advantage of this arrangement is that the object can be positioned exactly on the symmetry axis of the two gripper assemblies 20, so that the two gripper assemblies 20 are stressed uniformly and are stabilized more effectively.

The first detecting device 30 is a radar device, and the radar device is fixed on the mechanical gripper 100 and used for detecting the position of an object. In particular, as shown in fig. 2, the mechanical hand grip 100 comprises a connecting piece 50, the connecting piece 50 being used to fix the radar device on the one hand and being connected to the cylinder 12 by fastening means on the other hand to fix the radar device on the cylinder 12.

Referring to fig. 2 and 4, in the present embodiment, the connecting member 50 is provided with the mounting portion 52, and the cylinder block 12 is provided with the mounting groove 18. Specifically, the cylinder block 12 has fitting grooves 18 formed on opposite side surfaces thereof perpendicular to a side surface facing the second connecting plate 27. A fitting portion 52 is formed to protrude outward from the contact surface of the connecting member 50 with the cylinder block 12. The fitting portion 52 has the same sectional shape as the fitting groove 18 so that the fitting portion 52 can be completely received in the fitting groove 18.

In assembling the connector 50, the assembling portion 52 is first fitted into the assembling groove 18, and then the connector 50 is fixedly coupled to the cylinder body 12. The fitting portion 52 fits into the fitting groove 18, so that the positioning accuracy of the fitting can be improved, and the fitting connection between the connecting member 50 and the cylinder block 12 can be more stable.

The second detecting device 40 is an infrared sensor. The infrared sensing device is used to detect whether an object is within the gripping range of the gripper assembly 20. Specifically, as shown in fig. 1 and 2, in the present embodiment, the infrared ray sensing device includes a transmitter 42 and a receiver 44. The emitters 42 and receivers 44 are respectively arranged on the two second connection plates 27, flush with the second connection plates 27.

Specifically, a transmitter 42 is fixed to one of the second connection plates 27, and a receiver 44 is fixed to the other of the second connection plates 27. The transmitter 42 and the receiver 44 may be fixed to the second connecting plate 27 by means of, for example, adhesive, welding, clamping, or sleeving.

In one embodiment, the transmitter 42 and receiver 44 may be bonded to the second web 27 using an adhesive. In another embodiment, the transmitter 42 and the receiver 44 may be welded to the second connecting plate 27 by electric welding. In yet another embodiment, the transmitter 42 and one of the second connecting plates 27 may be provided with a cooperating catch, and the receiver 44 and the other of the second connecting plates 27 may be provided with a cooperating catch, so that the transmitter 42 and the receiver 44 are caught on the second connecting plates 27 by the catch. In a further embodiment, it is also possible to weld a fixing sleeve on each of the two second connection plates 27 and to place the transmitter 42 and the receiver 44 in the fixing sleeve. Of course, other means of fixing the transmitter 42 and the receiver 44 to the second connecting plate 27 are possible, and the present invention is not limited in particular, but it should be understood that other means of fixing the transmitter 42 and the receiver 44 to the two second connecting plates 27 are within the scope of the present invention.

In this embodiment, the transmitter 42 and receiver 44 are fixed to the second connection plate 27 and flush with the second connection plate 27. The detection is performed by utilizing the correlation of the emitter 42 and the receiver 44, and when an object enters between the two second connecting plates 27, the infrared ray emitted from the emitter 42 is blocked by the object, so that the receiver 44 does not receive the infrared ray emitted from the emitter 42. While the mechanical gripper 100 continues to move downward and over the object, the receiver 44 may continue to receive the infrared light emitted from the emitter 42, thereby determining that the object passes over the second connecting plates 27 of the two gripper assemblies 20, and thus determining that the object is within the gripping range of the gripper assemblies 20.

Further, the mechanical gripper 100 further comprises a delay controller (not shown in the figure), which causes the grabbing component 20 to delay grabbing the object after the infrared sensing device detects that the object is within the grabbing range of the grabbing component 20. For example, the delay time of the delay controller may be set to 0.1-2 seconds, and at this time, the cylinder assembly 10 controls the grasping assembly 20 to grasp the object after detecting the object passing through the infrared ray sensing device for 0.1-2 seconds. Specifically, in the present embodiment, in order to ensure that the object completely passes over the second connecting plate 27 on the grabbing component 20, a delay controller is provided, so that the grabbing component 20 can delay the object to be grabbed, i.e. the grabbing component 20 starts to grab the object after detecting that the object passes through the infrared sensing device for 0.1-2 seconds, so as to avoid the grabbing component 20 colliding with the object and causing the grabbing failure. In addition, a vision acquisition device can be arranged on the mechanical arm or the surrounding environment, the size of the object to be grabbed is judged according to the acquired vision, the delay time is adjusted, and the grabbing component 20 is controlled to grab the object, so that the grabbed objects with different sizes and the filler 23 are adaptive and stable.

With continued reference to fig. 2 and 3, the mechanical grip 100 further includes a third web 60, the third web 60 being configured in an arcuate shape. Both ends of the third connecting plate 60 are respectively bent outward and then connected to both ends of the cylinder body 12.

Specifically, as shown in fig. 2, in the present embodiment, the third connecting plate 60 is provided at both ends thereof with connecting through holes 62, respectively, a connecting blind hole 64 is coaxially provided at a position corresponding to the connecting through hole 62 on the cylinder body 12, each connecting through hole 62 corresponds to each connecting blind hole 64, and the connecting through hole 62 and the connecting blind hole 64 are relatively fixed by a fastening means such as a screw, thereby fixedly connecting the third connecting plate 60 to the cylinder body 12.

Further, as shown in fig. 2, in the present embodiment, a plurality of connection holes 66 are further provided on the third connection plate 60, and the plurality of connection holes 66 are provided on an arcuate region of the third connection plate 60 and connected to the robot arm through the plurality of connection holes 66, so that the robot gripper 100 is fixed to the robot arm, and the robot gripper 100 is controlled by the robot arm to grip the object.

The invention also provides a robot 1. As shown in fig. 5, in the present embodiment, the robot 1 includes a robot arm 200 and a mechanical gripper 300. The robot arm 200 is used for controlling the mechanical gripper 300 to move, and the mechanical gripper 300 is fixed at the end of the robot arm 200 and used for gripping objects.

Wherein the mechanical gripper 300 includes a cylinder assembly 310, a gripper assembly 320, a first detecting device 330, and a second detecting device 340. The cylinder assembly 310 includes a cylinder 312 and a push rod 314 that is extendable and retractable with respect to an end of the cylinder 312, the gripper assembly 320 is connected to the push rod 314, a first detecting device 330 is disposed on the cylinder 312 for detecting a position of an object, and a second detecting device 340 is disposed on the gripper assembly 320 for detecting whether the object is within a gripping range of the gripper assembly 320.

The structure of the mechanical hand grip 300 in this embodiment is the same as the structure of the mechanical hand grip 100 in the previous embodiment, and specific reference may be made to the description of the mechanical hand grip 100 in the previous embodiment, and the description of the present invention is omitted here for brevity.

In summary, the grabbing assembly is fixed on the push rod of the air cylinder, the first detection device and the second detection device are arranged on the mechanical gripper, the position of the object is detected through the first detection device, so that the mechanical gripper is controlled to move to the position of the object, and when the second detection device detects that the object is in the grabbing range of the mechanical gripper, the air cylinder assembly controls the grabbing assembly to grab, so that the phenomenon of grabbing empty can be avoided, and the object carrying efficiency is improved.

The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention, and all equivalent structures or equivalent processes performed by the present invention or directly or indirectly applied to other related technical fields are included in the scope of the present invention.

Claims

1. A mechanical gripper for gripping an object, comprising:

the cylinder assembly comprises a cylinder body and a push rod which can extend and retract relative to the end part of the cylinder body;

the grabbing assembly is connected with the push rod, and the mechanical grabbing hand comprises a delay controller;

the grabbing assembly comprises a first connecting plate and a second connecting plate, the first connecting plate is used for being connected with the push rod, and the second connecting plate is used for grabbing an object; the second connecting plate is perpendicular to the first connecting plate; the grabbing component is also provided with a baffle plate, and the baffle plate is connected with the first connecting plate and the second connecting plate; the grasping assembly further includes a filler disposed between the first connecting plate, the second connecting plate, and the baffle; the two grabbing components are arranged, and the opposite grabbing surfaces of the fillers on the two grabbing components are arranged in a V shape;

the first detection device is arranged on the cylinder body and used for detecting the position of the object;

the second detection device is arranged on the grabbing component and used for detecting whether the object is in the grabbing range of the grabbing component or not;

the second detection device is an infrared sensing device;

when the infrared sensing device detects that the object is located in the grabbing range of the grabbing component, the delay controller enables the grabbing component to grab the object in a delayed mode.

2. The mechanical hand grip of claim 1, wherein the cylinder assembly further includes guide posts disposed at ends of the cylinder body, and wherein the gripper assembly further includes guide holes disposed therein, the guide holes being connected to the guide posts.

3. The mechanical gripper of claim 1, wherein the apron includes an apron body and connecting portions on both sides of the apron body, the connecting portions being connected to the first connecting plate and the second connecting plate, respectively.

4. The mechanical gripper of claim 1, wherein the distal end of the second web is further provided with a scratch guide.

5. The mechanical grip of claim 4 wherein the scratch guide is formed by a distal end of the second web extending outwardly and being folded back.

6. The mechanical gripper of claim 1, wherein the first detection device is a radar device, the mechanical gripper further comprising a connector connecting the radar device to the cylinder.

7. The mechanical gripper of claim 6, wherein the cylinder body is provided with an assembly groove, and the connecting member is provided with an assembly portion that cooperates with the assembly groove to position the radar device.

8. The mechanical gripper of claim 1, wherein the second sensing device is an infrared sensing device.

9. The mechanical gripper of claim 8, wherein the infrared sensing device includes an emitter and a receiver, the emitter and the receiver being disposed on two of the second connecting plates, respectively, and the emitter and the receiver being flush with a corresponding one of the second connecting plates.

10. The mechanical gripper of claim 9, wherein the transmitter and the receiver are secured to the second web by bonding, welding, snapping or sleeving.

11. The mechanical gripper of claim 9, wherein the infrared sensing device detects with correlation, the infrared sensing device detecting that the object is within a gripping range of the gripping assembly after correlation detects that the object passes the infrared sensing device.

12. The mechanical gripper of claim 11, wherein the delay controller delays the gripper assembly from gripping the object when the infrared sensing device detects that the object is within the gripping range of the gripper assembly.

13. The mechanical gripper of claim 1, further comprising a third connecting plate, wherein two ends of the third connecting plate are connected to two ends of the cylinder body, respectively.

14. The mechanical gripper of claim 13, wherein the third connecting plate further includes a connecting hole for connecting the third connecting plate to a robotic arm.

15. A robot, comprising:

a mechanical arm; and

mechanical tongs, fix the end of arm includes:

the cylinder assembly comprises a cylinder body and a push rod which can stretch relative to the end part of the cylinder body;

the first detection device is arranged on the cylinder body and used for detecting the position of the object; and

the second detection device is an infrared sensing device;