CN113021308A

CN113021308A - Mechanical gripper and lifting device

Info

Publication number: CN113021308A
Application number: CN202110313335.9A
Authority: CN
Inventors: 桂建平; 向兴要; 欧阳威; 潘继文
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2021-03-24
Filing date: 2021-03-24
Publication date: 2021-06-25
Anticipated expiration: 2041-03-24
Also published as: CN113021308B

Abstract

The invention discloses a mechanical gripper and a lifting device, wherein the mechanical gripper comprises a base, guide rods, a base and springs, one end of each guide rod is fixed with the base, and at least two guide rods are arranged at intervals; the base is in guide fit with the guide rod, and is provided with a grabbing mechanism which is positioned on one side of the base away from the base; the spring is sleeved on the guide rod, the spring is positioned between the base and the base, and at least one guide rod is sleeved with the spring. The lifting device comprises a first support frame, a second support frame and the mechanical gripper. Snatch the mechanism and be used for snatching the material (like welded reinforcement net piece), during the use, if the height that the point was grabbed to the mechanical tongs is inequality with other height of grabbing the point, then can make the relative base of base float from top to bottom through setting up of spring to make different points of grabbing homoenergetic normally snatch, in order to solve because the high difference of different points of grabbing that reasons such as material stack height and machining error lead to and then the problem of unable normal snatching.

Description

Mechanical gripper and lifting device

Technical Field

The invention relates to the technical field of building construction equipment, in particular to a mechanical gripper and a lifting device.

Background

Welded steel bar meshes, also called steel bar meshes, steel bar welded meshes or steel bar meshes, are meshes in which longitudinal steel bars and transverse steel bars are arranged at certain intervals and form right angles with each other, and all cross points are welded together, and are widely applied to the field of concrete construction at present.

The welded steel mesh needs to be grabbed by a mechanical gripper when in use, and then the welded steel mesh is placed in a specified production area to wait for further processing. However, since the welded steel mesh sheet includes a plurality of longitudinal steel bars and a plurality of transverse steel bars which are vertically welded together, deformation and errors are inevitably generated in the welding process, so that the overall heights of the welded steel mesh sheet are different, and at least two mechanical grippers for gripping the welded steel mesh sheet are generally provided, if the different gripping heights of the welded steel mesh sheet are different, the gripping of the welded steel mesh sheet by different mechanical grippers cannot be accurately realized; meanwhile, if a plurality of welded steel mesh sheets are stacked and placed, the problems of different grabbing point heights can also occur, so that normal grabbing and lifting operation cannot be performed.

Disclosure of Invention

Based on this, there is a need for a mechanical gripper and hoist; the mechanical gripper has floating performance, and can meet the normal gripping requirement when the gripping position of the welded steel bar mesh is uneven; the lifting device comprises the mechanical gripper, and the mechanical gripper has floating performance, so that different mechanical grippers can be balanced by floating design when facing different gripping positions with different heights, and normal gripping effect is realized.

The technical scheme is as follows:

one embodiment provides a mechanical gripper comprising:

a base;

one end of each guide rod is fixed with the base, and at least two guide rods are arranged at intervals;

the base is in guiding fit with the guide rod and is provided with a grabbing mechanism, and the grabbing mechanism is positioned on one side of the base, which is far away from the base; and

the spring is sleeved on the guide rod and located between the base and the base, and the spring is sleeved on at least one guide rod.

Above-mentioned mechanical tongs snatchs the mechanism and is used for snatching the material (like welded steel bar net piece), during the use, if the height that the mechanical tongs was grabbed the point is inequality with the height of other grabbing points, then can make the relative base of base go on floating from top to bottom through setting up of spring to make different grabbing point homoenergetic normally snatch, in order to solve because the problem that the height difference and then unable normal snatching of different grabbing point that reasons such as material stack height and machining error lead to.

The technical solution is further explained below:

in one embodiment, the base is provided with at least two first through holes, and the first through holes correspond to the guide rods one to one;

still be equipped with linear bearing on the base, linear bearing is equipped with at least two and installs in corresponding in the first through-hole, the guide bar with correspond linear bearing cooperation, so that the base with the guide bar guide cooperation.

In one embodiment, the grabbing mechanism comprises a first clamping jaw, a second clamping jaw and a driving assembly, the first clamping jaw and the second clamping jaw are movably connected with the base, the driving assembly is connected to the base, and the driving assembly can drive the first clamping jaw and the second clamping jaw to be folded or separated.

In one embodiment, the driving assembly comprises a first driving piece, a first connecting rod structure and a second connecting rod structure, the connecting end of the first driving piece is fixed to the base, the movable end of the first driving piece can output linear motion, two ends of the first connecting rod structure are respectively connected with the first clamping jaw and the movable end in a rotating mode, two ends of the second connecting rod structure are respectively connected with the second clamping jaw and the movable end in a rotating mode, and the movable end drives the first connecting rod structure and the second connecting rod structure to move when stretching out and drawing back, so that the first clamping jaw and the second clamping jaw are folded or separated.

In one embodiment, the driving assembly further comprises a proximity switch, wherein the proximity switch is arranged at the movable end;

and the driving assembly further comprises a self-locking valve, and the self-locking valve is electrically connected with the first driving piece.

In one embodiment, the gripping mechanism further comprises a floating connector disposed between the movable end and the first link structure or/and the floating connector disposed between the movable end and the second link structure.

In one embodiment, the grabbing mechanism further comprises a mounting seat, the mounting seat and the base are fixed at intervals, and the first driving piece is fixed on the base through the mounting seat;

the mounting base still is equipped with the locating part, the one end of locating part with the mounting base is fixed, the other end of locating part court keep away from of mounting base the direction of base extends, just the extreme position of the other end of locating part does not surpass the extreme position of first clamping jaw.

Another embodiment provides a trolley comprising:

hoisting a crane;

the first support frame is connected with the crane and is provided with first guide rails arranged in parallel;

the second support frame is matched with the first guide rail in a sliding mode and can slide on the first support frame along the first guide rail, the second support frame is provided with a second guide rail, and the extending direction of the second guide rail is perpendicular to the extending direction of the first guide rail; and

according to any one of the technical schemes, at least two mechanical grippers are arranged, at least one gripper is a fixed gripper, at least one gripper is a movable gripper, the fixed gripper is fixed to the middle of the second support frame or the middle of the second guide rail, and the at least one movable gripper is in sliding fit with the second guide rail and can slide on the second support frame along the second guide rail.

According to the lifting device, at least one mechanical gripper is fixed, the at least one mechanical gripper can move along the second guide rail, so that the distance between different mechanical grippers can be adjusted, the grabbing requirements of materials with different sizes and specifications are met, the mechanical gripper can also adjust the position through sliding of the second support frame on the first support frame, and the grabbing point selection requirements when the materials with different sizes and specifications are grabbed are further met.

The technical solution is further explained below:

in one embodiment, the first support frame is provided with a screw rod and a second driving member, the screw rod is rotatably arranged on the first support frame, the extending direction of the screw rod is the same as the extending direction of the first guide rail, the second driving member can drive the screw rod to rotate, the second support frame is provided with a screwing hole, and the second support frame is screwed with the screw rod through the screwing hole.

In one embodiment, a first synchronous wheel, a second synchronous wheel, a synchronous belt and a third driving piece are arranged on the second supporting frame, the first synchronous wheel and the second synchronous wheel are both rotatably arranged on the second supporting frame, the third driving piece is in transmission connection with the first synchronous wheel, the second synchronous wheel is in transmission connection with the first synchronous wheel through the synchronous belt, and the movable gripper is fixed with the synchronous belt;

the second support frame is further provided with at least one limiting sensor, and the limiting sensor is located on the side portion of the second guide rail.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention.

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Furthermore, the drawings are not drawn to a 1:1 scale, and the relative sizes of the various elements in the drawings are drawn only by way of example, and not necessarily to true scale.

FIG. 1 is a schematic structural diagram of a lifting device in one embodiment;

FIG. 2 is a schematic structural diagram of the first support frame in the embodiment of FIG. 1;

FIG. 3 is a schematic structural view of a second supporting frame in the embodiment of FIG. 1;

FIG. 4 is a schematic view of the movable gripper of the embodiment of FIG. 3;

FIG. 5 is a schematic diagram of the overall configuration of the mechanical gripper in one embodiment;

fig. 6 is an overall structural elevation view of the mechanical gripper of the embodiment of fig. 5.

Reference is made to the accompanying drawings in which:

100. a mechanical gripper; 101. fixing the hand grip; 102. a movable gripper; 110. a base; 120. a guide bar; 130. a base; 131. a linear bearing; 141. a first jaw; 142. a second jaw; 143. a first driving member; 144. a first link structure; 145. a second link structure; 146. a proximity switch; 147. a floating connector; 148. a mounting seat; 149. a limiting member; 150. a spring; 210. a first support frame; 211. a first guide rail; 212. a second driving member; 213. a screw rod; 220. a second support frame; 221. a second guide rail; 222. a third driving member; 223. a first synchronizing wheel; 224. a second synchronizing wheel; 225. a synchronous belt; 226. a limit sensor; 300. and welding the reinforcing mesh.

Detailed Description

Embodiments of the present invention are described in detail below with reference to the accompanying drawings:

in order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

Referring to fig. 1, a schematic structural diagram of the hoisting apparatus is shown, wherein the second support frame 220 can move on the first support frame 210, the plurality of mechanical grippers 100 are provided, a part of the mechanical grippers 100 are fixed on the second support frame 220, a part of the mechanical grippers 100 can move on the second support frame 220, and a moving direction of the mechanical grippers 100 on the second support frame 220 is perpendicular to a moving direction of the second support frame 220 on the first support frame 210. Through the setting of first support frame 210, second support frame 220 and mechanical tongs 100 for mechanical tongs 100 can adjust the interval, in order to match the different position of grabbing of waiting to grab the material (like welded reinforcement net piece 300), can also remove on a horizontal plane simultaneously, in order to adjust the position and the actual material position of grabbing matches, and the crane realizes going up and down and the handling through hoist and mount first support frame 210.

Since materials such as the welded steel mesh 300 may cause different heights of the grabbing points during processing or stacking, at this time, the mechanical grabbing hand 100 needs to adapt to the grabbing points with different heights so as to match the grabbing points with corresponding heights. Referring to fig. 5 and 6, one embodiment provides a mechanical gripper 100, wherein the mechanical gripper 100 has a floating function to meet the situation of gripping points with different heights. Specifically, the method comprises the following steps:

referring to fig. 5 and 6, the mechanical gripper 100 includes a base 110, a guide rod 120, a base 130, a spring 150 and a gripping mechanism, wherein the base 110 is used for connecting with a second support frame 220, one end of the guide rod 120 is fixed with the base 110, and at least two guide rods 120 are arranged at intervals; the base 130 is in guiding fit with the guide rod 120, the grabbing mechanism is arranged on the base 130, and the grabbing mechanism is positioned on one side of the base 130, which is far away from the base 110; the spring 150 is sleeved on the guide rods 120, the spring 150 is located between the base 110 and the base 130, and at least one guide rod 120 is sleeved with the spring 150.

This mechanical tongs 100, snatch the mechanism and be used for snatching the material (like welded steel mesh piece 300), during the use, if the height that the point was grabbed to mechanical tongs 100 is inequality with the height of other grabbing points, then can make base 130 float about base 110 through the setting of spring 150 to make different grabbing points homoenergetic normally snatch, in order to solve the problem that the height difference and then unable normal snatching of different grabbing points that cause because reasons such as material stack height and machining error.

Alternatively, as shown in fig. 5 and 6, four guide rods 120 are provided, four springs 150 are provided, and each guide rod 120 is sleeved with a spring 150.

In one embodiment, the base 130 is provided with at least two first through holes corresponding to the guide bars 120 one by one.

In one embodiment, referring to fig. 5 and 6, the base 130 is further provided with at least two linear bearings 131, the linear bearings 131 are installed in the corresponding first through holes, and the guide rod 120 is engaged with the corresponding linear bearings 131, so that the base 130 is engaged with the guide rod 120 in a guiding manner.

In one embodiment, referring to fig. 5 and 6, the gripping mechanism includes a first clamping jaw 141, a second clamping jaw 142, and a driving assembly, wherein the first clamping jaw 141 and the second clamping jaw 142 are movably connected to the base 130, the driving assembly is connected to the base 130, and the driving assembly can drive the first clamping jaw 141 and the second clamping jaw 142 to close or separate.

The driving assembly can drive at least one of the first clamping jaw 141 and the second clamping jaw 142 to swing, so that the first clamping jaw 141 and the second clamping jaw 142 are folded or separated to perform clamping or loosening operation.

In one embodiment, referring to fig. 5 and 6, the driving assembly includes a first driving element 143, a first link structure 144, and a second link structure 145, a connecting end of the first driving element 143 is fixed to the base 130, a movable end of the first driving element 143 can output linear motion, two ends of the first link structure 144 are respectively connected to the first clamping jaw 141 and the movable end in a rotating manner, two ends of the second link structure 145 are respectively connected to the second clamping jaw 142 and the movable end in a rotating manner, and the movable end drives the first link structure 144 and the second link structure 145 to move when extending and contracting, so as to fold or separate the first clamping jaw 141 and the second clamping jaw 142.

Referring to fig. 5 and 6, the first link structure 144 and the second link structure 145 are both parallelogram link structures, the first driving member 143 can be a hydraulic push rod, a pneumatic push rod or an electric push rod to output linear reciprocating motion, when the first driving member 143 outputs linear reciprocating motion, the first link structure 144 and the second link structure 145 are driven to link, the first link structure 144 drives the first clamping jaw 141 to swing, and the second link structure 145 drives the second clamping jaw 142 to swing, so as to fold or separate the first clamping jaw 141 and the second clamping jaw 142.

Optionally, the first clamping jaw 141 is provided with a first clamping groove, the second clamping jaw 142 is provided with a second clamping groove, and the second clamping groove and the first clamping groove are correspondingly arranged to clamp a grabbing point of a material (such as a grabbing point on a transverse rib or a longitudinal rib of the welded steel mesh 300), so that grabbing is more reliable and stable.

In one embodiment, referring to fig. 6, the driving assembly further includes a proximity switch 146, and the proximity switch 146 is disposed at the movable end.

The proximity switch 146 is used to detect the position of the mechanical gripper 100 from the material to be gripped for further operation and control.

In one embodiment, the driving assembly further comprises a latching valve electrically connected to the first driving member 143.

The self-locking valve can be electrically connected with a master control system of the system, and can ensure that the first clamping jaw 141 and the second clamping jaw 142 are in a self-locking state in the hoisting process, so that the material clamping state is maintained, and accidental falling or slipping is prevented; meanwhile, the material can be firmly clamped under the condition of power failure, and accidents are avoided.

Optionally, the latching valve is a three-position, five-way solenoid valve.

In one embodiment, referring to fig. 6, the grasping mechanism further includes a floating connector 147, the floating connector 147 being disposed between the movable end and the first link structure 144 or/and the floating connector 147 being disposed between the movable end and the second link structure 145.

A floating connector 147 may be provided at the movable end (i.e., the protruding end) of the first driving member 143 to allow the first jaw 141 and the second jaw 142 to float up and down within a certain range to adapt to different gripping point heights.

Optionally, floating connector 147 is a floating joint.

In one embodiment, referring to fig. 5 and 6, the grabbing mechanism further includes a mounting seat 148, the mounting seat 148 is fixed to the base 130 at a distance, and the first driving member 143 is fixed to the base 130 through the mounting seat 148.

As shown in fig. 5 and 6, the base 130 and the mounting seat 148 are fixed together by a support plate, and the main body of the first driving member 143 is clamped between the base 130 and the mounting seat 148 to fix and position the first driving member 143.

In one embodiment, referring to fig. 5 and fig. 6, the mounting base 148 further includes a limiting member 149, one end of the limiting member 149 is fixed to the mounting base 148, the other end of the limiting member 149 extends toward the mounting base 148 in a direction away from the base 130, and a terminal position of the other end of the limiting member 149 does not exceed a terminal position of the first clamping jaw 141.

In the embodiment shown in fig. 5 and 6, the limiting member 149 is a limiting plate, and the bottom of the limiting plate is higher than the bottom of the first clamping jaw 141 or the second clamping jaw 142, so that when the first clamping jaw 141 and the second clamping jaw 142 cooperate to clamp the material, the limiting member can only extend into the material to a set maximum depth, and if the limiting member 149 further extends into the material, the limiting member will not further extend into the material, so as to ensure that the first clamping jaw 141 and the second clamping jaw 142 can only clamp the upper structure of the material (for example, among a plurality of welded steel mesh sheets 300 stacked together, the uppermost welded steel mesh sheet 300), and thus only a specific material can be clamped without excessive clamping or wrong clamping.

Referring to fig. 1, another embodiment provides a lifting device, which includes a crane, a first support frame 210, a second support frame 220 and a mechanical gripper 100. Specifically, the method comprises the following steps:

referring to fig. 2, the first support frame 210 is connected to a crane, and the first support frame 210 has first guide rails 211 arranged in parallel.

Referring to fig. 3 and 4, the second supporting frame 220 is slidably engaged with the first guide rail 211, the second supporting frame 220 can slidably move on the first supporting frame 210 along the first guide rail 211, the second supporting frame 220 has a second guide rail 221, and an extending direction of the second guide rail 221 is perpendicular to an extending direction of the first guide rail 211.

Referring to fig. 1, 3 and 4, the mechanical hand 100 includes at least two fixed hand grips 101, at least one movable hand grip 102, the fixed hand grip 101 is fixed at the middle of the second support frame 220 or the middle of the second guide rail 221, and the at least one movable hand grip 102 is slidably engaged with the second guide rail 221 and can slide on the second support frame 220 along the second guide rail 221.

According to the lifting device, at least one mechanical gripper 100 is fixed, and at least one mechanical gripper 100 can move along the second guide rail 221, so that the distance between different mechanical grippers 100 can be adjusted, the grabbing requirements of materials with different dimensions can be met, the mechanical gripper 100 can also adjust the position on the first support frame 210 through the sliding of the second support frame 220, and the grabbing point selection requirements when the materials with different dimensions are grabbed can be further met.

It should be noted that:

in the embodiment shown in fig. 1, the first support frame 210, the second support frame 220 and the mechanical gripper 100 are arranged, so that stepless pitch adjustment of the mechanical gripper 100 is realized, the calculation of the optimal gripping point is performed according to the actual size of the welded steel mesh 300, and the deformation of the welded steel mesh 300 in the gripping and lifting process is prevented.

In the embodiment shown in fig. 1, the first support frame 210 is a rectangular frame, two second support frames 220 are provided, two second support frames 220 are arranged at intervals and can slide on the first support frame 210, three mechanical grippers 100 are provided on each second support frame 220, one of the middle parts is a fixed gripper 101 which is fixedly arranged, the mechanical grippers 100 on the opposite sides of the fixed gripper 101 are movable grippers 102, and the movable grippers 102 can slide on the second support frames 220 along the second guide rail 221.

Through the arrangement of the movable hand grip 102 and the fixed hand grip 101, the distance between the adjacent mechanical hand grips 100 can be adjusted according to the actual gripping point condition, the size specification of the material to be gripped and the like, so that the problems of balance and the like in the gripping and hoisting process can be better solved.

In one embodiment, referring to fig. 2, the first supporting frame 210 is provided with a screw rod 213 and a second driving member 212, the screw rod 213 is rotatably disposed on the first supporting frame 210, an extending direction of the screw rod 213 is the same as an extending direction of the first guide rail 211, the second driving member 212 can drive the screw rod 213 to rotate, the second supporting frame 220 is provided with a screw hole, and the second supporting frame 220 is in screw connection with the screw rod 213 through the screw hole.

Alternatively, the second supporting frame 220 may be configured with a nut block, and the nut block is provided with a screw hole to be screw-engaged with the screw rod 213.

In the embodiment shown in fig. 2, the extending direction of the screw rod 213 is the same as the extending direction of the first guide rail 211, two ends of the screw rod 213 can be mounted through a supporting seat, and a coupling or the like can be configured between the second driving element 212 and the screw rod 213 as required. So set up, when second driving piece 212 output rotary power, drive lead screw 213 and rotate, lead screw 213 rotates, and second support frame 220 receives the restriction of lead screw 213 and first guide rail 211 and can only slide along first guide rail 211 to the realization removes.

Optionally, as shown in the embodiment shown in fig. 2, two screw rods 213 are provided, and the first guide rail 211 is correspondingly and cooperatively disposed to meet the installation requirements of the two second support frames 220, which is not described again.

Alternatively, the second driving member 212 may be a driving motor capable of outputting a rotational power, and by outputting a rotational power in different directions, the second supporting frame 220 is moved back and forth on the first supporting frame 210 and is adjusted in position.

In one embodiment, referring to fig. 3 and 4, the second support frame 220 is provided with a first synchronizing wheel 223, a second synchronizing wheel 224, a timing belt 225 and a third driving member 222, the first synchronizing wheel 223 and the second synchronizing wheel 224 are both rotatably disposed on the second support frame 220, the third driving member 222 is in transmission connection with the first synchronizing wheel 223, the second synchronizing wheel 224 is in transmission connection with the first synchronizing wheel 223 through the timing belt 225, and the movable hand grip 102 is fixed to the timing belt 225.

As shown in fig. 3 and 4, the second support frame 220 is provided with a first synchronizing wheel 223, a second synchronizing wheel 224 and a timing belt 225, the third driving member 222 drives the first synchronizing wheel 223 to rotate, so as to drive the timing belt 225 to move, and when the timing belt 225 moves, the mechanical gripper 100 fixed on the timing belt 225 is driven, so as to realize the movement of the mechanical gripper 100 on the second support frame 220.

As shown in fig. 3 and 4, the moving direction of the timing belt 225 is the same as the extending direction of the second guide rail 221, the base 110 of the mechanical gripper 100 is fixed to the timing belt 225, and the base 110 is further slidably engaged with the second guide rail 221, so that when the timing belt 225 moves, the mechanical gripper 100 is driven to move along the second guide rail 221.

Optionally, a parallel second guide rail 221 is provided on the second support frame 220 to achieve a better guiding fit.

In one embodiment, referring to fig. 4, at least one limit sensor 226 is further disposed on the second supporting frame 220, and the limit sensor 226 is located at a side portion of the second guiding rail 221.

The limit sensor 226 is used to detect and limit the moving range of the mechanical gripper 100 on the second support frame 220 to avoid the problem of excessive movement in an unexpected situation.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" 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" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A mechanical gripper, comprising:

a base;

2. The mechanical gripper as claimed in claim 1, wherein the base is provided with at least two first through holes corresponding to the guide rods one to one;

3. The mechanical gripper as claimed in claim 1, wherein the gripping mechanism comprises a first jaw, a second jaw and a driving assembly, the first jaw and the second jaw are movably connected to the base, the driving assembly is connected to the base, and the driving assembly can drive the first jaw and the second jaw to be folded or separated.

4. The mechanical gripper as claimed in claim 3, wherein the driving assembly includes a first driving member, a first link structure and a second link structure, the connecting end of the first driving member is fixed to the base, the movable end of the first driving member can output linear motion, two ends of the first link structure are respectively rotatably connected to the first clamping jaw and the movable end, two ends of the second link structure are respectively rotatably connected to the second clamping jaw and the movable end, and the movable end drives the first link structure and the second link structure to move when telescoping so as to fold or separate the first clamping jaw and the second clamping jaw.

5. The mechanical gripper of claim 4, wherein the actuation assembly further comprises a proximity switch disposed at the movable end;

6. The mechanical gripper of claim 4, wherein the gripping mechanism further comprises a floating connector disposed between the movable end and the first link structure or/and the floating connector disposed between the movable end and the second link structure.

7. The mechanical gripper as claimed in any one of claims 3 to 6, wherein the gripping mechanism further comprises a mounting seat, the mounting seat being fixed in spaced relation to the base, the first driving member being fixed to the base by the mounting seat;

8. A hoist, characterized by, includes:

hoisting a crane;

the mechanical hand grip of any one of claims 1 to 7, wherein at least two mechanical hand grips are provided, at least one fixed hand grip and at least one movable hand grip, the fixed hand grip is fixed to the middle of the second support frame or the middle of the second guide rail, and at least one movable hand grip is slidably engaged with and capable of sliding on the second support frame along the second guide rail.

9. The overhead hoist of claim 8, wherein the first support frame is provided with a screw rod and a second driving member, the screw rod is rotatably provided on the first support frame, the screw rod extends in the same direction as the first guide rail, the second driving member can drive the screw rod to rotate, the second support frame is provided with a screw hole, and the second support frame is in screw connection with the screw rod through the screw hole.

10. The hoisting device of claim 8, wherein the second support frame is provided with a first synchronizing wheel, a second synchronizing wheel, a synchronizing belt and a third driving member, the first synchronizing wheel and the second synchronizing wheel are both rotatably arranged on the second support frame, the third driving member is in transmission connection with the first synchronizing wheel, the second synchronizing wheel is in transmission connection with the first synchronizing wheel through the synchronizing belt, and the movable gripper is fixed with the synchronizing belt;