CN214114231U

CN214114231U - Mechanical claw for relieving lateral stress of translation push-pull driver

Info

Publication number: CN214114231U
Application number: CN202022097083.4U
Authority: CN
Inventors: 程宾; 赵雷振; 杨攀; 周成武
Original assignee: Sanmen Sanyou Technology Inc
Current assignee: Sanmen Sanyou Technology Inc
Priority date: 2020-09-22
Filing date: 2020-09-22
Publication date: 2021-09-03
Anticipated expiration: 2030-09-22

Abstract

The utility model belongs to the technical field of the gripper, especially, relate to a alleviate gripper of translation push-and-pull driver side direction atress. The utility model discloses the drive structure to gripper among the prior art receives the power of side direction, leads to the problem of drive structure damage, provides a gripper of alleviating translation push-pull driver side direction atress, including the transfer frame, the transfer frame on be equipped with two at least translation clamping jaws and two at least clamping jaw translation push-pull drivers, clamping jaw translation push-pull drivers fixed set up on the transfer frame, clamping jaw translation push-pull drivers's clamping jaw power rod and the translation clamping jaw that corresponds between link to each other through clamping jaw hinge structure, translation clamping jaw and transfer and be equipped with clamping jaw translation guide structure between the frame. The utility model discloses when the translation clamping jaw received the power of side direction, thereby the translation clamping jaw can take place to rotate the side direction atress size that reduces clamping jaw translation push-pull driver to prevent clamping jaw translation push-pull driver side direction atress and prolong clamping jaw translation push-pull driver's life.

Description

Mechanical claw for relieving lateral stress of translation push-pull driver

Technical Field

The utility model belongs to the technical field of the gripper, especially, relate to a alleviate gripper of translation push-and-pull driver side direction atress.

Background

In recent years, with the higher automation degree of enterprise production, the application of the stacking robot is more and more common, and the claw of the stacking robot matched with the stacking robot is rapidly developed. The existing stacking mechanical claw is various and is applied to different fields. Taking stacking of plates as an example, when the plates are stacked, in the process of clamping the plates, stacking mechanical claws in the prior art are easy to shake, so that a driving structure of the mechanical claw is subjected to a force in a lateral direction, and the driving structure is damaged.

For example, chinese utility model patent discloses a vibrating pile up neatly machinery claw [ application number: 201420433127.8], the utility model comprises a base plate, four support columns, a mounting plate, three grabbing branched chains, a starting plate, an electric push rod and two vibrating motors, wherein the upper ends of the four support columns are symmetrically welded on the lower end surface of the base plate, and the lower ends of the four support columns are welded on the upper end surface of the mounting plate; the middle part of the mounting disc is provided with a through hole, and the lower end surface of the mounting disc is provided with three single hangers; the three grabbing branch chains are respectively connected with the three single lifting lugs on the mounting disc through bolts, each grabbing branch chain comprises a rotating joint and a claw, the rotating joints are connected with the single lifting lugs through bolts, and the claws are connected with the rotating joints through pin shafts; the starting disc is connected with the three grabbing branched chains through pin shafts; the upper end of the electric push rod is connected with the middle part of the lower end face of the base plate through an angle seat, and the lower end of the electric push rod penetrates through a through hole in the mounting plate and is connected with the middle part of the upper end face of the starting plate through an angle seat; the two vibrating motors are located on two sides of the mounting disc and connected with the mounting disc through reinforcing ribs.

The utility model discloses a have easy and simple to handle and the advantage that work efficiency is high, but it still does not solve above-mentioned problem.

SUMMERY OF THE UTILITY MODEL

The utility model aims at the above-mentioned problem, provide a through preventing that actuating mechanism side direction atress and extension drive structure life alleviate gripper of translation push-and-pull driver side direction atress.

In order to achieve the above purpose, the utility model adopts the following technical proposal:

the mechanical claw comprises a transfer frame, wherein at least two translation clamping jaws and at least two clamping jaw translation push-pull drivers are arranged on the transfer frame, the translation clamping jaws are connected with the clamping jaw translation push-pull drivers in a one-to-one correspondence mode, the at least two translation clamping jaws are arranged oppositely, the clamping jaw translation push-pull drivers are fixedly arranged on the transfer frame, clamping jaw power rods of the clamping jaw translation push-pull drivers are connected with the corresponding translation clamping jaws through clamping jaw hinge structures, and clamping jaw translation guide structures are arranged between the translation clamping jaws and the transfer frame.

In the above mechanical gripper for relieving lateral stress of the translational push-pull driver, the clamping jaw translational guide structure comprises at least one guide sliding rod on the translational clamping jaw and at least one guide sliding sleeve arranged on the transfer frame, the guide sliding rod is sleeved in the guide sliding sleeve, and the guide sliding rod and the clamping jaw power rod are arranged in parallel.

In the above mechanical gripper for relieving lateral stress of the translation push-pull driver, the jaw hinge structure comprises a first connecting portion fixedly connected to the translation jaw and a second connecting portion fixedly connected to the jaw power rod, and the hinge column penetrates through the first connecting portion and the second connecting portion and is vertically arranged.

In the above mechanical gripper for relieving lateral stress of the translational push-pull driver, the transfer frame is further provided with a regulating mechanism, and a projection of a regulating area of the regulating mechanism in the vertical direction is at least partially overlapped with a projection of a clamping area of the translational clamping jaw in the vertical direction.

In the above mechanical gripper for relieving lateral stress of the translation push-pull driver, the regulating mechanism includes a plurality of regulating members, the regulating members are respectively and correspondingly connected with regulating driving mechanisms, and the regulating driving mechanisms are arranged on the transfer frame and can drive the regulating members to approach or leave the transfer frame in the horizontal direction.

In the above mechanical gripper for relieving lateral stress of the translation push-pull driver, the regulating driving mechanism includes a regulating driver fixedly arranged on the transfer frame, a regulating power rod of the regulating driver is connected with a corresponding regulating piece through a regulating hinge structure, and a regulating translation guide structure is arranged between the regulating piece and the transfer frame.

In the above mechanical gripper for relieving lateral force of the translational push-pull driver, the regulating mechanism includes at least two regulating members which are not in the same straight line and at least two opposite regulating members, the regulating members have regulating surfaces facing inward, and the regulating surfaces of the regulating members are located below the transfer rack.

The gripper for relieving the lateral stress of the translation push-pull driver further comprises a jacking execution structure arranged on the transfer frame, the jacking execution structure is connected with the jacking driving mechanism, the jacking execution structure is located above the clamping area, the jacking driving mechanism can drive the jacking execution structure to enter or exit the clamping area, a limiting structure is arranged at the lower end of the translation clamping jaw, and the limiting structure is located below the clamping area.

In the gripper for relieving lateral stress of the translation push-pull driver, the jacking execution structure comprises a mounting frame fixedly connected to a transfer frame, a jacking driving mechanism is mounted on the mounting frame, a jacking assembly is in driving connection with the jacking driving mechanism, the jacking driving mechanism can drive the jacking assembly to move in the vertical direction, the jacking assembly and the jacking driving mechanism are connected through a floating joint, the jacking assembly comprises a jacking column in driving connection with the jacking driving mechanism, an adjusting bolt is arranged at the lower end of the jacking column, the adjusting bolt and the jacking column are coaxially arranged and in threaded connection, a jacking head is arranged at the lower end of the adjusting bolt, a concave-convex surface is arranged on the lower surface of the jacking head, and a locking nut is in threaded connection with the adjusting bolt; the upper end of the adjusting bolt is connected with the jacking driving mechanism through a floating joint.

In the above mechanical gripper for relieving lateral stress of the translational push-pull driver, the number of the pushing actuating structures is one or at least two, the number of the pushing actuating mechanisms is the same as that of the pushing actuating structures and is arranged in a one-to-one correspondence manner, or the number of the pushing actuating mechanisms is less than that of the pushing actuating structures and at least one pushing actuating mechanism drives at least two pushing actuating structures simultaneously.

Compared with the prior art, the utility model has the advantages of:

1. the utility model discloses a translation clamping jaw passes through clamping jaw hinge structure and rotates with clamping jaw translation push-and-pull driver to be connected, and like this when the translation clamping jaw receives the power of side direction, thereby the translation clamping jaw can take place to rotate the side direction atress size that reduces clamping jaw translation push-and-pull driver greatly to prevent clamping jaw translation push-and-pull driver side direction atress and prolong clamping jaw translation push-and-pull driver's life.

2. The utility model discloses be equipped with regular mechanism on shifting the frame, regular mechanism treats pile up neatly sheet material displacement range through the restriction to realize regularly, improved the regularity behind the sheet material stack.

Drawings

Fig. 1 is a schematic structural diagram of the present invention;

fig. 2 is a front view of the present invention;

FIG. 3 is an enlarged view at A in FIG. 1;

FIG. 4 is an enlarged view at B in FIG. 2;

fig. 5 is a schematic structural view of another view angle of the present invention;

in the figure: the device comprises a transfer frame 1, a regulating mechanism 3, a jacking execution structure 5, a clamping jaw hinge structure 6, a clamping jaw translation guide structure 7, a regulating hinge structure 8, a regulating translation guide structure 9, a translation clamping jaw 22, a clamping jaw translation push-pull driver 23, a clamping area 24, a limiting structure 25, a clamping jaw power rod 26, a regulating drive mechanism 33, a regulating piece 34, a regulating area 36, a regulating drive 37, a regulating power rod 38, a mounting frame 51, a jacking drive mechanism 52, a jacking assembly 53, a floating joint 54, a jacking column 55, an adjusting bolt 56, a jacking head 57, a concave-convex surface 58, a locking nut 59, a first connecting part 61, a second connecting part 62, a hinging column 63, a guiding column 71, a guiding sleeve 72 and a regulating surface 341.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

As shown in fig. 1, a mechanical gripper for relieving lateral stress of a translational push-pull driver comprises a transfer frame 1, wherein the transfer frame 1 is provided with at least two translational clamping jaws 22 and at least two clamping jaw translational push-pull drivers 23, the translational clamping jaws 22 are connected with the clamping jaw translational push-pull drivers 23 in a one-to-one correspondence manner, the at least two translational clamping jaws 22 are opposite, the clamping jaw translational push-pull drivers 23 are fixedly arranged on the transfer frame 1, clamping jaw power rods 26 of the clamping jaw translational push-pull drivers 23 are connected with the corresponding translational clamping jaws 22 through clamping jaw hinge structures 6, and clamping jaw translational guide structures 7 are arranged between the translational clamping jaws 22 and the transfer frame 1.

The utility model discloses, during the use, remove and shift frame 1 to treat directly over the pile up neatly sheet material, move down again and make translation clamping jaw 22 part be located and treat pile up neatly sheet material below, clamping jaw translation push-and-pull driver 23 drive translation clamping jaw 22 is close to each other, even the aperture that gets translation clamping jaw 22 reduces, make and treat pile up neatly sheet material centre gripping in translation clamping jaw 22, shift frame 1 shifts to the pile up neatly position, treat this moment that the pile up neatly sheet material shifts directly over the pile up neatly position along with shifting frame 1 synchronous transfer, shift frame 1 shifts to the release position down, recycle clamping jaw translation push-and-pull driver 23 drive translation clamping jaw 22 and keep away from each other, even the aperture increase that gets translation clamping jaw 22, treat the pile up neatly sheet material with the release, in order to accomplish the pile up neatly. The utility model discloses a translation clamping jaw 22 rotates with clamping jaw translation push-and-pull driver 23 through clamping jaw hinge structure 6 and is connected, like this when translation clamping jaw 22 receives the power of side direction, thereby translation clamping jaw 22 can take place to rotate the side direction atress size that reduces clamping jaw translation push-and-pull driver 23 greatly to prevent clamping jaw translation push-and-pull driver 23 side direction atress and prolong clamping jaw translation push-and-pull driver 23's life.

The jaw hinge structure 6 enables the translational jaw 22 to swing laterally by realizing the rotational connection of the translational jaw 22 and the jaw translation push-pull driver 23, and the jaw hinge structure 6 can be realized by the following specific structure, as shown in fig. 1 to 3, wherein the jaw hinge structure 6 comprises a first connecting part 61 fixedly connected to the translational jaw 22 and a second connecting part 62 fixedly connected to the jaw translation push-pull driver 23, a hinge column 63 penetrates through the first connecting part 61 and the second connecting part 62, and the hinge column 63 is vertically arranged. I.e. the translating jaw 22 and the jaw translation push-pull driver 23 are rotationally connected by means of a hinge post 63.

The clamping jaw translation guide structure 7 realizes axial direction through the mode that is connected, and clamping jaw translation guide structure 7 can be realized through following specific structure, as shown in fig. 1, clamping jaw translation guide structure 7 include at least one direction slide bar 71 on the translation clamping jaw 22 and set up at least one direction sliding sleeve 72 on the transfer frame 1, direction slide bar 71 overlap locate in the direction sliding sleeve 72, direction slide bar 71 and clamping jaw power rod 26 parallel arrangement each other. I.e. by the cooperation of the guide sleeve 72 and the guide post 71.

As shown in fig. 1, the transfer rack 1 is further provided with a regulating mechanism 3, and a projection of a regulating region 36 of the regulating mechanism 3 in the vertical direction at least partially coincides with a projection of a clamping region 24 of the translating clamping jaw 22 in the vertical direction. The clamping area 24 is a space area where the to-be-stacked sheets are located when the to-be-stacked sheets are clamped by the translating clamping jaw 22, and the movement range of the to-be-stacked sheets in the area can be limited under the condition that the regulating area 36 of the regulating mechanism 3 is partially or even completely overlapped with the regulating area in the vertical direction, so that the to-be-stacked sheets are regulated.

When the stacking mechanism is used, the transfer frame 1 is moved to be right above a plate to be stacked, then the translation clamping jaws 22 are moved downwards to be partially positioned below the plate to be stacked, the translation clamping jaws 22 are driven to approach each other, namely, the opening degree of the translation clamping jaws 22 is reduced, so that the plate to be stacked is grabbed, the arranging mechanism 3 is positioned on the side faces of the plate to be stacked, therefore, the moving range of the plate to be stacked can be limited when the plate to be stacked is transferred and released, the plate to be stacked is transferred to stacking sites along with the transfer frame 1, the translation clamping jaws 22 are driven to be away from each other, namely, the opening degree of the translation clamping jaws 22 is increased, so that the plate to be stacked is released. Therefore, the transfer frame 1 is provided with the regulating mechanism 3, and the regulating mechanism 3 limits the moving range of the plates to be stacked, so that regulation is realized, and the neatness degree of the stacked plates is improved.

As shown in connection with FIGS. 1 and 5, the regulating mechanism 3 includes at least two regulating members 34, and at least two of the regulating members 34 are not collinear. Therefore, the movement range of the plate materials to be stacked can be limited on two sides in one direction.

The regulating member 34 can regulate in a translational manner, and the following specific structure can be adopted to realize translational regulation. The regulating driving mechanism 33 comprises a regulating driver 37 fixedly arranged on the transfer frame 1, a regulating power rod 38 of the regulating driver 37 is connected with the corresponding regulating piece 34 through a regulating hinge structure 8, and a regulating translation guide structure 9 is arranged between the regulating piece 34 and the transfer frame 1.

Wherein, regular hinge structure 8 can adopt the same concrete structure with clamping jaw hinge structure 6, regular translation guide structure 9 can adopt the same concrete structure with clamping jaw translation guide structure 7. This reduces lateral forces on the organizer 33 during use and extends the useful life of the organizer 33.

As shown in fig. 2 and fig. 4, the device further comprises a jacking actuating structure 5 arranged on the transfer frame 1, the jacking actuating structure 5 is connected with a jacking driving mechanism 52, the clamping actuating assembly 22 is provided with a limiting structure 25, the jacking end of the jacking actuating structure 5 is located above or below the limiting structure 25, and a jacking space with adjustable size is formed between the jacking end of the jacking actuating structure 5 and the limiting structure 25. When the clamping and placing executing assembly 22 clamps the plates to be stacked, one surface of the plates to be stacked is pressed on the limiting structure 25, the position is the tight pushing space, after the plates to be stacked are located in the tight pushing space, the tight pushing executing structure 5 moves and one end of the tight pushing executing structure 5 is pressed on the surface, away from the limiting structure 25, of the plates to be stacked, so that the tight pushing of the plates to be stacked is realized, the plates to be stacked are prevented from being displaced relatively in the transferring process, and the neatness degree of the plates after being stacked is ensured.

As shown in fig. 4, the number of the tightening actuators 5 is one or at least two, the number of the tightening driving mechanisms 52 is the same as the number of the tightening actuators 5 and is set in a one-to-one correspondence manner, or the number of the tightening driving mechanisms 52 is less than the number of the tightening actuators 5 and at least one tightening driving mechanism 52 drives at least two tightening actuators 5 simultaneously. That is, one or more tightening actuators 5 may be provided, and one tightening driving mechanism 52 may correspondingly drive the tightening actuators 5, or may simultaneously drive a plurality of tightening actuators 5.

Preferably, the number of the tightening actuating structures 5 is one, and the tightening actuating structures are arranged on the transfer frame 1 corresponding to the center of the clamping area of the clamping actuating assembly 22; or, the number of the jacking executing structures 5 is at least two, and the jacking executing structures are uniformly distributed on the transfer frame 1 corresponding to the clamping area of the clamping executing component 22. Therefore, when the jacking is ensured, the jacking force of the jacking execution structure 5 acting on the plate and the reaction force of the limiting structure 25 acting on the plate are distributed uniformly.

Further preferably, the number of the tightening actuating structures 5 is two, and the tightening actuating structures 5 are symmetrically arranged on the transfer frame 1 corresponding to the clamping area of the clamping actuating assembly 22, and the lower ends of the tightening actuating structures 5 are located above the limiting structures 25. Thus, the device structure is simplified and the production and installation are convenient while the uniform distribution of the acting force is ensured.

Specifically, the jacking actuating structure 5 comprises a vertically arranged jacking column 55, the upper end of the jacking column 55 is connected with the jacking driving mechanism 52, and the lower end of the jacking column 55 is located above the limiting structure 25. Preferably, the driving manner of the tightening driving mechanism 52 is linear driving, and a specific structure capable of realizing linear driving in the prior art can be adopted, for example, an air cylinder, an oil cylinder or a screw rod sliding sleeve structure.

When the stacking device is used, when a plate to be stacked is clamped on the clamping and placing executing assembly 22, the jacking driving mechanism 52 is started to drive the jacking column 55 to move along the vertical direction until the jacking column is pressed on the surface of the plate to be stacked, so that the plate to be stacked is prevented from generating relative displacement in the transferring process, and the neatness degree of the stacked plate is further ensured.

Preferably, the jacking post 55 and the jacking driving mechanism 52 are connected through a floating joint 54, and the floating joint 54 can reduce errors, protect the jacking actuating structure 5, enable the jacking actuating structure 5 to run stably, and prolong the service life of the jacking actuating structure 5.

As shown in fig. 4, an adjusting bolt 56 is arranged at the lower end of the top pillar 55, the adjusting bolt 56 is coaxially arranged with the top pillar 55 and is in threaded connection with the top pillar 55, and the length of the adjusting bolt 56 can be adjusted along the axial line direction so as to meet the requirements of pressing different plate materials. The lower end of the adjusting bolt 56 is provided with a tightly-pushing head 57, the periphery of the top column 55 is provided with a guide sleeve, the guide sleeve is fixed on the mounting frame 51, and the mounting frame 51 is fixed on the transfer frame 1; the jacking driving mechanism 52 is arranged on the mounting frame 51. The jacking driving mechanism 52 comprises a jacking driver, the jacking driver is fixed on the mounting frame 51, and a power output shaft of the jacking driver penetrates through the mounting frame 51 and is connected with the upper end of the jacking column 55.

During the use, start the tight driver in top, the tight driver in top drives power output shaft and promotes fore-set 55 to promote tight head 57 in top, make tight head 57 in top press to establish on the sheet material surface, in order to accomplish the tight process in top.

Preferably, the lower surface of the tightening head 57 has a concave-convex surface 58, and the adjusting bolt 56 is threadedly coupled with a locking nut 59. The concave-convex surface 58 can increase the friction coefficient between the jacking head 57 and the plates to be stacked, and prevent slipping.

The utility model discloses a theory of operation is: moving the transfer frame 1 to be right above a plate to be stacked, moving downwards to enable the translation clamping jaws 22 to be partially positioned below the plate to be stacked, starting the regulating driving mechanism 33 to enable the regulating plate 34 to be attached to the edge of the plate to be stacked, starting the clamping jaw translation push-pull driver 23 to drive the translation clamping jaws 22 to approach each other, namely reducing the opening degree of the translation clamping jaws 22 to grab the plate to be stacked onto the translation clamping jaws 22, starting the jacking driving mechanism 52 to drive the jacking assembly 53 to move along the vertical direction until the jacking assembly is pressed on the surface of the plate to be stacked, transferring the transfer frame 1 to a stacking site, driving the regulating plate 34 to approach the transfer frame 1 at the moment, tightening up the jacking assembly 53, and driving the translation clamping jaws 22 to move away from each other when the plate to be stacked is synchronously transferred to the position along with the transfer frame 1, namely, the opening degree of the mechanical claw 2 is increased to release the plate materials to be stacked so as to complete stacking. The utility model discloses a translation clamping jaw 22 rotates with clamping jaw translation push-and-pull driver 23 through clamping jaw hinge structure 6 and is connected, like this when translation clamping jaw 22 receives the power of side direction, thereby translation clamping jaw 22 can take place to rotate the side direction atress size that reduces clamping jaw translation push-and-pull driver 23 greatly to prevent clamping jaw translation push-and-pull driver 23 side direction atress and prolong clamping jaw translation push-and-pull driver 23's life.

The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications, additions and substitutions for the specific embodiments described herein may be made by those skilled in the art without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.

Although the transfer rack 1, the normalization mechanism 3, the tightening actuation structure 5, the jaw hinge structure 6, the jaw translation guide structure 7, the normalization hinge structure 8, the normalization translation guide structure 9, the translation jaw 22, the jaw translation push-pull driver 23, the clamping area 24, the limit structure 25, the jaw power bar 26, the normalization driving mechanism 33, the normalization member 34, the normalization area 36, the normalization driver 37, the normalization power bar 38, the mounting frame 51, the tightening driving mechanism 52, the tightening assembly 53, the floating joint 54, the jack-post 55, the adjusting bolt 56, the tightening head 57, the concave-convex surface 58, the locking nut 59, the first connecting portion 61, the second connecting portion 62, the hinge-post 63, the guide-post 71, the guide sleeve 72, and the normalization surface 341 are more used herein. Etc., but does not exclude the possibility of using other terms. These terms are used merely to more conveniently describe and explain the nature of the present invention; they are to be construed in a manner that is inconsistent with the spirit of the invention.

Claims

1. The utility model provides an alleviate mechanical gripper of translation push-and-pull driver side direction atress, includes transfer frame (1), transfer frame (1) on be equipped with two at least translation clamping jaws (22) and two at least clamping jaw translation push-and-pull drivers (23), translation clamping jaw (22) link to each other with clamping jaw translation push-and-pull driver (23) one-to-one, and wherein two at least translation clamping jaws (22) opposition, its characterized in that: the clamping jaw translation push-pull driver (23) is fixedly arranged on the transfer frame (1), a clamping jaw power rod (26) of the clamping jaw translation push-pull driver (23) is connected with a corresponding translation clamping jaw (22) through a clamping jaw hinge structure (6), and a clamping jaw translation guide structure (7) is arranged between the translation clamping jaw (22) and the transfer frame (1).

2. The mechanical gripper for mitigating lateral forces on a translational push-pull actuator as recited in claim 1, further comprising: clamping jaw translation guide structure (7) including translation clamping jaw (22) on at least one direction slide bar (71) and set up at least one direction sliding sleeve (72) on transfer frame (1), direction slide bar (71) cover locate in direction sliding sleeve (72), direction slide bar (71) and clamping jaw power rod (26) parallel arrangement each other.

3. The mechanical gripper for mitigating lateral forces on a translational push-pull actuator as recited in claim 1, further comprising: clamping jaw hinge structure (6) including first connecting portion (61) and second connecting portion (62) of fixed connection on clamping jaw power bar (26) of fixed connection on translation clamping jaw (22), articulated post (63) run through first connecting portion (61) and second connecting portion (62) and articulated post (63) vertical setting.

4. The mechanical gripper for mitigating lateral forces on a translational push-pull actuator as recited in claim 1, further comprising: the transfer frame (1) on still be equipped with regulation mechanism (3), the projection of regulation region (36) in the vertical direction of regulation mechanism (3) with the clamping region (24) of translation clamping jaw (22) at least partly coincide in the projection of vertical direction.

5. The mechanical gripper for mitigating lateral forces on a translational push-pull actuator as recited in claim 4, further comprising: regular mechanism (3) include a plurality of regular piece (34), regular piece (34) on correspond respectively and be connected with regular actuating mechanism (33), regular actuating mechanism (33) set up on transfer frame (1) and can drive regular piece (34) and be close to or keep away from transfer frame (1) at the horizontal direction.

6. The mechanical gripper for mitigating lateral forces on a translational push-pull actuator as recited in claim 5, further comprising: regular actuating mechanism (33) including fixed regular driver (37) that set up on transfer frame (1), regular power pole (38) of regular driver (37) and regular piece (34) that correspond between link to each other through regular hinge structure (8), regular piece (34) and transfer frame (1) between be equipped with regular translation guide structure (9).

7. The mechanical gripper for mitigating lateral forces on a translational push-pull actuator as recited in claim 5, further comprising: the regulating mechanism (3) comprises at least two regulating parts (34) which are not in the same straight line and at least two opposite regulating parts (34), wherein the regulating parts (34) are provided with inward regulating surfaces (341), and the regulating surfaces (341) of the regulating parts (34) are positioned below the transfer rack (1).

8. The mechanical gripper for mitigating lateral forces on a translational push-pull actuator as recited in claim 4, further comprising: still including setting up top tight execution structure (5) on transfer frame (1), top tight execution structure (5) link to each other with top tight actuating mechanism (52), top tight execution structure (5) be located centre gripping region (24) top, top tight actuating mechanism (52) can drive top tight execution structure (5) and get into or withdraw from centre gripping region (24), translation clamping jaw (22) lower extreme is equipped with limit structure (25), limit structure (25) are located centre gripping region (24) below.

9. The mechanical gripper for mitigating lateral forces on a translational push-pull actuator as recited in claim 8, further comprising: the jacking execution structure (5) comprises a mounting frame (51) fixedly connected to a transfer frame (1), a jacking driving mechanism (52) is mounted on the mounting frame (51), a jacking assembly (53) is in driving connection with the jacking driving mechanism (52), the jacking driving mechanism (52) can drive the jacking assembly (53) to move in the vertical direction, the jacking assembly (53) and the jacking driving mechanism (52) are connected through a floating joint (54), the jacking assembly (53) comprises a jacking column (55) in driving connection with the jacking driving mechanism (52), an adjusting bolt (56) is arranged at the lower end of the jacking column (55), the adjusting bolt (56) and the jacking column (55) are coaxially arranged and in threaded connection, a jacking head (57) is arranged at the lower end of the adjusting bolt (56), and a concave-convex surface (58) is arranged on the lower surface of the jacking head (57), the adjusting bolt (56) is in threaded connection with a locking nut (59); the upper end of the adjusting bolt (56) is connected with the jacking driving mechanism (52) through a floating joint (54).

10. The mechanical gripper for mitigating lateral forces on a translational push-pull actuator as recited in claim 8, further comprising: the number of the jacking actuating structures (5) is one or at least two, the number of the jacking actuating mechanisms (52) is the same as that of the jacking actuating structures (5) and the jacking actuating structures are arranged in a one-to-one correspondence mode, or the number of the jacking actuating mechanisms (52) is less than that of the jacking actuating structures (5), and at least one jacking actuating mechanism (52) drives at least two jacking actuating structures (5) simultaneously.