CN214772109U

CN214772109U - Mechanical gantry gripper device

Info

Publication number: CN214772109U
Application number: CN202120536542.6U
Authority: CN
Inventors: 王政; 王文军; 寇宝民; 廖东勇
Original assignee: Beijing Xinyuan Jianbang Technology Co ltd
Current assignee: Beijing Xinyuan Jianbang Technology Co ltd
Priority date: 2021-03-15
Filing date: 2021-03-15
Publication date: 2021-11-19
Anticipated expiration: 2031-03-15

Abstract

The utility model provides a mechanical tongs device of longmen relates to mechanical tongs technical field, has solved the complicated, the great technical problem of volume of mechanical tongs device structure of longmen among the prior art. The mechanical gripper comprises a gripper base and gripper devices arranged on two sides of the gripper base, each gripper device comprises a mechanical gripper assembly, a gripper driving assembly and a gripper protection assembly, each gripper driving assembly can control the mechanical gripper assembly to enable the mechanical gripper assembly to be in a state of clamping or loosening an object, and each gripper protection assembly can act on each gripper driving assembly when the mechanical gripper assembly is in a state of clamping the object so that the mechanical gripper can always keep a state of clamping the object. The utility model discloses the structure is simple relatively, and the cost is low, can protect tongs drive assembly and mechanical tongs subassembly through tongs protection subassembly simultaneously for mechanical tongs subassembly is in the state that presss from both sides tight article all the time, prevents under the circumstances of unexpected outage disconnected gas, and mechanical tongs subassembly became invalid and the circumstances that leads to the article to drop appears.

Description

Mechanical gantry gripper device

Technical Field

The utility model belongs to the technical field of mechanical tongs technique and specifically relates to a longmen machinery tongs device is related to.

Background

A robot is an automatic operating device that can simulate some action functions of a human hand and an arm to grab, carry an object or operate a tool according to a fixed program. In the production and installation process of the composite heat-insulation groove plate, the aerated concrete plate with the weight of more than 120 kilograms and the length of about 4 meters needs to be clamped and accurately positioned in millimeter level.

The applicant finds that at least the following technical problems exist in the prior art: at present, the production and installation of the composite heat-insulating groove plate are realized by manual moving or simple tools in production, and the problems of high labor intensity and low working efficiency exist. And if the high-precision medium-heavy gantry mechanical gripper is adopted to complete the installation operation, the gantry mechanical gripper is higher in manufacturing cost, the market competition of building raw materials is very strong, and the sensitivity to the price is very high. Therefore, the problems of large size, low positioning precision and high manufacturing cost generally exist in the positioning and installation of the conventional medium-heavy gantry mechanical gripper. In addition, the problem that the gantry mechanical gripper device which is suitable for the composite heat-insulation groove plate at present cannot realize self-locking of the composite heat-insulation groove plate product and prevent falling is solved, and particularly, the problem that the composite heat-insulation groove plate product falls can be caused under the conditions that the gantry mechanical gripper device is accidentally powered off and is not inflated, and accidents are caused.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a gantry machinery tongs device to solve the gantry machinery tongs device structure that exists among the prior art complicated, the great technical problem of volume. The utility model provides a plurality of technical effects that preferred technical scheme among a great deal of technical scheme can produce see the explanation below in detail.

In order to achieve the above purpose, the utility model provides a following technical scheme:

the utility model provides a pair of longmen machinery tongs device, be in including tongs base and setting the tongs device of tongs base both sides, tongs device includes mechanical tongs subassembly, tongs drive assembly and tongs protection subassembly, wherein, tongs drive assembly can control mechanical tongs subassembly makes it be in and presss from both sides tightly or loosen the article state, tongs protection subassembly is in can be used for when mechanical tongs subassembly is in and presss from both sides tight article state tongs drive assembly is last so that mechanical tongs subassembly remains throughout to press from both sides the state of pressing from both sides tight article.

According to a preferred embodiment, the gripper further comprises supports vertically fixed to two sides of the gripper base, the supports are fixed to longitudinal supports of the gripper base in a frame type structure, a connecting frame is arranged below a top plate of each support and is of a U-shaped structure, and the width of each connecting frame is larger than that of each support so that the connecting frames can move up and down on two sides of each support.

According to a preferred embodiment, the mechanical gripper assembly comprises oppositely arranged clamping jaws and gripper arm groups respectively connected with each clamping jaw, and each gripper arm group comprises two gripper arms which are arranged on the inner side and the outer side of the support in parallel; the tongs arm includes upper arm and lower arm, wherein, the vertical setting of lower arm, the upper arm with the lower arm is the contained angle and upwards extends the setting, wherein, the clamping jaw sets up the inboard of lower arm is located the support is with inboard or with two in the outside the tongs arm alternately sets up between the upper arm.

According to a preferred embodiment, the upper parts of the upper arms of the gripper arms for connecting the same gripper are connected by a first rotation axis; the first rotating shaft penetrates through the side walls of the two connecting frames of the connecting frame so that the gripper arms are arranged on two sides of the connecting frame;

and the upper arm and the lower arm are connected with the longitudinal support of the gripper base through a second rotating shaft.

According to a preferred embodiment, the gripper driving assembly comprises a driving air cylinder, the bottom of the cylinder body of the driving air cylinder is fixed to the connecting frame bottom plate, the top of the cylinder body of the driving air cylinder penetrates through the support top plate and extends upwards, an insertion hole allowing the top of the cylinder body of the driving air cylinder to penetrate through and move up and down is formed in the support top plate, and the bottom of a piston rod of the driving air cylinder is fixedly connected with the support bottom plate.

According to a preferred embodiment, the gripper driving assembly further comprises guide rods arranged on two sides of the driving cylinder, the bottom of each guide rod is fixed to the support bottom plate, the top of each guide rod is fixed to the support top plate, a shaft sleeve is fixed to the connecting frame bottom plate, and the guide rods penetrate through the shaft sleeves to enable the connecting frame bottom plate to slide up and down relative to the guide rods.

According to a preferred embodiment, the gripper protection assembly comprises protection driving cylinders respectively arranged on two support side walls, wherein cylinder bodies of the protection driving cylinders are fixed to the outer sides of the support side walls, and piston rods of the protection driving cylinders penetrate through the support side walls and extend inwards.

According to a preferred embodiment, the movable end of the piston rod of the protection driving cylinder is connected with a supporting block, the bottom of the supporting block is provided with a sliding block, a sliding rail matched with the sliding block is arranged on the support bottom plate, and the length of the sliding rail can enable the supporting block to slide to the position below the connecting frame bottom plate of the connecting frame.

According to a preferred embodiment, a protection spring is sleeved on a piston rod of the protection driving cylinder, when the protection driving cylinder is in a non-working state, the protection spring is in a compressed state, and the length of the slide rail enables the distance between two oppositely arranged supporting blocks to be larger than the length of the connecting frame;

the top of the supporting block is provided with a sliding part, two sides of the bottom of the connecting frame bottom plate are provided with stop parts, the longitudinal section of each stop part is of a right-angled triangle structure, the inclined edge of each stop part faces to the outside, and when the mechanical gripper assembly is in a state of clamping an object, the sliding part can stop the inner side of the stop part.

According to a preferred embodiment, a first sensor is arranged at the bottom of the bracket and is arranged right above the clamping jaw of the mechanical gripper assembly for identifying the clamping state of the clamped object;

and second sensors are respectively arranged on two transverse supports opposite to the gripper base and at one end close to one gripper device, and are used for identifying and detecting an object to be clamped.

Based on the technical scheme, the utility model discloses a longmen machinery tongs device has following technological effect at least:

the utility model discloses a mechanical tongs device of longmen includes the tongs base and sets up the tongs device in tongs base both sides, the tongs device includes mechanical tongs subassembly, tongs drive assembly and tongs protection subassembly, wherein, tongs drive assembly can control mechanical tongs subassembly and make it be in and press from both sides tightly or loosen the article state, tongs protection subassembly can be used in the state that presss from both sides tight article so that mechanical tongs subassembly remains the tight article all the time when mechanical tongs subassembly is in and presss from both sides tight article state on tongs drive assembly. The utility model discloses a mechanical tongs device of longmen structure is simple relatively, and the cost is low, simultaneously the utility model discloses a mechanical tongs device of longmen can protect tongs drive assembly through tongs protection assembly, makes it can control mechanical tongs subassembly and be in the state of pressing from both sides tight article all the time, prevents under the circumstances of unexpected outage gas-break, and mechanical tongs subassembly became invalid and the circumstances that leads to the article to drop appears.

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 these drawings without creative efforts.

Fig. 1 is a schematic view of the overall structure of the gantry mechanical gripper of the present invention;

fig. 2 is a schematic structural view of the gantry mechanical gripper of the present invention after the protective housing is hidden;

fig. 3 is a schematic structural view of a gripper in the gantry mechanical gripper of the present invention;

fig. 4 is a schematic structural view of another view angle of the gripper in the gantry mechanical gripper of the present invention;

fig. 5 is a schematic structural view of the gantry mechanical gripper apparatus of the present invention with the mechanical gripper assembly and the side wall of the link hidden in the gripper;

FIG. 6 is a schematic diagram of the structure shown in FIG. 5 from another perspective;

fig. 7 is a schematic structural view of the mechanical gripper assembly hidden by the gripper in the gantry mechanical gripper of the present invention.

In the figure: 1-a gripper base; 2-gripper means; 3-a second sensor; 4-a first sensor; 11-a transverse bracket; 21-protective shell; 22-a scaffold; 23-a connecting frame; 101-a jaw; 102-a gripper arm; 103-a first rotating shaft; 104-a second rotational axis; 1021-an upper arm; 1022-lower arm; 201-driving a cylinder; 202-a guide rod; 203-shaft sleeve; 220-a jack; 221-a rack top plate; 222-a bracket side wall; 223-a rack backplane; 231-a link base plate; 232-connecting frame side wall; 233-a stop; 301-protection of the driving cylinder; 302-protection spring; 303-a support block; 304-a slide rail; 305-a slide block; 306-sliding member.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be described in detail below. It is to be understood that the embodiments described are only some embodiments of the invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

In the description of the present invention, it is to be noted that, unless otherwise specified, "a plurality" means two or more; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood as the case may be, by those of ordinary skill in the art.

The technical solution of the gantry mechanical gripper of the present invention is described in detail with reference to the accompanying drawings 1 to 7 of the specification.

As shown in fig. 1 and 2, the utility model provides a gantry mechanical gripper, which comprises a gripper base 1 and gripper devices 2 arranged on two sides of the gripper base 1. The gripper device 2 comprises a mechanical gripper assembly, a gripper driving assembly and a gripper protecting assembly, wherein the gripper driving assembly can control the mechanical gripper assembly to enable the mechanical gripper assembly to be in a state of clamping or loosening an object, and the gripper protecting assembly can act on the gripper driving assembly when the mechanical gripper assembly is in a state of clamping the object so as to enable the mechanical gripper assembly to always keep a state of clamping the object. The gripper driving assembly is protected through the gripper protection assembly, so that the mechanical gripper assembly can be controlled to be always in a state of clamping an object, and the situation that the object falls off due to failure of the mechanical gripper assembly under the condition of accidental power failure and air break is prevented. The gantry mechanical gripper device of the utility model has relatively simple structure and low cost.

Further preferably, the gripper base 1 comprises two transverse supports 11 arranged in parallel in the length direction and two longitudinal supports arranged in parallel in the width direction. The two transverse brackets 11 and the two longitudinal brackets are sequentially connected end to form the gripper base 1. It is further preferred that a protective casing 21 is provided on the outside of the gripper for protecting the internal components.

As shown in fig. 2, it is preferable that the gripper further includes brackets 22 vertically fixed to both sides of the gripper base 1. The supports 22 are fixed to the longitudinal supports of the gripper base 1 in a frame-like structure. That is, the inside of the holder 22 has a hollow structure. The rack 22 includes rack sidewalls 222, a rack top plate 221, and a rack bottom plate 223 on both sides. The support 22 is used for arranging a mechanical gripper assembly, a gripper driving assembly and a gripper protecting assembly.

Further preferably, with continued reference to fig. 2, a connecting frame 23 is provided below the support top plate 221, and the connecting frame 23 is U-shaped. The link 23 includes a link base 231 and link sidewalls 232 disposed on both sides of the long side of the link base 231. The width of the link frame 23 is greater than that of the support frame 22 so that the link frame 23 can move up and down on both sides of the support frame 22. The connecting frame 23 is used for moving up and down under the action of a driving cylinder of the gripper driving assembly to drive the gripper arms of the mechanical gripper assembly to approach or move away from each other so as to clamp or release the object.

Further preferably, as shown in fig. 3, the mechanical gripper assembly includes opposing clamping jaws 101 and a set of gripper arms respectively connected to each clamping jaw 101. The hand grab arm group comprises two hand grab arms 102 which are arranged on the inner side and the outer side of the bracket 22 in parallel; that is, each of the jaws 101 is connected by a gripper arm 102 located on both the inside and outside of the frame 22. Preferably, each of the gripper arms 102 includes an upper arm 1021 and a lower arm 1022, wherein the lower arm 1022 is disposed vertically, and the upper arm 1021 and the lower arm 1022 are disposed at an angle and extend upward. The clamping jaws 101 are arranged on the inner side of the lower arm 1022, and are arranged between the upper arms 1021 of the two clamping arms 102 on the same inner side or the same outer side of the support 22 in a crossing manner. The upper arms 1021 of the gripper arms 102 on the same inner side or the same outer side of the frame 22 are arranged crosswise so that the groups of gripper arms can move closer to or away from each other to grip or release an object when the gripper driving unit moves the link 23 up and down. In this embodiment, the inner side of the bracket is a direction toward the center of the two grippers.

Further preferably, as shown in fig. 4, the upper parts of the upper arms 1021 of the gripper arms 102 for connecting the same gripper 101 are connected through a first rotating shaft 103; wherein the first rotating shaft 103 passes through the two link side walls 232 of the link 23 so that the gripper arms 102 are disposed at both sides of the link 23. As shown in fig. 2 and 4, the upper arm 1021 and the lower arm 1022 are connected to the longitudinal support of the gripper base 1 via the second rotation shaft 104. And further fixed installation of the mechanical gripper assembly is realized. Therefore, when the connecting frame 23 moves upward due to the action of the gripper driving assembly, the first rotating shaft 103 is driven to move upward at the same time, so that the top ends of the upper arms of the two gripper arms arranged in a crossed manner move upward, and the gripper arms rotate around the first rotating shaft and the second rotating shaft to drive the two lower arms to approach each other and clamp the object. Preferably, the gripper arm 102 is a one-piece structure.

Further preferably, as shown in fig. 5, the gripper driving assembly includes a driving cylinder 201, and a cylinder bottom of the driving cylinder 201 is fixed to the link base plate 231. The top of the cylinder body of the drive cylinder 201 extends upward through the bracket top plate 221. The top plate 221 of the bracket is provided with an insertion hole 220 which allows the top of the cylinder body of the driving cylinder 201 to pass through and can move up and down. The bottom of the piston rod of the driving cylinder 201 is fixedly connected with a support bottom plate 223. Therefore, when the driving cylinder 201 is operated, the cylinder body moves upward to drive the connecting frame bottom plate 231 to move upward, the connecting frame bottom plate 231 moves upward to drive the upper arm 1021 of the gripper arm 102 located on the same inner side or the same outer side of the support 22 to move upward, and the gripper jaws 101 located opposite to each other are disposed to be close to each other to grip the object.

Further preferably, as shown in fig. 5 and 6, the gripper driving assembly further includes guide rods 202 disposed at both sides of the driving cylinder 201. The bottom of the guide bar 202 is fixed to the bracket bottom plate 223, the top of the guide bar 202 is fixed to the bracket top plate 221, the boss 203 is fixed to the link bottom plate 231, and the guide bar 202 is disposed through the boss 203 so that the link bottom plate 231 can slide up and down with respect to the guide bar 202. The guide bar 202 serves both supporting and guiding functions. When the driving cylinder 201 moves upward or downward to move the connecting frame bottom plate 231 upward or downward, the connecting frame bottom plate 231 can slide upward or downward along the guide rods 202 through the bushings 203.

Further preferably, as shown in fig. 6 and 7, the gripper protection assembly includes protection driving cylinders 301 respectively disposed at the two bracket sidewalls 222, wherein the cylinders of the protection driving cylinders 301 are fixed to the outer sides of the bracket sidewalls 222, and the piston rods of the protection driving cylinders 301 extend inward through the bracket sidewalls 222. The movable end of the piston rod of the protection driving cylinder 301 is connected with a supporting block 303, the bottom of the supporting block 303 is provided with a sliding block 305, a sliding rail 304 matched with the sliding block 305 is arranged on the support bottom plate 223, and the length of the sliding rail 304 enables the supporting block 303 to slide to the lower portion of the connecting frame bottom plate 231 of the connecting frame 23. Preferably, a protection spring 302 is sleeved on the piston rod of the protection driving cylinder 301, when the protection driving cylinder 301 is in a non-working state, the protection spring 302 is in a compressed state, and at this time, the length of the slide rail 304 enables the distance between the two oppositely arranged supporting blocks 305 to be larger than the length of the connecting frame 23, so that the connecting frame bottom plate is not prevented from moving downwards under the action of the driving cylinder 201 to release the object. Preferably, a slider 306 is provided at the top of the support block 303. Preferably, the slider 306 is a rolling wheel. Stop parts 233 are arranged on two sides of the bottom of the connecting frame bottom plate 231, the longitudinal section of the stop parts 233 is in a right-angled triangle structure, wherein the inclined edge of the longitudinal section of the stop parts 233 is arranged towards the outer side, and when the mechanical gripper assembly is in a state of clamping an object, the sliding part 306 can stop at the inner side of the stop parts 233. The slider 306 is provided as a rolling wheel so that the slider 306 is more easily moved from the outside of the stopper 233 to the inside thereof for stopping. Therefore, when the gripper driving device drives the mechanical gripper to clamp the object, the supporting block 303 of the gripper protection assembly can slide to the lower side of the connecting frame bottom plate 231 under the action of the protection driving cylinder 301, and the sliding part 306 is stopped at the inner side of the stop part 233, and at the moment, the protection spring 302 is in a free state, namely in a non-compressed or non-extended state, and is stopped at the inner side of the stop part 233 through the sliding part 306, so that the connecting frame bottom plate 231 is supported and protected. Therefore, under the condition of unexpected air and power failure, the driving cylinder of the gripper driving assembly fails to drive the connecting frame bottom plate 231 to slide downwards, the protection driving cylinder fails at the same time, but the spring is in a free state, so that the sliding piece 306 cannot be driven to slide back, the mechanical gripper assembly can be always stopped below the connecting frame bottom plate 231 under the elastic force of the protection spring 302, and the object cannot be loosened.

Further preferably, a first sensor 4 is arranged at the bottom of the bracket 22, and the first sensor 4 is arranged right above the clamping jaw 101 of the mechanical gripper assembly and used for identifying the clamping state of the clamped object; and stopping the driving cylinder of the gripper driving assembly when recognizing that the object reaches the clamping state. Preferably, a second sensor 3 is respectively arranged on two opposite transverse supports 11 of the gripper base 1 and at one end close to one of the grippers for identifying and detecting the object to be clamped. And upon detecting the object to be clamped, enabling the gripper driving assembly to act so as to clamp the object through the mechanical gripper assembly.

The gantry mechanical gripper device of the utility model has relatively simple structure and low cost. Meanwhile, the gripper protection assembly adopts a physical mechanical mode and utilizes the self elasticity characteristic of the protection spring to complete the protection of the gripper driving assembly, and the gripper protection assembly is not influenced by the environment and can be provided by the outside.

The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and all should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. The gantry mechanical gripper device is characterized by comprising a gripper base (1) and gripper devices (2) arranged on two sides of the gripper base (1), wherein each gripper device (2) comprises a mechanical gripper assembly, a gripper driving assembly and a gripper protecting assembly, the gripper driving assemblies can control the mechanical gripper assemblies to be in a state of clamping or loosening an object, and the gripper protecting assemblies can act on the gripper driving assemblies when the mechanical gripper assemblies are in a state of clamping the object so that the mechanical gripper assemblies can always keep in a state of clamping the object.

2. The gantry mechanical gripper as claimed in claim 1, further comprising brackets (22) vertically fixed to both sides of the gripper base (1), the brackets (22) being fixed to longitudinal brackets on the gripper base (1) in a frame-like structure, a connection frame (23) being provided below a bracket top plate (221), the connection frame (23) being in a U-shaped structure, the width of the connection frame (23) being greater than the width of the brackets (22) so that the connection frame (23) can move up and down on both sides of the brackets (22).

3. The gantry mechanical gripper device according to claim 2, wherein the mechanical gripper assembly comprises oppositely arranged gripping jaws (101) and gripper arm groups respectively connected to each gripping jaw (101), and the gripper arm groups comprise two gripper arms (102) arranged in parallel on the inner side and the outer side of the support (22); the grabbing arm (102) comprises an upper arm (1021) and a lower arm (1022), wherein the lower arm (1022) is vertically arranged, the upper arm (1021) and the lower arm (1022) form an included angle and extend upwards, the clamping jaw (101) is arranged on the inner side of the lower arm (1022), and the upper arms (1021) of the two grabbing arms (102) on the same inner side or the same outer side of the support (22) are arranged in a crossed mode.

4. Gantry mechanical gripper according to claim 3, characterized in that the upper parts of the upper arms (1021) of the gripper arms (102) for connecting the same gripper jaw (101) are connected to each other by a first rotation axis (103); wherein the first rotating shaft (103) penetrates through two connecting frame side walls (232) of the connecting frame (23) and enables the grabbing arm (102) to be arranged on two sides of the connecting frame (23);

the upper arm (1021) and the lower arm (1022) are connected with the longitudinal support of the hand grip base (1) through a second rotating shaft (104).

5. The gantry mechanical gripper device as claimed in claim 1, wherein the gripper driving assembly comprises a driving cylinder (201), the bottom of the driving cylinder (201) is fixed to a connecting frame bottom plate (231), the top of the driving cylinder extends upwards through a support top plate (221), wherein an insertion hole (220) allowing the top of the driving cylinder (201) to pass through and move up and down is formed in the support top plate (221), and the bottom of the piston rod of the driving cylinder (201) is fixedly connected with the support bottom plate (223).

6. The gantry mechanical gripper of claim 5, wherein the gripper driving assembly further comprises guide rods (202) disposed at both sides of the driving cylinder (201), wherein the bottoms of the guide rods (202) are fixed to a bracket bottom plate (223), the tops of the guide rods (202) are fixed to a bracket top plate (221), a bushing (203) is fixed to the link bottom plate (231), and the guide rods (202) are disposed through the bushing (203) so that the link bottom plate (231) can slide up and down relative to the guide rods (202).

7. The gantry mechanical gripper of claim 1, wherein the gripper protection assembly comprises a protection driving cylinder (301) respectively disposed at two bracket side walls (222), wherein a cylinder body of the protection driving cylinder (301) is fixed to an outer side of the bracket side walls (222), and a piston rod of the protection driving cylinder (301) is disposed to extend inward through the bracket side walls (222).

8. The gantry mechanical gripper device as claimed in claim 7, wherein a supporting block (303) is connected to the movable end of the piston rod of the protection driving cylinder (301), a sliding block (305) is arranged at the bottom of the supporting block (303), a sliding rail (304) matched with the sliding block (305) is arranged on the support bottom plate (223), and the length of the sliding rail (304) enables the supporting block (303) to be arranged below the connecting frame bottom plate (231) of the connecting frame (23) in a sliding manner.

9. The gantry mechanical gripper device as claimed in claim 8, wherein a protection spring (302) is sleeved on a piston rod of the protection driving cylinder (301), when the protection driving cylinder (301) is in a non-working state, the protection spring (302) is in a compressed state, and the length of the slide rail (304) is such that the distance between two oppositely arranged supporting blocks (303) is greater than the length of the connecting frame (23);

the top of the supporting block (303) is provided with a sliding part (306), two sides of the bottom of the connecting frame bottom plate (231) are provided with stop parts (233), the longitudinal section of each stop part (233) is of a right-angled triangle structure, the hypotenuse of the longitudinal section of each stop part (233) is arranged towards the outer side, and when the mechanical gripper assembly is in a state of clamping an object, the sliding part (306) can stop the inner side of each stop part (233).

10. The gantry mechanical gripper device according to claim 2, characterized in that a first sensor (4) is provided at the bottom of the bracket (22), said first sensor (4) being provided directly above the gripping jaw (101) of the mechanical gripper assembly for recognizing the gripping state of the gripped object;

and second sensors (3) are respectively arranged on two transverse brackets (11) opposite to the gripper base (1) and at one end close to one gripper device, and are used for identifying and detecting an object to be clamped.