CN216299323U

CN216299323U - Mechanical gripper

Info

Publication number: CN216299323U
Application number: CN202122663182.9U
Authority: CN
Inventors: 单艾青; 罗彬�
Original assignee: Lens Intelligent Robot Changsha Co Ltd
Current assignee: Lens Intelligent Robot Changsha Co Ltd
Priority date: 2021-11-02
Filing date: 2021-11-02
Publication date: 2022-04-15
Anticipated expiration: 2031-11-02

Abstract

The utility model provides a mechanical gripper, which comprises a fixing unit, a driving unit, a transmission unit, a mounting unit and a gripping unit, wherein the fixing unit is arranged on the driving unit; the driving unit is arranged on the fixing unit; the transmission unit comprises a limiting part, a first driving lever and a sliding block, wherein the limiting part is provided with a limiting groove, the first driving lever is driven by the driving unit to swing, the first driving lever is provided with a sliding groove, and the sliding block is arranged in the limiting groove and the sliding groove in a sliding manner; the mounting unit is in sliding fit with the fixing unit and is connected with the sliding block; the grabbing unit is arranged on the mounting unit. The driving unit drives the first driving lever to swing, so that the sliding block slides in the limiting groove, ascending, translating and descending actions are successively completed, the grabbing unit is driven by the mounting unit to ascend, descend and translate, and workpieces are transferred to the next procedure. The mechanical gripper can complete the lifting and translation actions of the gripping unit only by arranging one driving unit, so that the structure is simplified, the stability is improved, and the cost is reduced.

Description

Mechanical gripper

Technical Field

The utility model relates to the field of automation equipment, in particular to a mechanical gripper.

Background

In the production and assembly process of the production line, the progressive grabbing manipulator is often used for grabbing materials, and workpieces are transferred to the next process. Traditional hand is snatched to formula one step by one and needs to set up the lift and the translation action that a plurality of drive arrangement accomplished the work piece respectively, and the structure is complicated, leads to stability not good enough, and with high costs.

SUMMERY OF THE UTILITY MODEL

In order to solve the problems in the prior art, the utility model aims to provide a mechanical gripper.

The utility model provides the following technical scheme:

a mechanical gripper comprises a fixing unit, a driving unit, a transmission unit, a mounting unit and a gripping unit;

the driving unit is arranged on the fixing unit;

the transmission unit comprises a limiting part, a first driving lever and a sliding block, the limiting part is fixedly arranged on the fixing unit, a limiting groove is formed in the limiting part, the limiting groove comprises a first vertical section, a horizontal section and a second vertical section which are sequentially connected, the first driving lever is in rotating fit with the fixing unit and driven by the driving unit to swing, a sliding groove is formed in the first driving lever along the length direction, and the sliding block is arranged in the limiting groove and the sliding groove in a sliding mode and in rotating fit with at least one of the limiting groove and the sliding groove;

the mounting unit is connected with the sliding block;

the grabbing unit is arranged on the mounting unit.

As a further optional scheme for the mechanical gripper, the gripping unit is rotationally matched with the mounting unit, the rotation axis of the gripping unit is vertical, the gripping unit is connected with a vertical pin shaft through a second shift lever, and the pin shaft and the fixing unit are kept relatively fixed along the horizontal direction;

the second shifting lever is in running fit with the fixing unit through the pin shaft so as to drive the grabbing unit to rotate when the grabbing unit moves horizontally, and a compensation groove is formed in the second shifting lever along the length direction so as to compensate for the distance change between the grabbing unit and the pin shaft.

As a further alternative to the mechanical gripper, the second lever is perpendicular to the horizontal section when the slider is moved to the midpoint of the horizontal section.

As a further optional scheme for the mechanical gripper, a pin fixing plate is arranged on the fixing unit, and at least two shaft holes for mounting the pin are arranged on the pin fixing plate to change the minimum distance between the pin and the gripping unit.

As a further optional scheme for the mechanical gripper, the second shift lever is fixedly connected with the gripping unit, and the pin shaft is slidably disposed in the compensation groove.

As a further optional scheme for the mechanical gripper, the gripping unit is inserted into the compensation groove and is in sliding fit with the compensation groove along the length direction of the second poking rod.

As a further optional scheme for the mechanical gripper, the driving unit includes a motor and a speed reducer, an input shaft of the speed reducer is connected with a crankshaft of the motor, and an output shaft of the speed reducer is connected with the first shift lever.

As a further optional scheme for the mechanical gripper, a vertical first guide rail is fixedly arranged on the fixing unit, a first sliding seat is arranged on the first guide rail in a sliding manner, a horizontal second guide rail is fixedly arranged on the first sliding seat, and the mounting unit is arranged on the second guide rail in a sliding manner.

As a further alternative to the mechanical gripper, at least two gripping units are provided on the mounting unit.

As a further alternative to the mechanical gripper, the gripping unit employs a vacuum chuck.

The embodiment of the utility model has the following beneficial effects:

the driving unit drives the first driving lever to swing, the first driving lever drives the sliding block to slide in the limiting groove, ascending, translating and descending actions are successively completed, the grabbing unit is driven to ascend, descend and translate through the mounting unit, and workpieces are transferred to the next procedure. In the process, the distance between the sliding block and the rotating axis of the first driving lever is changed, and the sliding block slides in the sliding groove on the first driving lever, so that the blocking condition cannot occur. The mechanical gripper can complete the lifting and translation actions of the gripping unit only by arranging one driving unit, so that the structure is simplified, the stability is improved, and the cost is reduced.

In order to make the aforementioned objects, features and advantages of the present invention more comprehensible and comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a schematic diagram illustrating an overall axial structure of a mechanical gripper provided in embodiment 1 of the present invention;

fig. 2 is a schematic diagram illustrating an overall axial structure of a mechanical gripper provided in embodiment 2 of the present invention;

FIG. 3 illustrates an elevation view of a mechanical gripper provided in accordance with embodiment 2 of the present invention;

fig. 4 shows a bottom view of a mechanical gripper provided in embodiment 2 of the present invention when the gripper unit is located at the beginning or end of the translation process;

fig. 5 shows a bottom view of a mechanical gripper provided in embodiment 2 of the present invention with the gripper unit at a midpoint of the translation process;

fig. 6 shows a bottom view of a mechanical gripper provided in embodiment 2 of the present invention after adjusting the position of the pin axis.

Description of the main element symbols:

100-a stationary unit; 110 — a first guide rail; 120-a first sliding seat; 130-a second guide rail; 140-pin shaft fixing plate; 150-pin shaft; 200-a drive unit; 210-a motor; 220-a speed reducer; 300-a transmission unit; 310-a stop; 311-limiting groove; 320-a first deflector rod; 321-a chute; 322-a rotating shaft; 330-a slide block; 400-a mounting unit; 410-bearing fixing plate; 420-a second sliding seat; 430-a mounting plate; 500-a grabbing unit; 510-deep groove ball bearing; 520-a second deflector rod; 521-compensation groove.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

It will be understood that when an element is referred to as being "secured to" 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. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.

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; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

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 one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the templates herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Example 1

Referring to fig. 1, the present embodiment provides a mechanical gripper for lifting and translating a workpiece to transfer the workpiece to a next process. The mechanical gripper includes a fixing unit 100, a driving unit 200, a transmission unit 300, a mounting unit 400, and a grasping unit 500, wherein the driving unit 200, the transmission unit 300, and the mounting unit 400 are disposed on the fixing unit 100, and the grasping unit 500 is disposed on the mounting unit 400.

Specifically, the fixing unit 100 employs a fixing base plate. The fixed base plate is vertically disposed, the driving unit 200 is located at one side of the fixed base plate, and the transmission unit 300 and the mounting unit 400 are located at the other side of the fixed base plate.

Specifically, the transmission unit 300 is composed of a limiting member 310, a first shift lever 320, and a slider 330.

The limiting member 310 is a limiting plate, and the limiting plate is parallel to the fixing base plate and is bolted and fixed with the fixing base plate. Limiting groove 311 is seted up to one side of limiting plate back to PMKD, and limiting groove 311 comprises first vertical section, horizontal segment and the vertical section of second, and the one end of horizontal segment links to each other with the top of first vertical section, and the other end of horizontal segment links to each other with the top of the vertical section of second.

The first driving lever 320 is located on one side of the limiting plate opposite to the fixed base plate and parallel to the limiting plate, and the first driving lever 320 is connected to the fixed base plate through a rotating shaft 322. The rotating shaft 322 is perpendicular to the fixed bottom plate and is located in the area below the horizontal section and between the first vertical section and the second vertical section. The rotating shaft 322 penetrates through the fixing plate and the limiting plate simultaneously and is in running fit with the fixing bottom plate and the limiting plate. One end of the rotating shaft 322 is connected to the driving unit 200, and the other end is fixedly connected to the first driving lever 320. In addition, the first driving lever 320 is provided with a sliding slot 321, and the sliding slot 321 is disposed along the length direction of the first driving lever 320.

The sliding block 330 is disposed along the length direction of the rotating shaft 322, one end of the sliding block 330 facing the fixed base plate is located in the limiting groove 311 and is in sliding fit with the limiting groove 311, the middle of the sliding block 330 is located in the sliding groove 321 and is in sliding fit with the sliding groove 321, and one end of the sliding block 330 facing away from the fixed base plate is connected with the mounting unit 400. In addition, the slider 330 is rotatably engaged with at least one of the stopper groove 311 and the slide groove 321.

When the driving unit 200 drives the first driving lever 320 to swing through the rotating shaft 322, the first driving lever 320 drives the sliding block 330, so that the sliding block 330 slides in the limiting groove 311. The slider 330 slides from the bottom end to the top end of the first vertical section to complete the ascending action, then slides from the end of the horizontal section facing the first vertical section to the end of the horizontal section facing the second vertical section to complete the translation action, and finally slides from the top end to the bottom end of the second vertical section to complete the descending action. In the process, the distance between the sliding block 330 and the rotating shaft 322 changes, and the sliding block slides in the sliding groove 321 on the first shift lever 320, so that the situation of locking cannot occur.

Specifically, the mounting unit 400 is slidably engaged with the fixing unit 100 along the vertical direction and the horizontal direction, and can be lifted or translated on the fixing unit 100, so as to drive the grabbing unit 500 to move.

When the sliding block 330 slides in the limiting groove 311, the mounting unit 400 drives the grabbing unit 500 to ascend, descend and translate, and the workpiece is transferred to the next process. The lifting and translation actions of the grabbing unit 500 are completed under the driving of one driving unit 200, so that the structure is simplified, the stability is improved, and the cost is reduced.

Example 2

Referring to fig. 2 and 3, the present embodiment provides a mechanical gripper, and more particularly, to a progressive multi-station fast gripping robot for lifting, translating and rotating a workpiece, and adjusting the angle of the workpiece while transferring the workpiece to the next process. The mechanical gripper includes a fixing unit 100, a driving unit 200, a transmission unit 300, a mounting unit 400, and a grasping unit 500, wherein the driving unit 200, the transmission unit 300, and the mounting unit 400 are disposed on the fixing unit 100, and the grasping unit 500 is disposed on the mounting unit 400.

Specifically, the fixing unit 100 employs a fixing base plate, and the fixing base plate is vertically disposed.

Specifically, the driving unit 200 is composed of a motor 210 and a reducer 220, both of which are bolted and fixed on the same side of the fixed base plate. Wherein the machine shaft of the motor 210 protrudes vertically upwards. The reducer 220 is a right-angle reducer, an input shaft of which is connected to a crankshaft of the motor 210 through a coupling, and an output shaft of which is directed vertically to the fixed base plate.

Specifically, the transmission unit 300 is composed of a limiting member 310, a first shift lever 320 and a slider 330, and is disposed on a side of the fixed base plate facing away from the driving unit 200.

The limiting member 310 is a limiting plate, and the limiting plate is disposed parallel to the fixing base plate and is bolted and fixed to a side of the fixing base plate facing away from the driving unit 200. Limiting groove 311 is seted up to one side of limiting plate back to PMKD, and limiting groove 311 comprises first vertical section, horizontal segment and the vertical section of second, and the one end of horizontal segment links to each other with the top of first vertical section, and the other end of horizontal segment links to each other with the top of the vertical section of second. In addition, the junction of the first vertical section and the horizontal section and the junction of the horizontal section and the second vertical section are in arc transition.

The first driving lever 320 is located on one side of the limiting plate opposite to the fixing base plate and parallel to the limiting plate, and one end of the first driving lever 320 is connected to the fixing base plate through a rotating shaft 322. The rotating shaft 322 is perpendicular to the fixed bottom plate and is located in the area below the horizontal section and between the first vertical section and the second vertical section. The rotating shaft 322 penetrates through the fixing plate and the limiting plate simultaneously and is in running fit with the fixing bottom plate and the limiting plate. One end of the rotating shaft 322 is connected to the driving unit 200, and the other end is fixedly connected to the first driving lever 320. In addition, the first driving lever 320 is provided with a sliding slot 321, and the sliding slot 321 is disposed along the length direction of the first driving lever 320.

The sliding block 330 is parallel to the rotating shaft 322, one end of the sliding block 330 facing the fixed base plate is located in the limiting groove 311 and is in sliding fit with the limiting groove 311, the middle of the sliding block 330 is located in the sliding groove 321 and is in sliding fit with the sliding groove 321, and one end of the sliding block 330 facing away from the fixed base plate is connected with the mounting unit 400. In addition, the slider 330 is rotatably engaged with at least one of the stopper groove 311 and the slide groove 321.

When the driving unit 200 drives the first driving lever 320 to swing through the rotating shaft 322, the first driving lever 320 drives the sliding block 330, so that the sliding block 330 slides in the limiting groove 311. The slider 330 slides from the bottom end to the top end of the first vertical section to complete the ascending action, then slides from the end of the horizontal section facing the first vertical section to the end of the horizontal section facing the second vertical section to complete the translation action, and finally slides from the top end to the bottom end of the second vertical section to complete the descending action. In this process, the distance between the sliding block 330 and the rotating shaft 322 changes, and the sliding block 330 can freely slide in the sliding slot 321 of the first driving lever 320, so that the situation of locking cannot occur.

In one embodiment of this embodiment, the slider 330 is a cam bearing follower, which is comprised of a bolt and a roller. The end of the bolt facing away from the fixed base plate is provided with threads, which are fixedly connected with the mounting unit 400. The middle part of the bolt penetrates through the sliding groove 321, and is in sliding fit with the sliding groove 321 and is in rotating fit with the sliding groove 321. The head is arranged at one end of the bolt facing the fixed bottom plate, the roller is sleeved on the head of the bolt, and the head of the bolt is abutted to the inner wall of the limiting groove 311 through the roller. When the sliding block 330 slides along the limiting groove 311, the roller rolls in the limiting groove 311 to reduce the resistance.

In another embodiment of this embodiment, the sliding block 330 may also be only slidably engaged with the sliding groove 321, and both slidably engaged and rotatably engaged with the limiting groove 311, and simultaneously rotatably engaged with the mounting unit 400.

Specifically, the mounting unit 400 is slidably engaged with the fixing unit 100 in the vertical direction and the horizontal direction, and the first guide rail 110, the first sliding seat 120 and the second guide rail 130 are correspondingly disposed on the fixing unit 100.

The first guide rails 110 are arranged in the vertical direction and are fixedly bolted to the fixed base plate, and the first guide rails 110 are arranged on two sides of the limiting plate in pairs.

The number of the first sliding seats 120 is two, and the two first sliding seats correspond to the two first guide rails 110, and the first sliding seats 120 are slidably disposed on the corresponding first guide rails 110.

The second guide rail 130 is disposed along the horizontal direction, and the second guide rail 130 is bolted to the bottoms of the two first sliding seats 120. The mounting unit 400 is slidably disposed on the second rail 130, and can be lifted up and down on the fixed base plate, or can be translated on the fixed base plate.

Specifically, the mounting unit 400 is composed of a bearing fixing plate 410, a second sliding seat 420, and a mounting plate 430. Wherein, the bearing fixing plate 410 is directly connected with the slider 330. The second sliding seat 420 is bolted and fixed with the bearing fixing plate 410 and is in sliding fit with the second guide rail 130. The mounting plate 430 is bolted to the second saddle 420 and is used to mount the gripper unit 500.

The slider 330 slides from one end of the limiting groove 311 to the other end, and the mounting unit 400 drives the grabbing unit 500 to ascend, descend and translate, so that the workpiece is transferred to the next process. The lifting and translation actions of the grabbing unit 500 are completed under the driving of one driving unit 200, so that the structure is simplified, the stability is improved, and the cost is reduced.

In particular, in the present embodiment, at least two mounting plates 430, specifically four mounting plates, are fixed on the second sliding seat 420. The sliding block 330 drives the plurality of grabbing units 500 to synchronously lift and translate through the mounting unit 400, so that progressive multi-station grabbing is realized.

Specifically, the grasping unit 500 employs a vacuum chuck.

Further, in transferring the workpiece, it is sometimes necessary to rotate the workpiece by a certain angle. To this end, the gripper unit 500 is rotationally coupled to the mounting plate 430 by means of a deep groove ball bearing 510, and the rotation axis of the gripper unit 500 is vertical. In addition, a second lever 520 is provided on the grasping unit 500, and a pin 150 is correspondingly provided on the fixing unit 100. The second lever 520 is disposed along a horizontal direction, the pin 150 is disposed along a vertical direction, and the pin 150 and the fixing unit 100 are relatively fixed along the horizontal direction.

In this embodiment, the vacuum chuck is fixedly connected to the inner ring of the deep groove ball bearing 510 through a bearing connecting block. The bearing connecting block penetrates into the inner ring of the deep groove ball bearing 510 from top to bottom, a threaded hole is formed in the bottom end of the bearing connecting block, and a threaded portion is correspondingly formed in the top end of the vacuum chuck. The thread part penetrates into the thread hole, so that the vacuum sucker is in threaded connection with the bearing connecting block. In addition, the top of the bearing connecting block is thickened and cannot penetrate through the inner ring of the deep groove ball bearing 510, and a nut and a gasket are sleeved on the threaded part. And screwing the nut to enable the nut to abut against the lower surface of the inner ring of the deep groove ball bearing 510 through the gasket and be locked with the bearing connecting block, so that the vacuum sucker can be fixed on the inner ring of the deep groove ball bearing 510.

In an embodiment of the present invention, one end of the second lever 520 is fixedly connected to the grabbing unit 500, and the other end is provided with a compensation slot 521, and the compensation slot 521 is disposed along a length direction of the second lever 520. The pin 150 is inserted into the compensation slot 521, and is slidably engaged with the second lever 520 and rotatably engaged with the second lever 520.

Referring to fig. 4 and 5, when the sliding block 330 slides from one end of the horizontal segment to the other end, the grabbing unit 500 is driven by the mounting unit 400 to translate. On the one hand, the end of the second lever 520 facing the grabbing unit 500 moves along with the grabbing unit 500, and on the other hand, the second lever 520 is restricted by the pin 150, so that the second lever 520 can only rotate around the pin 150, and in turn, the grabbing unit 500 is driven to rotate. In this process, the distance between the pin 150 and the grabbing unit 500 is changed continuously, so the pin 150 slides in the compensation groove 521, thereby compensating the distance difference between the pin 150 and the grabbing unit 500 before and after the movement.

In another embodiment of this embodiment, one end of the second lever 520 may also be rotatably connected to the pin 150, so that the grabbing unit 500 is inserted into the compensation slot 521. The grasping unit 500 is slidably engaged with the compensating groove 521 along the length direction of the second lever 520, but cannot rotate within the compensating groove 521. In such a case, the translational movement of the grabbing unit 500 can also drive the second lever 520 to rotate, which in turn drives the grabbing unit 500 to rotate.

In particular, a pin fixing plate 140 is bolted and fixed to the second guide rail 130, and a shaft hole is formed in the pin fixing plate 140. The pin 150 is installed in the shaft hole, is fixed to the fixing unit 100 in the horizontal direction, and ascends and descends in synchronization with the grasping unit 500. At this time, the pin 150 and the second lever 520 can be better engaged with each other.

Further, the size of the rotation angle of the grabbing unit 500 translated by the same distance is affected by the included angle between the second lever 520 and the second guide rail 130, and when the included angle between the second lever 520 and the second guide rail 130 is 90 °, the rotation angle of the grabbing unit 500 translated by the same distance is the largest. Therefore, in order to obtain a larger rotation angle within a limited translation distance, in the present embodiment, the pin 150 is aligned with a midpoint of a translation stroke of the corresponding grasping unit 500. When the slider 330 moves to the middle point of the horizontal segment, the second lever 520 is perpendicular to the second guide rail 130.

Referring to fig. 6, further, it is considered that the rotation angle of the workpiece needs to be adjusted accordingly according to specific process requirements. Therefore, at least two shaft holes are formed in the pin fixing plate 140. When the pin 150 is installed in a different shaft hole, its minimum distance from the grasping unit 500 is different. In the case where the translational distance of the grasping unit 500 is not changed, the angle through which the grasping unit 500 and the second lever 520 rotate is changed.

Let the translation distance of the grabbing unit 500 be D, and the minimum distance between the pin 150 and the grabbing unit 500 be D, the angle θ that the grabbing unit 500 rotates during translation is 2arctan (D/2D).

For example, if the translation distance of the grabbing unit 500 is 2L, and the distance between the grabbing unit 500 and the pin 150 is L when the second lever 520 is perpendicular to the second guide rail 130, the angle θ that the grabbing unit 500 rotates during translation is 90 °.

In a word, the mechanical gripper can complete the lifting, translation and rotation actions of the workpiece only by arranging one driving unit 200, the structure is greatly simplified, the stability is effectively improved, and the cost is reduced.

In all examples shown and described herein, any particular value should be construed as merely exemplary, and not as a limitation, and thus other examples of example embodiments may have different values.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

The above examples are merely illustrative of several embodiments of the present invention, and the description thereof is more specific and detailed, but not to be construed as limiting the scope of the utility model. 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.

Claims

1. A mechanical gripper is characterized by comprising a fixing unit, a driving unit, a transmission unit, a mounting unit and a gripping unit;

the driving unit is arranged on the fixing unit;

the mounting unit is connected with the sliding block;

the grabbing unit is arranged on the mounting unit.

2. The mechanical gripper as claimed in claim 1, wherein the gripping unit is rotatably fitted with the mounting unit, the rotation axis of the gripping unit is vertical, the gripping unit is connected with a vertical pin shaft through a second shift lever, and the pin shaft and the fixing unit are kept relatively fixed in the horizontal direction;

3. The mechanical gripper of claim 2, wherein the second toggle lever is perpendicular to the horizontal segment when the slider is moved to a midpoint of the horizontal segment.

4. The mechanical gripper of claim 2, wherein the fixed unit is provided with a pin fixing plate, and the pin fixing plate is provided with at least two shaft holes for mounting the pin so as to change the minimum distance between the pin and the gripper unit.

5. The mechanical gripper of claim 2, wherein the second shift lever is fixedly connected to the gripping unit, and the pin is slidably disposed in the compensation groove.

6. The mechanical gripper of claim 2, wherein the gripping unit is inserted into the compensation groove and slidably engaged with the compensation groove along the length direction of the second pulling rod.

7. The mechanical gripper of claim 1, wherein the drive unit includes a motor and a reducer, an input shaft of the reducer being coupled to a crankshaft of the motor, and an output shaft of the reducer being coupled to the first toggle lever.

8. The mechanical gripper as claimed in claim 1, wherein a vertical first guide rail is fixedly arranged on the fixing unit, a first sliding seat is slidably arranged on the first guide rail, a horizontal second guide rail is fixedly arranged on the first sliding seat, and the mounting unit is slidably arranged on the second guide rail.

9. The mechanical gripper of claim 1, wherein at least two of the gripper units are provided on the mounting unit.

10. The mechanical gripper of claim 1, wherein the gripping unit employs a vacuum chuck.