CN217097838U - Mechanical claw - Google Patents

Abstract

The utility model relates to the technical field of mechanical arms, and discloses a mechanical gripper which comprises a mechanical finger and a cam control assembly, wherein the cam control assembly comprises a guide post, a cam and a shifting pin, and the cam can rotate around the guide post in an annular manner; the side surface of the guide post is provided with a vertical long round hole, and one end of the poking pin is in vertical sliding fit with the long round hole; the side surface of the cam is provided with an oblique curved groove, the other end of the shifting pin penetrates through the curved groove and then is connected with a mechanical finger, and the curved groove can drive the shifting pin to vertically slide in the long circular hole through the rotation of the cam; the mechanical fingers are at least two, the long round holes, the curved grooves and the shifting pins are correspondingly arranged, all the long round holes are arranged along the side face of the guide post in the circumferential direction, and all the curved grooves are arranged along the side face of the cam in the circumferential direction. The mechanical claw can realize the driving of the plurality of mechanical fingers through a single driving element, the mechanism of the mechanical claw is simple and easy to control, and the structural volume of the mechanical claw is optimized.

Description

Mechanical claw

Technical Field

The utility model relates to a manipulator technical field, especially a mechanical gripper.

Background

The hand of the robot is the most important actuating mechanism, the most perfect form of the robot paw and the wrist is a multi-finger paw imitating the human hand, at present, the driving mode of the robot paw is hydraulic, pneumatic, electric, mechanical, pull rope and the like, when the robot paw has a plurality of fingers, a plurality of driving parts are needed for driving, and the problems of complexity, low control precision, large volume and the like of the multi-finger paw mechanism are caused.

Therefore, a technical solution is needed to solve the problems that the conventional multi-finger mechanical gripper mechanism needs a plurality of driving elements (motors and hydraulic cylinders) to drive a plurality of fingers, and the mechanism is complex, occupies a large space, is difficult to control during movement.

SUMMERY OF THE UTILITY MODEL

The invention of the utility model aims to: aiming at the problems that in the prior art, a plurality of driving elements are needed to drive a multi-finger mechanical gripper, and the mechanical gripper mechanism is complex, low in control precision and large in size, a mechanical gripper is provided, the driving of a plurality of mechanical fingers can be realized through a single driving element, the mechanism of the mechanical gripper is simple and easy to control, and the structural size of the mechanical gripper is optimized.

In order to realize the purpose, the utility model discloses a technical scheme be:

a manipulator claw comprising a manipulator finger and a cam control assembly, the cam control assembly comprising a guide post, a cam and a thumb pin, the cam being rotatable circumferentially about the guide post;

a vertical long round hole is formed in the side face of the guide post, and one end of the poking pin is in vertical sliding fit with the long round hole;

an oblique curved groove is formed in the side face of the cam, the other end of the shifting pin penetrates through the curved groove and then is connected with the mechanical finger, and the curved groove can drive the shifting pin to vertically slide in the long circular hole through the rotation of the cam;

the mechanical fingers are at least two, the long round holes, the curved grooves and the shifting pins are correspondingly arranged, all the long round holes are arranged along the side face of the guide post in the circumferential direction, and all the curved grooves are arranged along the side face of the cam in the circumferential direction.

The axial direction of the guide post is a vertical direction, the vertical long round hole means that the length direction of the long round hole is parallel to the vertical direction, so that the poking pin can only vertically slide in the long round hole, the oblique curved groove means that the length direction of the curved groove and the vertical direction have an acute included angle, the poking pin is in sliding fit with the long round hole, the sliding direction is vertical, the poking pin is constrained in the long round hole through sliding fit so as not to slip out of the long round hole, and for example, a limiting part is arranged at the tail end of the poking pin and is in sliding fit with the long round hole;

the cam rotates along the annular direction of the guide post, the inclined curved groove correspondingly drives the shifting pin to vertically slide in the long circular hole, so that the mechanical finger can be vertically pushed, namely, a single long circular hole, a single curved groove and a single shifting pin can form a transmission chain to drive one mechanical finger, the guide post ring is provided with a plurality of long circular holes, the cam ring is provided with a plurality of curved grooves, and then a plurality of groups of mechanical fingers are arranged to be respectively transmitted by a plurality of shifting pins, so that the cam is driven to rotate by a single driving element, the plurality of mechanical fingers can be driven, and the cam control assembly is designed by combining the guide post and the cam to transmit a plurality of mechanical fingers, and meanwhile, the mechanical paw is compact in structure, space-saving and convenient to install, High reliability and relatively low cost.

The utility model discloses a mechanical gripper can just realize through single drive element the drive of a plurality of mechanical fingers, mechanical gripper's mechanism is simple, and easily control has optimized mechanical gripper's structure volume.

Preferably, the guide post has a cylindrical side surface, and the cam is sleeved outside the guide post.

The shape design of the guide post is convenient for the annular arrangement of the long round holes, the design is simplified, and the rotation track of the cam around the guide post is uniform, so that the transmission force of the poking pin is simple and controllable, and the control design of a plurality of mechanical fingers is convenient.

Preferably, the guide post with the cam is cylindric structure spare, the guide post lateral wall with the cam inside wall is laminated each other.

Through the guide post with the structural dimension design of cam, the required space of cam pivoted is little, the guide post can alleviate unnecessary structure quality, and two cam complex compact structure rotate stably easily to be controlled, and be convenient for fix a position processing to a plurality of slotted holes, make it runs through simultaneously to dial the round pin the slotted hole with the curve groove.

Preferably, an upper fixing plate is fixed on the top surface of the guide column, a push rod is fixed on the poking pin, and the push rod vertically penetrates through the upper fixing plate and then is connected with the mechanical finger.

The poking pin is connected with the mechanical finger through the push rod, the push rod can adjust the transmission distance and direction of the poking pin, and the push rod and the upper fixing plate can be matched to realize the restraint of the poking pin, namely, after the poking pin is fixed with the push rod, the poking pin only needs to be placed in the long round hole to form sliding fit, and the poking pin cannot slip out of the long round hole, so that stable transmission can be realized.

Preferably, a lower fixing plate is fixed to the bottom surface of the guide column, the cam is constrained between the upper fixing plate and the lower fixing plate, a tooth groove is formed in the side surface of the cam, a gear matched with the tooth groove is arranged on the lower fixing plate, and the gear can drive the cam to rotate.

The bottom plate is convenient for the installation of mechanical gripper when using fixed, the tooth's socket can be located the bottom of cam side to surround in the cambered surface of cam, the gear with after the tooth's socket meshing, the rotation of gear is corresponding can drive the cam rotates, the mechanical gripper passes through when the bottom plate installation is used, the gear with the cooperation of tooth's socket is convenient for drive element and is connected the drive.

Preferably, the mechanical finger comprises a front fingerboard, a finger seat, a first connecting rod and a second connecting rod, the finger seat is fixed on the lower fixing plate, the first connecting rod is rotatably connected between the front fingerboard and the finger seat, the second connecting rod is also rotatably connected between the front fingerboard and the finger seat, the first connecting rod and the second connecting rod are arranged at intervals, and the push rod is connected to the first connecting rod.

The mechanical fingers are connected through the front finger plate, the finger seats, the first connecting rod and the second connecting rod in a rotating mode to form a four-bar mechanism, the finger seats are fixed and fixed, the first connecting rod and the second connecting rod can move as a double-rocker mechanism, the first push rod can be driven by the push rod to tilt, so that the front finger plate can move in the horizontal direction, the front finger plates are matched in different directions above the upper fixing plate through the plurality of front finger plates, and the mechanical gripper can complete grasping and loosening operations.

Preferably, the connecting point of the first connecting rod and the second connecting rod is the vertex of a parallelogram;

or the connecting point of the first connecting rod and the second connecting rod is the vertex of a non-parallelogram.

When the four-bar mechanism is a parallelogram mechanism, the front fingerboard can perform parallel displacement under the driving of the four-bar mechanism, and the formed mechanical paw is suitable for clamping parallel workpieces; when the four-bar mechanism is a non-parallelogram mechanism, the front fingerboard can perform rotary compound motion under the driving of the four-bar mechanism, and the formed mechanical paw is suitable for clamping a special-shaped workpiece.

Preferably, a pull rod is rotatably connected to one end of the push rod and one end of the connecting rod, the pull rod is rotatably connected to the push rod, and waist-shaped holes are formed in two ends of the push rod.

The push rod is rotatably connected with the first connecting rod through the pull rod, a kinematic pair for the push rod to drive the first connecting rod is added, the motion track of the front fingerboard can be adjusted, and meanwhile, the space distance among a plurality of mechanical fingers is convenient to adjust, namely, the range in which the mechanical gripper can act is easy to control; the waist-shaped holes at the two ends of the push rod are convenient for the connecting rod to be easily rotated after being connected, and can effectively adapt to the position deviation of the poking pin generated after the poking pin passes through the long round hole and the curve groove, namely the fixing position of the poking pin can be adjusted in a fine mode in an adaptive mode.

Preferably, the first connecting rod and the second connecting rod are both composed of two straight rods fixed by pin shafts, and the front fingerboard and the finger seat are both rotatably connected to the pin shafts between the straight rods in groups.

The finger seat and the front fingerplate are of a certain thickness, the finger seat and the front fingerplate are clamped through the two straight rods to form rotating connection, and compared with a single rod piece which is used for rotating connection of the finger seat and the front fingerplate, the stability of transmission of the first connecting rod and the second connecting rod is effectively improved, and the grabbing capacity of the mechanical finger is further improved.

Preferably, the mechanical fingers are provided with five.

The five mechanical fingers are combined to form a humanoid mechanical gripper which is suitable for simulating the hand action required by a human by a robot; the long round hole, the curve groove, the poking pin and the push rod of the cam control mechanism are correspondingly provided with five parts which are respectively matched to form five transmission assemblies of the mechanical fingers.

To sum up, owing to adopted above-mentioned technical scheme, the beneficial effects of the utility model are that:

1. the mechanical gripper of the utility model can realize the driving of a plurality of mechanical fingers through a single driving element, has simple mechanism and easy control, and optimizes the structural volume of the mechanical gripper;

2. through the shape structure design of the guide post and the cams, the required space for the rotation of the cams is small, the two cams are compact in matched structure, stable and easy to control in rotation, and the positioning and processing of the multiple long round holes are facilitated;

3. through the matching design of the lower fixing plate and the toothed groove gear, the mechanical gripper is convenient to install and fix when applied, and a driving element is convenient to connect and drive;

4. through the structural design of the mechanical fingers, a four-bar mechanism is formed to facilitate compound motion, so that various grabbing postures of the mechanical paw are realized, the four-bar mechanism is adjusted, and different workpieces are conveniently grabbed;

5. the utility model discloses a mechanical gripper can drive five mechanical fingers motions simultaneously with a drum cam mechanism that has five groups of slotted holes, compact structure, save space, simple to operate, reliability height, cost are lower relatively, have formed imitative people's five fingers mechanical gripper, are applicable to imitative people robot field, have practicality and economic nature concurrently.

Drawings

FIG. 1 is a first perspective view of a gripper according to an embodiment;

FIG. 2 is a second perspective view of a gripper according to an embodiment;

FIG. 3 is a bottom schematic view of a gripper according to an embodiment;

FIG. 4 is a schematic structural view of the guide post and the cam according to the embodiment;

FIG. 5 is a schematic illustration of the installation of the deadbolt of the embodiment;

FIG. 6 is a schematic view of the installation of the push rod of the embodiment;

FIG. 7 is a schematic structural view of a cam according to the embodiment;

FIG. 8 illustrates a first view of the installation of the mechanical fingers and the pull rod according to the embodiment;

FIG. 9 is a second schematic view of the installation of the mechanical fingers and the pull rod of the embodiment;

FIG. 10 is a schematic view of the structure of a guide post according to the embodiment;

the labels in the figure are: the mechanical finger is 1, the front fingerboard is 1A, the finger seat is 1B, the first connecting rod is 1C, the second connecting rod is 1D, the guide post is 2, the slotted hole is 2A, the cam is 3, the curve groove is 3A, the tooth groove is 3B, the pin is 4, the upper fixing plate is 5, the push rod is 6, the kidney-shaped hole is 6A, the lower fixing plate is 7, the gear is 8, and the pull rod is 9.

Detailed Description

The present invention will be described in detail with reference to the accompanying drawings.

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the following detailed description of the present invention is made with reference to the accompanying drawings and examples, and it should be understood that the specific examples described herein are only for the purpose of explaining the present invention and are not intended to limit the present invention.

Example 1

As shown in fig. 1-3, the manipulator claw of the present invention comprises a manipulator finger 1 and a cam control assembly, wherein the cam control assembly comprises a guide post 2, a cam 3 and a shifting pin 4, and the cam 3 can rotate around the guide post 2 in a circumferential direction;

a vertical long circular hole 2A is formed in the side face of the guide post 2, and one end of the poking pin 4 is in vertical sliding fit with the long circular hole 2A;

an inclined curved groove 3A is formed in the side face of the cam 3, the other end of the shifting pin 4 penetrates through the curved groove 3A and then is connected with the mechanical finger 1, and the curved groove 3A can drive the shifting pin 4 to vertically slide in the long round hole 2A through rotation of the cam 3;

the number of the mechanical fingers 1 is at least two, the long round holes 2A, the curved grooves 3A and the shifting pins 4 are correspondingly arranged, all the long round holes 2A are arranged along the side face of the guide post 2 in the circumferential direction, and all the curved grooves 3A are arranged along the side face of the cam 3 in the circumferential direction.

In this embodiment, as shown in fig. 4, 7, and 10, the guide post 2 is a cylindrical structural member, the cam 3 is a cylindrical structural member, the outer surface of the guide post 2 is attached to the inner surface of the cam 3, five vertical oblong holes 2A are circumferentially formed through the side surface of the guide post 2, the vertical direction is the axial direction of the guide post 2, the heights of the five oblong holes 2A are equivalent, the lengths of the five oblong holes 2A are equivalent, and the distance between the five oblong holes 2A can be adaptively adjusted according to the initial acting range of the gripper;

an upper fixing plate 5 is fixed on the top surface of the guide column 2, a push rod 6 is fixed at one end of the poking pin 4, the push rod 6 vertically penetrates through the upper fixing plate 5 and then is connected with the mechanical finger 1, and the other end of the poking pin 4 is arranged in the long round hole 2A and the curve groove 3A until extending into a cavity of the guide column 2.

In addition, after the push rod 6 and the upper fixing plate 5 are matched to constrain the poking pin 4, the guide post 2 does not need to be provided with a hollow inner cavity, namely the guide post 2 is a cylindrical structural member, the long round hole 2A is correspondingly a vertical notch, and the poking pin 4 is placed in the long round hole 2A without additional constraint and can not slip out of the long round hole 2A.

As shown in fig. 5, five oblique curved grooves 3A are circumferentially formed in the side surface of the cam 3, the curved grooves 3A are through holes, the heights of the five curved grooves 3A are equal, the lengths of the five curved grooves 3A are also equal, the forming positions of the five curved grooves 3A correspond to the five long circular holes 2A respectively, that is, one end of the poking pin 4 can simultaneously penetrate through the curved grooves 3A and the long circular holes 2A and extend into the cavity of the guide post 2, when the long circular holes 2A are not through holes, one end of the poking pin 4 can also extend into the long circular holes 2A, and five poking pins 4 are correspondingly arranged in the five long circular holes 2A.

Further, the bottom end of the long round hole 2A is horizontally aligned with the bottom end of the curved groove 3A, when the shifting pin 4 is placed at the bottom end of the long round hole 2A, the shifting pin is also positioned at the bottom end of the curved groove 3A, the vertical length of the curved groove 3A is equivalent to that of the long round hole 2A, namely the shifting pin 4 slides to the top end of the long round hole 2A and is also positioned at the top end of the curved groove 3A;

the length of the long round hole 2A controls the stroke of the shifting pin 4 and the push rod 6 and the displacement of the mechanical finger 1, so that the size of a workpiece grabbed by the mechanical gripper is determined, the movement rate of the mechanical finger 1 is controlled by the inclination angle of the curved groove 3A, therefore, the inclined curved groove 3A can also be designed into a curved hole, different inclination angles are further provided for controlling the grabbing force of the mechanical finger 1, and in order to improve the smooth transmission of the shifting pin 4, the minimum included angle of the length direction of the curved groove 3A relative to the axial direction of the cam 3 is larger than 30 degrees.

As shown in fig. 6, the other end of the toggle pin 4 is fixedly connected with the lower end of a push rod 6, the push rod 6 vertically penetrates through the upper fixing plate 5, the push rod 6 can vertically slide relative to the upper fixing plate 5, the upper end of the push rod 6 is rotatably connected with one end of a pull rod 9, and the lower end of the pull rod 9 is rotatably connected with the mechanical finger 1;

the five push rods 6 penetrate through the position space of the upper fixing plate 5 and the length of the corresponding five shifting pins 4, and can be adaptively adjusted according to the structure of a hand or the size of a workpiece to be clamped; waist shape hole 6A has all been seted up to the upper and lower extreme of push rod 6, and the waist shape hole 6A of push rod 6 upper end is convenient for the connecting rod to rotate, and the waist shape hole 6A of push rod 6 lower extreme is convenient for dial round pin 4 and push rod 6 and carry out the fine setting of mounted position before fixed connection, easily adapts to and dials round pin 4 and through the common positional deviation who produces after the round hole 2A and the curve groove 3A.

A lower fixing plate 7 is fixed on the bottom surface of the guide post 2, the guide post 2 and the cam 3 are same in height, the top surface of the cam 3 is attached to the upper fixing plate 5, the bottom surface of the cam 3 is attached to the lower fixing plate 7, and the cam 3 can be constrained between the upper fixing plate 5 and the lower fixing plate 7 and rotate around the guide post 2;

the bottom of the side surface of the cam 3 is annularly provided with a convex tooth space 3B, the lower fixing plate 7 is provided with a gear 8, a transmission rod of the gear 8 penetrates to the other side of the lower fixing plate 7 to facilitate the connection and driving of a driving element, for example, a motor is connected with the gear 8 through a coupler, the gear 8 is meshed with the tooth space 3B, the gear 8 correspondingly rotates to drive the cam 3 to rotate, the length of the tooth space 3B annularly provided with the cam 3 can be designed according to the stroke of the shift pin 4, namely, the tooth space 3B does not need to surround the cam 3 into a circle, usually, the tooth space 3B only needs to surround the partial range of the outer side surface of the cam 3 to meet the stroke of the shift pin 4 in a reciprocating motion, the tooth space 3B is matched with the gear 8 to realize speed reduction transmission, the gear 8 does reciprocating rotary motion on the tooth space 3B, the tooth space 3B and the cam 3 are integrally designed, the space size of the structure is reduced, the length of the tooth space 3B limits to control the stroke of the reciprocating motion of the shift pin 4, thereby preventing the cam 3 from over-rotating to damage the structure.

As shown in fig. 8-9, a single mechanical finger 1 includes a front fingerboard 1A, a finger seat 1B, a first connecting rod 1C and a second connecting rod 1D, five mechanical fingers 1 are correspondingly provided corresponding to five oblong holes 2A, bottoms of the five finger seats 1B are annularly fixed on a lower fixing plate 7, for each mechanical finger 1, one ends of the first connecting rod 1C and the second connecting rod 1D are respectively rotatably connected to two ends of the bottom of the front fingerboard 1A, the other ends of the first connecting rod 1C and the second connecting rod 1D are respectively rotatably connected to two ends of the top of the finger seat 1B, and the front fingerboard 1A, the finger seat 1B, the first connecting rod 1C and the second connecting rod 1D can be regarded as a four-bar mechanism;

the first connecting rod 1C and the second connecting rod 1D are both composite rod pieces formed by two straight rods, the two straight rods are fixed together through pin shafts at two ends, the bottom of the front fingerboard 1A and the top of the finger seat 1B are both positioned between the two straight rods and are in rotational connection through the pin shafts, and one end of the pull rod 9 is also positioned between the two straight rods corresponding to the first connecting rod 1C to form rotational connection;

the five mechanical fingers 1 and the cam control assembly finally form a mechanical gripper imitating five fingers, aiming at the conventional transmission modes of automatic machinery, robots and the like, the mechanical gripper is suitable for the conditions of small radial space, small load of a push rod 6 and small clamping workpiece, a motor drives a gear 8 to rotate anticlockwise or clockwise, five inclined curved grooves 3A drive the five push rods 6 to simultaneously ascend or descend, the five push rods 6 are arranged along the circumferential direction of a guide post 2 according to the structure of a hand, a poking pin 4 can only slide in the vertical direction due to the limitation of a vertical long circular hole 2A, the push rod 6 vertically penetrates through an upper fixing plate 5, the push rod 6 can only slide in the vertical direction due to the limitation of the upper fixing plate 5, the ascending or descending of the push rod 6 correspondingly pushes a connecting rod to rotate by tilting, and then drives a front finger plate 1A to approach towards the guide post 2 or to open away from the guide post 2, the clamping and the releasing of the workpiece are realized;

when the connection points at the two ends of the first connecting rod 1C and the connection points at the two ends of the second connecting rod 1D form the vertex of a parallelogram, namely the four-bar structure is the parallelogram, the front fingerboard 1A can perform parallel displacement, the mechanical gripper is suitable for workpieces with plane clamping surfaces, for example, the length of the first connecting rod 1C is the same as that of the second connecting rod 1D, and the fixed distance between the first connecting rod 1C and the second connecting rod 1D on the front fingerboard 1A is equal to that between the first connecting rod 1C and the second connecting rod 1D on the fingerboard 1B, so that some workpieces like pentagonal prisms can be clamped;

when the connecting points at the two ends of the first connecting rod 1C and the connecting points at the two ends of the second connecting rod 1D are used as vertexes of a quadrangle to form a non-parallelogram, namely the four-bar mechanism is a non-parallelogram, the front fingerboard 1A can rotate, and the mechanical gripper can be suitable for workpieces with special-shaped clamping surfaces such as curved surfaces, cylindrical surfaces and the like.

Example 2

As shown in fig. 1-10, a gripper comprises a mechanical finger 1 and a cam control assembly comprising a guide post 2, a cam 3 and a finger 4.

The guide post 2 is cylindrical, the side surface of the guide post 2 is provided with an oblong hole 2A along the bus direction, the hole type of the oblong hole 2A is a waist-shaped hole, five oblong holes 2A are arranged in the circumferential direction of the guide post 2, and the guide post 2 is fixed between the upper fixing plate 5 and the lower fixing plate 7;

the cam 3 is also cylindrical, so that the cam 3 can rotate around the guide post 2 in the circumferential direction, five curved grooves 3A are formed in the circumferential direction of the cam 3, an incomplete gear is arranged at the bottom end of the cam 3, and the upper fixing plate 5 and the lower fixing plate 7 limit the movement of the cam 3 in the axial direction;

one end of the poking pin 4 is matched with the long round hole 2A and the curved groove 3A, the other end of the poking pin 4 is connected with the push rod 6, and the push rod 6 penetrates through the upper fixing plate 5 and then is connected with the mechanical finger 1.

When the cam 3 rotates, one ends of the five shifting pins 4 move in the long circular hole 2A along the axis direction through the curved groove 3A, and the other ends of the five shifting pins 4 enable the five mechanical fingers 1 to do tightening and stretching movement through the push rod 6;

angle intervals of the curved grooves 3A of the cam 3 in the circumferential direction are reasonably distributed to realize a human-palm-like structure, the functional relation between the rotation angle and the lift of each curved groove 3A is optimized, and the stroke of the mechanical finger 1 is controlled to achieve the purpose of grabbing and holding a special-shaped object;

the mechanical paw can realize the driving of a plurality of mechanical fingers 1 through a single driving element, the mechanism of the mechanical paw is simple and easy to control, and the structural volume of the mechanical paw is optimized.

The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims (10)

1. A mechanical paw is characterized by comprising a mechanical finger (1) and a cam control assembly, wherein the cam control assembly comprises a guide post (2), a cam (3) and a shifting pin (4), and the cam (3) can rotate around the guide post (2) in an annular mode;

a vertical long round hole (2A) is formed in the side face of the guide column (2), and one end of the poking pin (4) is in vertical sliding fit with the long round hole (2A);

an oblique curved groove (3A) is formed in the side face of the cam (3), the other end of the shifting pin (4) penetrates through the curved groove (3A) and then is connected with the mechanical finger (1), and the curved groove (3A) can drive the shifting pin (4) to vertically slide in the long round hole (2A) through rotation of the cam (3);

the mechanical fingers (1) are at least two, the long round holes (2A), the curved grooves (3A) and the shifting pins (4) are correspondingly arranged, all the long round holes (2A) are arranged along the side faces of the guide columns (2) in the circumferential direction, and all the curved grooves (3A) are arranged along the side faces of the cams (3) in the circumferential direction.

2. A gripper according to claim 1, characterized in that the guide post (2) has a cylindrical profile, and the cam (3) is arranged on the outside of the guide post (2).

3. The gripper according to claim 2, characterized in that the guiding stud (2) and the cam (3) are both cylindrical structures, and the outer side wall of the guiding stud (2) and the inner side wall of the cam (3) are attached to each other.

4. The mechanical gripper as claimed in claim 1, characterized in that an upper fixing plate (5) is fixed on the top surface of the guiding column (2), a push rod (6) is fixed on the shifting pin (4), and the push rod (6) vertically penetrates through the upper fixing plate (5) and then is connected with the mechanical gripper (1).

5. A gripper according to claim 4, characterized in that a lower fixing plate (7) is fixed to the bottom of said guide column (2), said cam (3) is constrained between said upper fixing plate (5) and said lower fixing plate (7), a tooth slot (3B) is provided on the side of said cam (3), said lower fixing plate (7) is provided with a gear (8) adapted to said tooth slot (3B), said gear (8) can drive said cam (3) to rotate.

6. The mechanical gripper as claimed in claim 5, wherein the mechanical finger (1) comprises a front fingerboard (1A), a finger seat (1B), a first connecting rod (1C) and a second connecting rod (1D), the finger seat (1B) is fixed on the lower fixing plate (7), the first connecting rod (1C) is rotatably connected between the front fingerboard (1A) and the finger seat (1B), the second connecting rod (1D) is also rotatably connected between the front fingerboard (1A) and the finger seat (1B), the first connecting rod (1C) and the second connecting rod (1D) are arranged at intervals, and the push rod (6) is connected to the first connecting rod (1C).

7. The gripper according to claim 6, wherein the connection point of said first link (1C) and said second link (1D) is the vertex of a parallelogram;

or the connecting point of the first connecting rod (1C) and the second connecting rod (1D) is the vertex of a non-parallelogram.

8. The mechanical gripper as claimed in claim 6, wherein the push rod (6) and the first connecting rod (1C) are rotatably connected with a pull rod (9), the pull rod (9) is rotatably connected with the push rod (6), and the two ends of the push rod (6) are provided with waist-shaped holes (6A).

9. The mechanical gripper as claimed in claim 6, characterized in that said first connecting rod (1C) and said second connecting rod (1D) are each formed by two straight rods fixed by pins, and said front fingerboard (1A) and said finger seats (1B) are each pivotally connected to the pins between the groups of said straight rods.

10. A gripper according to any one of claims 1-9, characterized in that five fingers (1) are provided.

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