CN220241507U

CN220241507U - Mechanical claw

Info

Publication number: CN220241507U
Application number: CN202321597826.1U
Authority: CN
Inventors: 王士涛; 谈仁斌
Original assignee: Huzhou Leapting Technology Co Ltd
Current assignee: Huzhou Leapting Technology Co Ltd
Priority date: 2023-06-21
Filing date: 2023-06-21
Publication date: 2023-12-26
Anticipated expiration: 2033-06-21

Abstract

The utility model discloses a mechanical claw which is used for grabbing a photovoltaic cleaning machine and comprises a supporting frame, a movable block, a left connecting rod assembly, a right connecting rod assembly, a left clamping jaw connected with the left connecting rod assembly, a right clamping jaw connected with the right connecting rod assembly and a driving assembly, wherein the left connecting rod assembly and the right connecting rod assembly are respectively arranged at the left end and the right end of the movable block and are respectively connected with the two ends of the movable block, the movable block is connected with the driving assembly, and the driving assembly controls the movable block to move back and forth along the direction of the movable block consistent with the axis of the driving assembly so as to drive the left clamping jaw and the right clamping jaw to open or close. So set up, only form with photovoltaic scavenging machine when carrying and be connected, do not produce the restriction to the scavenging movement of photovoltaic scavenging machine, reduce the risk of damage.

Description

Mechanical claw

Technical Field

The utility model relates to a mechanical claw, and belongs to the technical field of photovoltaics.

Background

The problems of fall, uneven height, front-back dislocation and relief are caused among different arrays of a large photovoltaic field. In the related art, a manner that the chassis truck drags the sweeper to walk is adopted, and when the sweeper runs to the tail end of the array, the chassis truck pulls the sweeper up to be carried to another array, so that the problem of crossing the array is solved. The chassis truck is fixedly provided with a mechanical arm, the tail end of the mechanical arm is in a permanent connection state with the sweeper, and hidden danger of damaging the component even caused by pulling the sweeper exists in places where the chassis truck is required to avoid an obstacle or has uneven ground.

Disclosure of Invention

The utility model aims to provide a mechanical claw which is connected with a photovoltaic cleaning machine only during carrying, does not limit the cleaning movement of the photovoltaic cleaning machine and reduces the risk of damage.

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

the utility model provides a gripper for snatch photovoltaic scavenging machine, includes support frame, movable block, left connecting rod subassembly, right connecting rod subassembly, with left clamping jaw that left connecting rod subassembly is connected, with right clamping jaw and the drive assembly that right connecting rod subassembly is connected, left connecting rod subassembly with right connecting rod subassembly locates respectively the both ends about the movable block and respectively with the both ends of movable block are connected, the movable block with the drive assembly is connected, the drive assembly control the movable block along its with the direction round trip movement that the drive assembly axis is unanimous, and then drives left clamping jaw right clamping jaw opens or is closed.

The mechanical claw comprises a first pressing component and a second pressing component, the first pressing component and the second pressing component are connected with the supporting frame, the first pressing component and the second pressing component are located between the left clamping jaw and the right clamping jaw, and the first pressing component and the second pressing component are used for grabbing the photovoltaic sweeper, so that the mechanical claw presses the photovoltaic sweeper.

As a further improved technical scheme of the utility model, the first compression assembly comprises a first connecting piece, a first cylindrical part fixed at the bottom of the first connecting piece, a first compression rod arranged in the first cylindrical part and a first spring sleeved outside the first compression rod, the first connecting piece is connected with the support frame, the upper end of the first compression rod extends out of the first cylindrical part and penetrates through the first connecting piece, a first locking bolt is fixed at the upper end of the first compression rod, the first compression rod can move back and forth relative to the first cylindrical part, a first compression part is arranged at the lower end of the first compression rod, one end of the first spring is propped against the first cylindrical part, and the other end of the first spring is propped against the first compression part;

the second pressing assembly comprises a second connecting piece, a second cylindrical part fixed at the bottom of the second connecting piece, a second pressing rod arranged in the second cylindrical part and a second spring sleeved outside the second pressing rod, the second connecting piece is connected with the support frame, the upper end of the second pressing rod extends out of the second cylindrical part and penetrates through the second connecting piece, a second locking bolt is fixed at the upper end of the second pressing rod, the second pressing rod can move back and forth relative to the second cylindrical part, a second pressing part is arranged at the lower end of the second pressing rod, one end of the second spring is propped against the second cylindrical part, and the other end of the second spring is propped against the second pressing part;

after the left clamping jaw and the right clamping jaw are closed, the first pressing part is positioned above the left clamping jaw, and the second pressing part is positioned above the right clamping jaw.

As a further improved technical scheme of the utility model, the driving assembly comprises a motor and a screw rod connected with the motor, the movable block is provided with a threaded hole, the screw rod is arranged in the threaded hole in a penetrating mode, and the motor controls the screw rod to rotate so that the movable block moves back and forth along the direction of the axis of the driving assembly.

As a further improved technical scheme of the utility model, the support frame comprises a first support plate, a second support plate opposite to the first support plate, a first bearing seat and a second bearing seat, wherein two sides of the first bearing seat are respectively connected with the first support plate and the second support plate, two sides of the second bearing seat are respectively connected with the first support plate and the second support plate, a first bearing is arranged on the first bearing seat, a second bearing is arranged on the second bearing seat, two ends of the screw rod are respectively connected with the first bearing and the second bearing, and the movable block is positioned between the first bearing and the second bearing.

As a further improved technical scheme of the utility model, a first positioning column is fixed on one side of the movable block, a second positioning column is fixed on the other side of the movable block, a first long hole is formed in the first supporting plate, a second long hole is formed in the second supporting plate, the length directions of the first long hole and the second long hole are parallel to the moving direction of the movable block, the first positioning column can move in the first long hole, and the second positioning column can move in the second long hole.

According to the technical scheme, the left connecting rod assembly comprises a first left connecting rod and a second left connecting rod which is connected with the first left connecting rod in a rotating mode, the right connecting rod assembly comprises a first right connecting rod and a second right connecting rod which is connected with the first right connecting rod in a rotating mode, the left clamping jaw is fixed with the second left connecting rod, the right clamping jaw is fixed with the second right connecting rod, the first left connecting rod and the first right connecting rod are respectively connected with two ends of the movable block in a rotating mode, the second left connecting rod comprises a first connecting rod portion and a second connecting rod portion which is connected with the first connecting rod portion, the second connecting rod portion is bent downwards relative to the first connecting rod portion, the second right connecting rod comprises a third connecting rod portion and a fourth connecting rod portion which is connected with the third connecting rod portion, a first connecting area is arranged between the second connecting rod portion and the first connecting rod portion, a first connecting area is arranged between the fourth connecting rod portion and the third connecting rod portion, and the first connecting area is connected with the first supporting frame.

As a further improved technical scheme of the utility model, two ends of the movable block are respectively provided with a first connecting lug and a second connecting lug, two first left connecting rods are oppositely arranged, one ends of the two first left connecting rods are hinged with the first connecting lugs, the other ends of the two first left connecting rods are hinged with the first connecting rod parts, two first right connecting rods are oppositely arranged, one ends of the two first right connecting rods are hinged with the second connecting lugs, and the other ends of the two first right connecting rods are hinged with the third connecting rod parts.

As a further improved technical scheme of the utility model, the left clamping jaw comprises a first clamping jaw part and a first connecting part connected with the first clamping jaw part, a first mounting groove is formed in the tail end of the second connecting rod part, the first connecting part is arranged in the first mounting groove, the first connecting part is fixed with the second connecting rod part through a first bolt, the right clamping jaw comprises a second clamping jaw part and a second connecting part connected with the second clamping jaw part, a second mounting groove is formed in the tail end of the fourth connecting rod part, the second connecting part is arranged in the second mounting groove, and the second connecting part is fixed with the fourth connecting rod part through a second bolt.

As a further improved technical scheme of the present utility model, the first clamping jaw member includes a first side plate connected with the first connecting member, a second side plate opposite to the first side plate, and a first bottom plate connecting the first side plate and the second side plate, and the second clamping jaw member includes a third side plate connected with the second connecting member, a fourth side plate opposite to the third side plate, and a second bottom plate connecting the third side plate and the fourth side plate.

According to the utility model, the driving assembly controls the movable block to move back and forth along the direction consistent with the axis of the driving assembly, so that the left clamping jaw and the right clamping jaw are driven to open or close; when the photovoltaic sweeper moves to the tail end of the array, the left clamping jaw and the right clamping jaw are closed, so that the mechanical claws can grab the photovoltaic sweeper for carrying the photovoltaic sweeper; after the photovoltaic sweeper is carried to another photovoltaic array, the left clamping jaw and the right clamping jaw are opened, the mechanical claw loosens the photovoltaic sweeper, the mechanical claw does not limit the sweeping motion of the photovoltaic sweeper, and the damage risk is reduced.

Drawings

FIG. 1 is a schematic perspective view of a handling device of a photovoltaic sweeper of the present utility model;

FIG. 2 is a schematic perspective view of the gripper of FIG. 1;

FIG. 3 is an exploded perspective view of FIG. 2;

FIG. 4 is a front view of a portion of the assembly of FIG. 3;

FIG. 5 is a schematic perspective view of FIG. 4;

FIG. 6 is an exploded perspective view of FIG. 5;

FIG. 7 is a schematic perspective view of the movable block of FIG. 6;

FIG. 8 is a front view of the second left and right links of FIG. 6;

fig. 9 is an exploded perspective view of the first and second hold-down assemblies of fig. 6.

Detailed Description

Exemplary embodiments of the present utility model will be described in detail below with reference to the accompanying drawings. If there are several specific embodiments, the features in these embodiments can be combined with each other without conflict. When the description refers to the accompanying drawings, the same numbers in different drawings denote the same or similar elements, unless otherwise specified. What is described in the following exemplary embodiments does not represent all embodiments consistent with the utility model; rather, they are merely examples of apparatus, articles, and/or methods that are consistent with aspects of the utility model as set forth in the claims.

The terminology used in the present utility model is for the purpose of describing particular embodiments only and is not intended to limit the scope of the present utility model. As used in the specification and claims of the present utility model, the singular forms "a," "an," or "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

It should be understood that words such as "first," "second," and the like, used in the description and in the claims of the present utility model, do not denote any order, quantity, or importance, but rather are names used to distinguish one feature from another. Likewise, the terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one. Unless otherwise indicated, the terms "front," "rear," "upper," "lower," and the like are used herein for convenience of description and are not limited to a particular location or to a spatial orientation. The word "comprising" or "comprises", and the like, is an open-ended expression, meaning that elements appearing before "comprising" or "including", encompass the elements appearing after "comprising" or "including", and equivalents thereof, and not exclude that elements appearing before "comprising" or "including", may also include other elements. In the present utility model, if a plurality of the above-mentioned components are present, the meaning of the above-mentioned components is two or more.

Referring to fig. 1 to 9, the utility model discloses a carrying device of a photovoltaic cleaning machine, which comprises a fixing frame 1 and two mechanical claws, wherein the two mechanical claws are connected with the fixing frame 1. The fixing frame 1 is connected with a crane, the crane can grab the photovoltaic sweeper 100 through a mechanical claw and convey the photovoltaic sweeper 100 to the next target array for cleaning when the photovoltaic sweeper 100 runs to the tail end of the photovoltaic array, and the rest working time is not connected with the photovoltaic sweeper 100. The crane is an existing design, and is not illustrated in this application.

Referring to fig. 2 and 3, the gripper includes a support frame 21, a movable block 22, a first left link 23, a first right link 24, a second left link 25 rotatably connected to the first left link 23, a second right link 26 rotatably connected to the first right link 24, a left jaw 27 fixed to the second left link 25, a right jaw 28 fixed to the second right link 26, and a driving assembly 29, and the first left link 23 and the first right link 24 are rotatably connected to both ends of the movable block 22, respectively. The second left link 25 and the second right link 26 are both of a bent structure. The movable block 22 is connected with the driving component 29, the driving component 29 controls the movable block 22 to move back and forth along the direction consistent with the axis of the driving component 29, and the left clamping jaw 27 and the right clamping jaw 28 are driven to open or close by the connecting rod. When the photovoltaic sweeper 100 moves to the tail end of the array, the left clamping jaw 27 and the right clamping jaw 28 are closed, so that the mechanical claws can grab the photovoltaic sweeper 100 for carrying the photovoltaic sweeper 100; when the photovoltaic sweeper 100 is carried to another photovoltaic array, the left clamping jaw 27 and the right clamping jaw 28 are opened, the mechanical claw loosens the photovoltaic sweeper 100, and the mechanical claw does not limit the sweeping motion of the photovoltaic sweeper 100. The first left link 23 and the second left link 25 constitute a left link assembly, and the first right link 24 and the second right link 26 constitute a right link assembly. That is, the left and right link assemblies are provided at both left and right ends of the movable block 22 and are connected to both ends of the movable block 22, respectively.

Referring to fig. 3, the driving assembly 29 includes a motor 291 and a screw rod 292 connected to the motor 291, the movable block 22 has a threaded hole 220, the screw rod 292 is inserted into the threaded hole 220, the motor 291 controls the screw rod 292 to rotate, so that the movable block 22 moves along the length direction of the screw rod 292, and the movable block 22 can drive the left clamping jaw 27 and the right clamping jaw 28 to open or close. The length of the screw 292 is parallel to the axis of the drive assembly 29.

With continued reference to fig. 3, the support frame 21 includes a first support plate 211, a second support plate 212 opposite to the first support plate 211, a first bearing housing 213, and a second bearing housing 214, both sides of the first bearing housing 213 being connected to the first support plate 211 and the second support plate 212, respectively, and both sides of the second bearing housing 214 being connected to the first support plate 211 and the second support plate 212, respectively. The first bearing housing 213 is mounted with a first bearing 215, the second bearing housing 214 is mounted with a second bearing 216, both ends of the screw rod 292 are respectively connected with the first bearing 215 and the second bearing 216, and the movable block 22 is located between the first bearing 215 and the second bearing 216 and moves between the first bearing 215 and the second bearing 216.

Referring to fig. 3, the first support plate 211 is provided with a first long hole 2110, the second support plate 212 is provided with a second long hole 2120, and the length directions of the first long hole 2110 and the second long hole 2120 are parallel to the moving direction of the movable block 22. Referring to fig. 7, a first positioning post 221 is fixed to one side of the movable block 22, a second positioning post 222 is fixed to the other side of the movable block 22, the first positioning post 221 is movable in the first long hole 2110, and the second positioning post 222 is movable in the second long hole 2120, so that the movement of the movable block 22 is positioned.

Referring to fig. 7, two ends of the movable block 22 are respectively provided with a first connecting lug 223 and a second connecting lug 224, the first left connecting rods 23 are oppositely arranged two, one ends of the two first left connecting rods 23 are hinged with the first connecting lugs 223, the other ends of the two first left connecting rods 23 are hinged with the second left connecting rods 25, the first right connecting rods 24 are oppositely arranged two, one ends of the two first right connecting rods 24 are hinged with the second connecting lugs 224, and the other ends of the two first right connecting rods 24 are hinged with the second right connecting rods 26.

Specifically, referring to fig. 4, the second left link 25 includes a first link portion 251 and a second link portion 252 connected to the first link portion 251, the second link portion 252 is bent downward with respect to the first link portion 251, the second right link 26 includes a third link portion 261 and a fourth link portion 262 connected to the third link portion 261, and the fourth link portion 262 is bent downward with respect to the third link portion 261. Referring to fig. 8, a first connection region 250 is provided between the second link portion 252 and the first link portion 251, a second connection region 260 is provided between the fourth link portion 262 and the third link portion 261, and both the first connection region 250 and the second connection region 260 are rotatably connected with the support frame 21.

With continued reference to fig. 8, the first connection region 250 is provided with a first through hole 2501, the second connection region 260 is provided with a second through hole 2601, a first shaft 217 and a second shaft 218 are connected between the first support plate 211 and the second support plate 212, the first shaft 217 penetrates through the first through hole 2501, and the second shaft 218 penetrates through the second through hole 2601, so that both the first connection region 250 and the second connection region 260 are rotatably connected with the support frame 21.

Referring to fig. 1, a first included angle is formed between the axis of the first link portion 251 and the axis of the second link portion 252, a second included angle is formed between the axis of the third link portion 261 and the axis of the fourth link portion 262, the first included angle is equal to the second included angle, and the first included angle and the second included angle are obtuse angles.

In the illustrated embodiment of the present utility model, one ends of the two first left links 23 are hinged to the first connecting lugs 223, the other ends of the two first left links 23 are hinged to the first connecting rod portions 251, one ends of the two first right links 24 are hinged to the second connecting lugs 224, and the other ends of the two first right links 24 are hinged to the third connecting rod portions 261.

Referring to fig. 6, the left jaw 27 includes a first jaw member 271 and a first connection member 272 connected to the first jaw member 271, a first mounting groove 2520 is provided at an end of the second link portion 252, the first connection member 272 is provided at the first mounting groove 2520, and the first connection member 272 and the second link portion 252 are fixed by the first bolt 10. The first jaw member 271 has a U-shaped cross section, and in particular, the first jaw member 271 includes a first side plate 2711 connected with the first connecting member 272, a second side plate 2712 opposite to the first side plate 2711, and a first bottom plate 2713 connecting the first side plate 2711 and the second side plate 2712.

As shown in fig. 6, the right jaw 28 includes a second jaw member 281 and a second connecting member 282 connected to the second jaw member 281, a second mounting groove 2620 is provided at an end of the fourth link portion 262, the second connecting member 282 is provided in the second mounting groove 2620, and the second connecting member 282 and the fourth link portion 262 are fixed by the second bolt 20. The second jaw member 281 includes a third side plate 2811 connected to the second connecting member 282, a fourth side plate 2812 opposite to the third side plate 2811, and a second bottom plate 2813 connecting the third side plate 2811 and the fourth side plate 2812.

Hooks 1001 are provided on both sides of the photovoltaic sweeper 100, and when the first clamping jaw member 271 and the second clamping jaw member 281 are closed, the hooks 1001 on both sides can be hooked to enable the mechanical gripper to grasp the photovoltaic sweeper 100.

Referring to fig. 5, the gripper includes a first pressing assembly 3 and a second pressing assembly 4, and the first pressing assembly 3 and the second pressing assembly 4 press the photovoltaic sweeper 100 during gripping of the photovoltaic sweeper 100. The first pressing component 3 is fixedly connected with the first supporting plate 211 and the second supporting plate 212, the second pressing component 4 is fixedly connected with the first supporting plate 211 and the second supporting plate 212, and the first pressing component 3 and the second pressing component 4 are located between the left clamping jaw 27 and the right clamping jaw 28. The photovoltaic cleaning machine 100 is pressed on the left clamping jaw 27 through the first pressing component 3, the photovoltaic cleaning machine 100 is pressed on the right clamping jaw 28 through the second pressing component 4, and the photovoltaic cleaning machine 100 is prevented from falling off under the vibration condition generated by crane walking, so that stable carrying is realized.

Referring to fig. 9, the first pressing assembly 3 includes a first connection member 31, a first cylindrical member 32 fixed to the bottom of the first connection member 31, a first pressing rod 33 provided in the first cylindrical member 32, and a first spring 34 sleeved outside the first pressing rod 33, an upper end of the first pressing rod 33 extends out of the first cylindrical member 32 and passes through the first connection member 31, and a first locking bolt 35 is fixed to an upper end of the first pressing rod 33. The first presser bar 33 is movable back and forth with respect to the first tubular member 32. The lower end of the first presser bar 33 has a first pressing portion 331, one end of the first spring 34 abuts against the first tubular member 32, and the other end of the first spring 34 abuts against the first pressing portion 331. The first connecting member 31 is provided with a first hole 310, and the first pressing lever 33 can move up and down in the first hole 310. When the gripper grabs the photovoltaic sweeper 100, the first pressing portion 331 abuts against the lifting hook 1001 of the photovoltaic sweeper 100, and the first pressing portion 331 compresses the first spring 34, so that the photovoltaic sweeper 100 is pressed on the left clamping jaw 27 by the first pressing assembly 3.

The first connecting member 31 is connected to the support frame 21. Specifically, the first connecting member 31 includes a fifth side plate 311, a sixth side plate 312 opposite to the fifth side plate 311, and a third bottom plate 313 connecting the fifth side plate 311 and the sixth side plate 312, and the first hole 310 is formed in the third bottom plate 313. The fifth side plate 311 is fixed to the first support plate 211, and the sixth side plate 312 is fixed to the second support plate 212.

The second pressing assembly 4 comprises a second connecting piece 41, a second cylindrical part 42 fixed at the bottom of the second connecting piece 41, a second pressing rod 43 arranged in the second cylindrical part 42 and a second spring 44 sleeved outside the second pressing rod 43, wherein the upper end of the second pressing rod 43 extends out of the second cylindrical part 42 and penetrates through the second connecting piece 41, a second locking bolt 45 is fixed at the upper end of the second pressing rod 43, and the second pressing rod 43 can move back and forth relative to the second cylindrical part 42. The second presser bar 43 has a second pressing portion 431 at a lower end thereof, and one end of the second spring 44 abuts against the second tubular member 42, and the other end of the second spring 44 abuts against the second pressing portion 431. The second connecting member 41 is provided with a second hole 410, and the second pressing rod 43 can move up and down in the second hole 410. When the gripper grips the photovoltaic sweeper 100, the second pressing portion 431 abuts against the hook 1001 of the photovoltaic sweeper 100, and the second pressing portion 431 compresses the second spring 44, so that the second pressing assembly 4 presses the photovoltaic sweeper 100 on the right clamping jaw 28. The gripper grips the photovoltaic sweeper 100 more firmly by the first spring 34 and the second spring 44. After the left and right jaws 27, 28 are closed, the first press portion 331 is located above the first bottom plate 2713, and the second press portion 431 is located above the second bottom plate 2813.

The second connector 41 is connected to the support frame 21. Specifically, the second connector 41 includes a seventh side plate 411, an eighth side plate 412 opposite to the seventh side plate 411, and a fourth bottom plate 413 connecting the seventh side plate 411 and the eighth side plate 412, and the second hole 410 is provided in the fourth bottom plate 413. The seventh side plate 411 is fixed to the first support plate 211, and the eighth side plate 412 is fixed to the second support plate 212.

The working process of the utility model comprises the following steps: the crane adjusts the left clamping jaw 27 and the right clamping jaw 28 to descend to the lifting hook 1001, the motor 291 controls the screw rod 292 to rotate, the movable block 22 ascends, the connecting rod drives the left clamping jaw 27 and the right clamping jaw 28 to be closed, the lifting hooks 1001 on two sides of the photovoltaic sweeper 100 are grabbed while the lifting hooks are closed, the photovoltaic sweeper 100 is compressed on the left clamping jaw 27 by the first compression assembly 3, and the photovoltaic sweeper 100 is compressed on the right clamping jaw 28 by the second compression assembly 4; the crane adjusts the left clamping jaw 27 and the right clamping jaw 28 to lift, so that the photovoltaic cleaning machine 100 leaves the original photovoltaic array and moves to a new photovoltaic array.

The above embodiments are only for illustrating the present utility model and not for limiting the technical solutions described in the present utility model, and it should be understood that the present utility model should be based on those skilled in the art, and although the present utility model has been described in detail with reference to the above embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made to the present utility model without departing from the spirit and scope of the present utility model and modifications thereof should be covered by the scope of the claims of the present utility model.

Claims

1. The utility model provides a gripper for snatch photovoltaic scavenging machine (100), its characterized in that, gripper includes support frame (21), movable block (22), left link assembly, right link assembly, with left clamping jaw (27) that left link assembly is connected, with right clamping jaw (28) and drive assembly (29) that right link assembly is connected, left link assembly with right link assembly locates respectively the both ends about movable block (22) and respectively with the both ends of movable block (22) are connected, movable block (22) with drive assembly (29) are connected, drive assembly (29) control movable block (22) follow its with the direction round trip movement of drive assembly (29) axis unanimity, and then drive left clamping jaw (27) right clamping jaw (28) open or close.

2. Gripper according to claim 1, characterized in that the gripper comprises a first compression assembly (3) and a second compression assembly (4), the first compression assembly (3) and the second compression assembly (4) being connected to the support frame (21), the first compression assembly (3) and the second compression assembly (4) being located between the left clamping jaw (27) and the right clamping jaw (28), the first compression assembly (3) and the second compression assembly (4) being such that the gripper compresses the photovoltaic sweeper (100) during gripping of the photovoltaic sweeper (100).

3. The mechanical gripper according to claim 2, wherein the first pressing assembly (3) comprises a first connecting piece (31), a first cylindrical part (32) fixed at the bottom of the first connecting piece (31), a first pressing rod (33) arranged in the first cylindrical part (32), and a first spring (34) sleeved outside the first pressing rod (33), the first connecting piece (31) is connected with the supporting frame (21), the upper end of the first pressing rod (33) extends out of the first cylindrical part (32) and penetrates through the first connecting piece (31), a first locking bolt (35) is fixed at the upper end of the first pressing rod (33), the first pressing rod (33) can move back and forth relative to the first cylindrical part (32), a first pressing part (331) is arranged at the lower end of the first pressing rod (33), one end of the first spring (34) is abutted against the first cylindrical part (32), and the other end of the first spring (34) is abutted against the first pressing part (331);

the second pressing assembly (4) comprises a second connecting piece (41), a second cylindrical part (42) fixed at the bottom of the second connecting piece (41), a second pressing rod (43) arranged in the second cylindrical part (42) and a second spring (44) sleeved outside the second pressing rod (43), the second connecting piece (41) is connected with the support frame (21), the upper end of the second pressing rod (43) extends out of the second cylindrical part (42) and penetrates through the second connecting piece (41), a second locking bolt (45) is fixed at the upper end of the second pressing rod (43), the second pressing rod (43) can move back and forth relative to the second cylindrical part (42), a second pressing part (431) is arranged at the lower end of the second pressing rod (43), one end of the second spring (44) abuts against the second cylindrical part (42), and the other end of the second spring (44) abuts against the second pressing part (431);

after the left clamping jaw (27) and the right clamping jaw (28) are closed, the first pressing part (331) is located above the left clamping jaw (27), and the second pressing part (431) is located above the right clamping jaw (28).

4. The gripper according to claim 1, characterized in that the drive assembly (29) comprises a motor (291) and a screw (292) connected to the motor (291), the movable block (22) has a threaded hole (220), the screw (292) is threaded through the threaded hole (220), and the motor (291) controls the screw (292) to rotate so that the movable block (22) moves back and forth in a direction in which it coincides with the axis of the drive assembly (29).

5. The mechanical gripper according to claim 4, characterized in that the supporting frame (21) comprises a first supporting plate (211), a second supporting plate (212) opposite to the first supporting plate (211), a first bearing seat (213) and a second bearing seat (214), wherein two sides of the first bearing seat (213) are respectively connected with the first supporting plate (211) and the second supporting plate (212), two sides of the second bearing seat (214) are respectively connected with the first supporting plate (211) and the second supporting plate (212), a first bearing (215) is mounted on the first bearing seat (213), a second bearing (216) is mounted on the second bearing seat (214), two ends of the screw rod (292) are respectively connected with the first bearing (215) and the second bearing (216), and the movable block (22) is positioned between the first bearing (215) and the second bearing (216).

6. The mechanical gripper according to claim 5, characterized in that a first positioning column (221) is fixed on one side of the movable block (22), a second positioning column (222) is fixed on the other side of the movable block (22), the first support plate (211) is provided with a first long hole (2110), the second support plate (212) is provided with a second long hole (2120), the length directions of the first long hole (2110) and the second long hole (2120) are parallel to the movement direction of the movable block (22), the first positioning column (221) can move in the first long hole (2110), and the second positioning column (222) can move in the second long hole (2120).

7. The gripper according to claim 4, wherein the left link assembly comprises a first left link (23) and a second left link (25) rotatably connected to the first left link (23), the right link assembly comprises a first right link (24) and a second right link (26) rotatably connected to the first right link (24), the left jaw (27) is fixed to the second left link (25), the right jaw (28) is fixed to the second right link (26), the first left link (23) and the first right link (24) are rotatably connected to both ends of the movable block (22), respectively, the second left link (25) comprises a first link portion (251) and a second link portion (252) connected to the first link portion (251), the second link portion (252) is downwardly bent with respect to the first link portion (251), the second right link (26) comprises a third link portion (261) and a fourth link portion (262) is provided with a second link portion (252) connected to the fourth link portion (262), a second connecting area (260) is arranged between the fourth connecting rod part (262) and the third connecting rod part (261), and the first connecting area (250) and the second connecting area (260) are both in rotary connection with the support frame (21).

8. The mechanical gripper according to claim 7, wherein two ends of the movable block (22) are respectively provided with a first connecting lug (223) and a second connecting lug (224), the first left connecting rod (23) is oppositely arranged in two, one ends of the two first left connecting rods (23) are hinged with the first connecting lugs (223), the other ends of the two first left connecting rods (23) are hinged with the first connecting rod parts (251), the first right connecting rods (24) are oppositely arranged in two, one ends of the two first right connecting rods (24) are hinged with the second connecting lugs (224), and the other ends of the two first right connecting rods (24) are hinged with the third connecting rod parts (261).

9. The gripper according to claim 7, characterized in that the left gripper jaw (27) comprises a first gripper jaw part (271) and a first connecting part (272) connected with the first gripper jaw part (271), a first mounting groove (2520) is arranged at the tail end of the second connecting rod part (252), the first connecting part (272) is arranged at the first mounting groove (2520), the first connecting part (272) and the second connecting rod part (252) are fixed through a first bolt (10), the right gripper jaw (28) comprises a second gripper jaw part (281) and a second connecting part (282) connected with the second gripper jaw part (281), a second mounting groove (2620) is arranged at the tail end of the fourth connecting rod part (262), the second connecting part (282) is arranged at the second mounting groove (2620), and the second connecting part (282) and the fourth connecting rod part (262) are fixed through a second bolt (20).

10. The gripper of claim 9, wherein the first jaw component (271) comprises a first side plate (2711) connected to the first connecting component (272), a second side plate (2712) opposite the first side plate (2711), and a first bottom plate (2713) connecting the first side plate (2711) and the second side plate (2712), the second jaw component (281) comprising a third side plate (2811) connected to the second connecting component (282), a fourth side plate (2812) opposite the third side plate (2811), and a second bottom plate (2813) connecting the third side plate (2811) and the fourth side plate (2812).