Mechanical claw with self-adaptive grabbing function

Abstract

According to the mechanical gripper with the self-adaptive grabbing function, the exposed end of a piston rod is sleeved with a connecting rod base through a vertical through hole A, and the connecting rod base is fixedly connected with a cylinder barrel; the exposed end of the piston rod is fixedly sleeved with the pushing seat through a vertical through hole B, two pairs of movable seat lug plates A are symmetrically arranged at the left end and the right end of the upper portion of the pushing seat, and two movable seat lug plates B are symmetrically arranged at the left end and the right end of the lower portion of the pushing seat; the two clamping jaw mechanisms are oppositely distributed on the left side and the right side of the piston rod. The clamping jaw mechanism comprises a clamping jaw base, a plurality of elastic jaw teeth and a shovel body; the two transmission assemblies are distributed corresponding to the two clamping jaw mechanisms correspondingly. Each transmission assembly comprises a connecting frame A, a connecting frame B and a connecting frame C; each transmission assembly is connected with the corresponding connecting rod base, the corresponding pushing base and the corresponding clamping jaw mechanism on one side. The mechanical claw has the self-adaptive posture adjusting capacity, self-adaptive grabbing operation of objects in different shapes or special-shaped workpieces can be achieved under the condition that the mechanical claw is not replaced, and the grabbing operation efficiency can be remarkably improved.

Description

Technical Field

[0001] This invention belongs to the field of mining machinery and equipment technology, specifically a mechanical claw with adaptive gripping function. Background Art

[0002] In the field of coal mining and mining machinery operations, mechanical grippers, as one of the key actuators, are widely used to grasp and transport various objects. Due to the complex mining environment and the diverse types and shapes of objects, including but not limited to hydraulic support components, anchor bolts, steel beams, pipes, cables, and various tools, these objects vary significantly in shape, size, and material, placing diverse demands on the gripping performance of mechanical grippers.

[0003] In existing technologies, gripping operations for objects of specific shapes typically employ specialized or fixed clamps. While this design can improve work efficiency under certain conditions, it struggles to adapt to the complex working conditions commonly encountered in mining machinery operations. Taking belt conveyor installation as an example, the process requires simultaneously handling various rods with significantly different shapes and sizes, such as square longitudinal beams, cylindrical idlers, and H-frames. Traditional mechanical grippers, due to their fixed structure and poor adaptability, necessitate frequent clamp changes to meet such diverse operational demands. This not only increases the number of steps but also significantly reduces work efficiency and, more importantly, increases the operational risks for workers due to the increased complexity of operation.

[0004] In response to the aforementioned technical deficiencies, there is an urgent need to develop a robotic gripper with adaptive grasping capabilities to address the problems of insufficient adaptability, low operational efficiency, and safety hazards associated with existing robotic grippers. Summary of the Invention

[0005] To address the problems existing in the prior art, the present invention provides a mechanical gripper with adaptive gripping function. This mechanical gripper is highly flexible, stable, and versatile. It can perform adaptive gripping operations on rods of different shapes without changing the mechanical gripper, which can significantly improve gripping efficiency and enhance the reliability and stability of gripping.

[0006] To achieve the above objectives, the present invention provides a mechanical gripper with adaptive gripping function, comprising a hydraulic cylinder, a connecting rod base, a pusher base, a gripper mechanism, and a transmission assembly; The hydraulic cylinder is vertically arranged and includes a cylinder barrel and a piston rod; The connecting rod base has a vertical through hole A in the central area, and two base ear plates are symmetrically arranged at the left and right ends of its lower part; the connecting rod base is coaxially sleeved on the outside of the exposed end of the piston rod through the vertical through hole A, and its upper end is fixedly connected to the lower end of the cylinder. At the same time, there is a clearance fit between the vertical through hole A4 and the piston rod 51. The central area of ​​the push seat has a vertical through hole B, and two pairs of moving seat ear plates A are symmetrically arranged at the upper left and right ends, and two moving seat ear plates B are symmetrically arranged at the lower left and right ends. The push seat is coaxially sleeved on the outside of the exposed end of the piston rod through the vertical through hole B, and the vertical through hole B is fixedly connected to the piston rod. Two gripper mechanisms are distributed opposite each other on the left and right sides below the push base; each gripper mechanism includes a gripper base, elastic claw teeth, and a shovel body; the gripper base has an internal receiving groove, and its top is fixedly connected to a claw seat high ear plate and a claw seat low ear plate from the outside to the inside; multiple elastic claw teeth are installed in the receiving groove along the height direction, and each elastic claw tooth has elastic extension and retraction capability in the depth direction of the receiving groove; the outer end of the shovel body is fixedly connected to the inner side of the bottom end of the gripper base; Two sets of transmission components are distributed corresponding to two gripper mechanisms; each set of transmission components includes a connecting frame A, a connecting frame B, and a connecting frame C; the upper end of the connecting frame A is hinged to the end of the base lug plate; the upper end of the connecting frame B is hinged to the lower end of the connecting frame A, its upper part is hinged to a pair of moving seat lug plates A, and its lower end is hinged to the high lug plate of the gripper seat; the upper end of the connecting frame C is hinged to the moving seat lug plate B, and its lower end is hinged to the low lug plate of the gripper seat.

[0007] To adapt to gripping different objects, the elastic claw teeth include a strip mounting plate, fixed sleeves, movable sleeves, springs, claw tooth covers, and anti-slip pads. The mounting plate is horizontally fixedly mounted on the fixed plate, and has multiple spring positioning holes evenly distributed along its length. Multiple fixed sleeves are distributed corresponding to the multiple spring positioning holes, with the outer ends of the fixed sleeves fixedly mounted on the strip mounting plate, and the inner ends of the fixed sleeves fixedly connected to limit rings. Multiple movable sleeves are axially slidably inserted into the multiple fixed sleeves, and the inner ends of the movable sleeves are fitted with end caps, with their outer ends fixedly connected to... It has an annular boss that is matched with a limiting ring; multiple movable sleeves and multiple fixed sleeves form multiple telescopic sleeves; multiple springs are respectively set in the inner cavity of multiple telescopic sleeves, one end of the spring is fixedly inserted into the spring positioning hole, and the other end abuts against the end plate; the claw tooth cover has a U-shaped structure, the size of which is adapted to the size of the strip mounting plate, the claw tooth cover covers the outside of multiple movable sleeves, and the inner side wall is fixedly connected to the inner end of multiple movable sleeves; the size of the anti-slip pad is adapted to the size of the strip mounting plate and is fixedly connected to the surface of the outer wall of the claw tooth cover.

[0008] In this technical solution, a strip-shaped mounting plate is fixedly mounted on a fixed plate. Multiple spring positioning holes are provided on the strip-shaped mounting plate to facilitate the positioning of the outer ends of the springs. Multiple fixed sleeves are fixedly mounted on the strip-shaped mounting plate, while multiple movable sleeves are fixedly mounted on the inner side of the claw cover. These movable sleeves are slidably inserted into the interior of the fixed sleeves, forming multiple telescopic sleeves. Springs are placed within the inner cavities of the telescopic sleeves, utilizing their elasticity to provide restoring force during the resetting process. The limiting engagement between the annular boss and the limiting ring prevents the movable sleeves from detaching from the fixed sleeves. The anti-slip pads effectively increase the friction between the grippers and the object. Based on this, the multiple elastic claw teeth on each gripper mechanism have independent elastic extension and retraction capabilities relative to the gripper base. Thus, when the elastic claw teeth contact the target object, they can adaptively adjust their gripping posture through spring extension and retraction, maintaining a good fit with the outer contours of different shapes during gripping, improving the reliability and stability of the gripping process. Since each claw cover is connected to the strip mounting plate through multiple telescopic sleeves, it ensures that each claw cover can only move along the depth direction of the receiving groove during the gripping process, without displacement in other directions. This further improves the reliability and stability of gripping while ensuring attitude self-adaptation. On the other hand, the multiple telescopic sleeves on the inner side of each claw cover can be used to improve shear resistance, ensuring the stability of the gripper mechanism and extending its service life.

[0009] Furthermore, in order to better guide the object to quickly detach from the contact surface and enable the object to quickly enter the clamping area of ​​the two gripper mechanisms, the thickness of the shovel body gradually decreases from the outside to the inside, and its upper surface transitions downward in an arc shape from the outside to the inside.

[0010] Furthermore, to improve the reliability and stability of the gripping operation, two transverse through holes A are symmetrically opened at the ends of the two base lugs; two pairs of transverse through holes B are symmetrically opened at the ends of the two pairs of moving lugs A, and two transverse through holes C are symmetrically opened at the ends of the two moving lugs B; the claw seat low lugs are respectively provided with transverse through holes K and L; the upper and lower ends of the connecting frame A are respectively provided with a pair of connecting lugs A and a pair of connecting lugs B, and a pair of transverse through holes D are opened on the pair of connecting lugs A, and a pair of transverse through holes E are opened on the pair of connecting lugs B; the pair of connecting lugs A are sleeved on the outside of the base lugs, and the two are connected by a pin A passing through the transverse through holes A and D; the upper end and the upper middle part of the connecting frame B are respectively provided with transverse through holes F and G, and the lower end is provided with a pair of connecting lugs C, and a pair of transverse through holes H are respectively opened on the pair of connecting lugs C; the connecting frame B The upper end of the connecting frame B is inserted into the interior of a pair of connecting lugs B, and the two are connected by pins B passing through transverse through holes F and E; the upper part of the connecting frame B is inserted into a pair of moving seat lugs A, and the two are connected by pins C passing through transverse through holes G and B; a pair of connecting lugs C are sleeved on the outside of the high lug of the claw seat, and the two are connected by pins D passing through transverse through holes K and H; the upper and lower ends of the connecting frame C are respectively provided with a pair of connecting lugs D and a pair of connecting lugs E, and a pair of transverse through holes I are opened opposite each other on the pair of connecting lugs D, and a pair of transverse through holes J are opened opposite each other on the pair of connecting lugs E; a pair of connecting lugs D are sleeved on the outside of the end of the moving seat lug B, and the two are connected by pins E passing through transverse through holes C; a pair of connecting lugs E are sleeved on the outside of the low lug of the claw seat, and the two are connected by pins F passing through transverse through holes L and J.

[0011] As a preferred embodiment, the gripper base includes a fixed plate, a top plate, a bottom plate, and side baffles; the top plate and the bottom plate are fixedly connected to each other at both ends of the fixed plate in the height direction; the two side baffles are fixedly connected to each other at both ends of the fixed plate in the width direction; and a receiving groove is formed between the top plate, the bottom plate, the side baffles, and the fixed plate.

[0012] As a preferred embodiment, two pairs of shovel mounting holes A are symmetrically provided at the front and rear ends of the inner end of the base plate; a pair of connecting ear plates are fixedly connected to the outer end of the shovel body at the front and rear respectively, and two pairs of shovel mounting holes B are provided on the pair of connecting ear plates; the pair of connecting ear plates are sleeved on the outer side of the inner end of the base plate, and the two are fixedly connected by positioning pins inserted into the shovel mounting holes A and B.

[0013] Furthermore, to prevent the push seat from falling off, a limiting block is also included, which is fixedly installed at the exposed end of the piston rod.

[0014] In this invention, the connecting rod base is fixedly connected to the lower end of the cylinder, providing a relatively fixed connection foundation. A vertical through hole A is provided at the center of the connecting rod base, ensuring the piston rod can extend and retract normally through this hole. Two base lugs are symmetrically arranged at the lower part of the connecting rod base, facilitating the provision of relatively fixed upper hinge connection points for the connecting frame A. The push seat is fixedly fitted onto the outside of the exposed end of the piston rod, allowing the piston rod's extension and retraction to drive the push seat in linear reciprocating motion. Two pairs of movable lugs A are provided at the upper part of the push seat, providing relatively movable upper hinge connection points for the connecting frame B. Simultaneously, two movable lugs B are provided at the lower part of the push seat, providing relatively movable upper hinge connection points for the connecting frame C. The upper end of connecting frame B is hinged to the lower end of connecting frame A. At the same time, the lower end of connecting frame B is hinged to the claw seat ear plate at the upper end of the gripper mechanism. In this way, on the one hand, connecting frame A and connecting frame B can be used to limit the maximum linear displacement of the push seat relative to the connecting rod base. On the other hand, when the push seat moves towards the connecting rod base, connecting frame A can provide downward pressure to the upper end of connecting frame B, which facilitates the gripper mechanism to open. Furthermore, when the push seat moves away from the connecting rod base, connecting frame A can provide external pulling force to the upper end of connecting frame B, which facilitates the gripper mechanism to grasp. Based on this, the lower end of connecting frame B is hinged to the lower lug plate of the gripper seat at the upper end of the gripper mechanism. During the movement of the pusher seat, connecting frame B can limit the range of motion between the gripper mechanism and the pusher seat. Thus, during the linear reciprocating movement of the pusher seat driven by the piston rod, connecting frame C can work in conjunction with connecting frames A and B to synchronously drive the two gripper mechanisms to open and close, thereby achieving gripping and releasing actions through the two gripper mechanisms. Furthermore, for the gripper mechanism, since the multiple elastic teeth set in the receiving groove of the gripper base have elastic extension and contraction capabilities, during the gripping and cooperating action of the two gripper mechanisms, the multiple elastic teeth on each side can adaptively adjust their gripping posture when contacting the target object. This allows for stable gripping of objects of various shapes, and also meets the stable gripping requirements of the same object with uneven surfaces. Furthermore, this invention innovatively places a pair of shovels opposite each other at the bottom of the two gripper mechanisms. This allows the proximal ends of the two shovels to move closer together under the synchronous drive of the two gripper mechanisms when grasping an object, facilitating rapid separation of the object from the contact surface and contributing to more efficient grasping operations. This invention utilizes the extension and retraction of a hydraulic cylinder, with a piston rod driving a push seat in linear reciprocating motion. During this linear movement, the push seat transmits force to the two gripper mechanisms via two sets of transmission components. Driven by the combined action of these two sets of transmission components, the two gripper mechanisms open and close, thereby enabling the grasping or releasing of objects.

[0015] This robotic gripper boasts high flexibility, stability, and versatility, overcoming the limitation of traditional grippers' single-function grasping capability. It fully integrates the automated drive of hydraulic cylinders with the adaptive posture adjustment of elastic claw teeth, ensuring that the gripper mechanism maintains effective contact with the object surface throughout the grasping process. This improves grasping efficiency while simultaneously enhancing reliability and stability. The gripper can adaptively grasp objects of different shapes or irregularly shaped workpieces without changing the gripper or fixture, simplifying the gripper or fixture replacement process in coal mining robot operations, saving time, and avoiding operational risks during gripper or fixture changes. This significantly improves grasping efficiency and enhances operational safety. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the connecting rod base in this invention; Figure 3 This is a schematic diagram of the push seat structure in this invention; Figure 4 This is a schematic diagram of the structure of the connecting frame A in this invention; Figure 5 This is a schematic diagram of the connecting frame B in this invention; Figure 6 This is a schematic diagram of the connecting frame C in this invention; Figure 7 This is a three-dimensional structural diagram of the gripper base in this invention; Figure 8 This is a schematic diagram of the planar structure of the gripper base in this invention; Figure 9 This is an assembly diagram of the elastic claw teeth, fixing plate, and strip mounting plate in this invention; Figure 10 This is a schematic diagram of the strip mounting plate in this invention.

[0017] In the diagram: 1. Hydraulic cylinder; 2. Connecting rod base; 3. Push seat; 4. Vertical through hole A; 5. Base lug; 6. Horizontal through hole A; 7. Vertical through hole B; 8. Moving seat lug A; 9. Horizontal through hole B; 10. Horizontal through hole C; 11. Connecting frame A; 12. Connecting frame B; 13. Connecting frame C. 14. Transverse through hole D; 15. Transverse through hole E; 16. Transverse through hole F; 17. Transverse through hole G; 18. Transverse through hole H; 19. Transverse through hole I; 20. Connecting ear plate A; 21. Connecting ear plate B; 22. Connecting ear plate C; 23. Connecting ear plate D; 24. Connecting ear plate E; 25. Transverse through hole J; 26. Gripper mechanism; 27. Gripper base; 28. Fixing plate; 29. ​​Top plate; 30. Bottom plate; 31. Side baffle; 32. High ear plate of gripper base; 33. Low ear plate of gripper base; 34. 35. Transverse through hole K, 36. Transverse through hole L, 37. Shovel body, 38. Elastic claw teeth, 39. Receiving groove, 40. Shovel body mounting hole A, 41. Strip mounting plate, 42. Spring positioning hole, 43. Fixed sleeve, 44. Movable sleeve, 45. Spring, 46. Claw tooth cover, 47. Limiting ring, 48. Annular boss, 49. End cover, 50. Anti-slip pad, 51. Limiting block, 52. Piston rod, 53. Cylinder, 54. Moving seat ear plate B, 55. Shovel body mounting hole B, 56. Connecting ear plate. Detailed Implementation

[0018] The invention will now be further described with reference to the accompanying drawings.

[0019] like Figures 1 to 10 As shown, the present invention provides a mechanical gripper with adaptive gripping function, including a hydraulic cylinder 1, a connecting rod base 2, a pusher 3, a gripper mechanism 26, and a transmission assembly; The hydraulic cylinder 1 is arranged vertically and includes a cylinder barrel 52 and a piston rod 51; preferably, the upper end of the cylinder barrel 52 is fixedly mounted on the end joint of the robotic arm.

[0020] The connecting rod base 2 has a vertical through hole A4 in its central area, and two base ear plates 5 are symmetrically arranged at its lower left and right ends. The connecting rod base 2 is coaxially sleeved on the outside of the exposed end of the piston rod 51 through the vertical through hole A4, and its upper end is fixedly connected to the lower end of the cylinder 52. At the same time, there is a clearance fit between the vertical through hole A4 and the piston rod 51. The central area of ​​the push seat 3 is provided with a vertical through hole B7, and two pairs of moving seat ear plates A8 are symmetrically arranged at the upper left and right ends, and two moving seat ear plates B53 are symmetrically arranged at the lower left and right ends. The push seat 3 is coaxially sleeved on the outside of the exposed end of the piston rod 51 through the vertical through hole B7, and the vertical through hole B7 is fixedly connected to the piston rod 51. As a preferred embodiment, after the push seat 3 and the connecting rod base 2 are assembled onto the hydraulic cylinder 1, in the left-right direction, the outer ends of the two moving seat lugs A8 are located outside the outer ends of the two moving seat lugs B53, and at the same time, the outer ends of the two moving seat lugs A8 are located outside the outer ends of the two base lugs 5. Two gripper mechanisms 26 are distributed opposite each other on the left and right sides below the pusher seat 3; each gripper mechanism 26 includes a gripper base 27, elastic claw teeth 37, and a shovel body 36; the gripper base 27 has an internal receiving groove 38, and its top end is fixedly connected to a claw seat high ear plate 32 and a claw seat low ear plate 33 from the outside to the inside; multiple elastic claw teeth 37 are installed in the receiving groove 38 along the height direction, and each elastic claw tooth 37 has elastic extension and retraction capability in the depth direction of the receiving groove 38; the outer end of the shovel body 36 is fixedly connected to the inner side of the bottom end of the gripper base 27; Two sets of transmission components are distributed corresponding to two gripper mechanisms 26 respectively; each set of transmission components includes a connecting frame A11, a connecting frame B12 and a connecting frame C13; the upper end of the connecting frame A11 is hinged to the end of the base ear plate 5; the upper end of the connecting frame B12 is hinged to the lower end of the connecting frame A11, its upper part is hinged to a pair of moving seat ear plates A8, and its lower end is hinged to the high ear plate 32 of the gripper seat; the upper end of the connecting frame C13 is hinged to the moving seat ear plate B53, and its lower end is hinged to the low ear plate 33 of the gripper seat.

[0021] As a preferred embodiment, the length of the connecting frame A11 is less than the length of the connecting frame C13, and the length of the connecting frame C13 is less than the length of the connecting frame B12.

[0022] To adapt to gripping different objects, the elastic claw teeth 37 include a strip mounting plate 40, fixed sleeves 42, movable sleeves 43, springs 44, claw tooth covers 45, and anti-slip pads 49. The mounting plate 40 is horizontally fixed on the fixed plate 28, and has multiple spring positioning holes 41 evenly distributed along its length. The multiple fixed sleeves 42 are distributed corresponding to the multiple spring positioning holes 41, and the outer ends of the fixed sleeves 42 are fixedly mounted on the strip mounting plate 40. The inner end of the fixed sleeve 42 is fixedly connected to a limit ring 46. The multiple movable sleeves 43 are axially slidably inserted into the multiple fixed sleeves 42, and the inner end of the movable sleeve 43 is equipped with an end cap 48, and the outer end of the movable sleeve 43 is covered with an end cap 48. A fixed annular boss 47 is provided, which is in a limiting fit with a limiting ring 46; multiple movable sleeves 43 and multiple fixed sleeves 42 form multiple telescopic sleeves; multiple springs 44 are respectively provided in the inner cavity of multiple telescopic sleeves, one end of the spring 44 is fixedly inserted into the spring positioning hole 41, and the other end abuts against the end plate 48; the claw tooth cover 45 has a U-shaped structure, and its size is adapted to the size of the strip mounting plate 40. The claw tooth cover 45 covers the outside of multiple movable sleeves 43, and its inner sidewall is fixedly connected to the inner end of multiple movable sleeves 43; the size of the anti-slip pad 49 is adapted to the size of the strip mounting plate 40, and it is fixedly connected to the surface of the outer wall of the claw tooth cover 45.

[0023] In this technical solution, a strip-shaped mounting plate is fixedly mounted on a fixed plate. Multiple spring positioning holes are provided on the strip-shaped mounting plate to facilitate the positioning of the outer ends of the springs. Multiple fixed sleeves are fixedly mounted on the strip-shaped mounting plate, while multiple movable sleeves are fixedly mounted on the inner side of the claw cover. These movable sleeves are slidably inserted into the interior of the fixed sleeves, forming multiple telescopic sleeves. Springs are placed within the inner cavities of the telescopic sleeves, utilizing their elasticity to provide restoring force during the resetting process. The limiting engagement between the annular boss and the limiting ring prevents the movable sleeves from detaching from the fixed sleeves. The anti-slip pads effectively increase the friction between the grippers and the object. Based on this, the multiple elastic claw teeth on each gripper mechanism have independent elastic extension and retraction capabilities relative to the gripper base. Thus, when the elastic claw teeth contact the target object, they can adaptively adjust their gripping posture through spring extension and retraction, maintaining a good fit with the outer contours of different shapes during gripping, improving the reliability and stability of the gripping process. Since each claw cover is connected to the strip mounting plate through multiple telescopic sleeves, it ensures that each claw cover can only move along the depth direction of the receiving groove during the gripping process, without displacement in other directions. This further improves the reliability and stability of gripping while ensuring attitude self-adaptation. On the other hand, the multiple telescopic sleeves on the inner side of each claw cover can be used to improve shear resistance, ensuring the stability of the gripper mechanism and extending its service life.

[0024] In order to better guide the object to quickly detach from the contact surface and enable the object to quickly enter the clamping area of ​​the two gripper mechanisms, the thickness of the shovel body 36 gradually decreases from the outside to the inside, and its upper surface transitions downward in an arc shape from the outside to the inside.

[0025] To improve the reliability and stability of the gripping operation, two transverse through holes A6 are symmetrically opened at the ends of the two base ear plates 5; two pairs of transverse through holes B9 are symmetrically opened at the ends of the two pairs of moving seat ear plates A8, and two transverse through holes C10 are symmetrically opened at the ends of the two moving seat ear plates B53; the claw seat high ear plate 32 and the claw seat low ear plate 33 are respectively provided with transverse through holes K34 and L35; the upper and lower ends of the connecting frame A11 are respectively provided with a pair of connecting ear plates A20 and a pair of connecting ear plates B21, and the pair of connecting ear plates... A20 has a pair of transverse through holes D14, and a pair of transverse through holes E15 are provided on a pair of connecting ear plates B21; the pair of connecting ear plates A20 are sleeved on the outside of the base ear plate 5, and the two are connected by a pin A passing through the transverse through holes A6 and D14; the upper end and the upper middle part of the connecting frame B12 have transverse through holes F16 and G17 respectively, and a pair of connecting ear plates C22 are provided at its lower end, and a pair of transverse through holes H18 are provided on the pair of connecting ear plates C22 respectively; the connecting frame B12 The upper end is inserted into a pair of connecting lugs B21, and the two are connected by pins B passing through transverse through holes F16 and E15; the upper part of the connecting frame B12 is inserted into a pair of moving seat lugs A8, and the two are connected by pins C passing through transverse through holes G17 and B9; a pair of connecting lugs C22 are sleeved on the outside of the claw seat high lug 32, and the two are connected by pins D passing through transverse through holes K34 and H18; the upper and lower ends of the connecting frame C13 are respectively provided with a pair of connecting... Ear plate D23 and a pair of connecting ear plates E24 are provided, and a pair of transverse through holes I19 are provided opposite to each other on the pair of connecting ear plates D23, and a pair of transverse through holes J25 are provided opposite to each other on the pair of connecting ear plates E24; the pair of connecting ear plates D23 are sleeved on the outside of the end of the moving seat ear plate B53, and the two are connected by a pin E passing through the transverse through hole C10 and the transverse through hole I19; the pair of connecting ear plates E24 are sleeved on the outside of the claw seat short ear plate 33, and the two are connected by a pin F passing through the transverse through hole L35 and the transverse through hole J25.

[0026] Preferably, the gripper base 27 includes a fixed plate 28, a top plate 29, a bottom plate 30, and side baffles 31; the top plate 29 and the bottom plate 30 are fixedly connected vertically to the two ends of the fixed plate 28 in the height direction; the two side baffles 31 are fixedly connected to the two ends of the fixed plate 28 in the width direction; a receiving groove 38 is formed between the top plate 29, the bottom plate 30, the side baffles 31, and the fixed plate 28. Preferably, the top plate 29 and the bottom plate 30 have the same dimensions in the left-right direction; more preferably, the inner ends of the top plate 29, the bottom plate 30, and the side baffles 31 are flush with the ends of the elastic claw teeth 37 in their normal state.

[0027] As a preferred embodiment, two pairs of shovel mounting holes A39 are symmetrically provided at the front and rear ends of the inner end of the base plate 30; a pair of connecting ear plates 55 are fixedly connected to the outer end of the shovel body 36 in a corresponding manner at the front and rear, and two pairs of shovel mounting holes B54 are provided on the pair of connecting ear plates 55; the pair of connecting ear plates 55 are sleeved on the outer side of the inner end of the base plate 30, and the two are fixedly connected by positioning pins inserted into the shovel mounting holes A39 and shovel mounting holes B54.

[0028] To prevent the push seat from falling off, a limiting block 50 is also included, which is fixedly installed at the exposed end of the piston rod 51.

[0029] This invention is applicable to grasping various objects of different shapes, with a focus on rod-shaped objects. When grasping rod-shaped objects, the rod surface is in contact with the ground. As the two gripper mechanisms 26 close, a pair of shovels 36 can easily insert into the area between the rod and the contact surface. This allows the rod to be quickly separated from the original contact surface during grasping and guided into the clamping area between the two gripper mechanisms 26, achieving efficient grasping. When the rod enters the clamping area, the elastic claw teeth 37, under pressure from the rod, overcome the elastic force of the spring 44 and force the movable sleeve 43 to move closer to the fixed sleeve 42. This causes the elastic claw teeth 37 to retract along with the telescopic sleeve. Because the contact force between different positions of the rod and different elastic claw teeth varies, the springs at corresponding positions deform to different degrees according to the actual force, thereby causing the elastic claw teeth at those positions to adjust their positions adaptively. This allows multiple elastic claw teeth 37 to tightly adhere to the surface of the rod, ultimately achieving stable and well-fitting gripping of rods of different shapes. When the external force is removed, the telescopic sleeve returns to its maximum stroke position under the elastic force of the spring 44.

[0030] In this invention, the connecting rod base is fixedly connected to the lower end of the cylinder, providing a relatively fixed connection foundation. A vertical through hole A is provided at the center of the connecting rod base, ensuring the piston rod can extend and retract normally through this hole. Two base lugs are symmetrically arranged at the lower part of the connecting rod base, facilitating the provision of relatively fixed upper hinge connection points for the connecting frame A. The push seat is fixedly fitted onto the outside of the exposed end of the piston rod, allowing the piston rod's extension and retraction to drive the push seat in linear reciprocating motion. Two pairs of movable lugs A are provided at the upper part of the push seat, providing relatively movable upper hinge connection points for the connecting frame B. Simultaneously, two movable lugs B are provided at the lower part of the push seat, providing relatively movable upper hinge connection points for the connecting frame C. The upper end of connecting frame B is hinged to the lower end of connecting frame A. At the same time, the lower end of connecting frame B is hinged to the claw seat ear plate at the upper end of the gripper mechanism. In this way, on the one hand, connecting frame A and connecting frame B can be used to limit the maximum linear displacement of the push seat relative to the connecting rod base. On the other hand, when the push seat moves towards the connecting rod base, connecting frame A can provide downward pressure to the upper end of connecting frame B, which facilitates the gripper mechanism to open. Furthermore, when the push seat moves away from the connecting rod base, connecting frame A can provide external pulling force to the upper end of connecting frame B, which facilitates the gripper mechanism to grasp. Based on this, the lower end of connecting frame B is hinged to the lower lug plate of the gripper seat at the upper end of the gripper mechanism. During the movement of the pusher seat, connecting frame B can limit the range of motion between the gripper mechanism and the pusher seat. Thus, during the linear reciprocating movement of the pusher seat driven by the piston rod, connecting frame C can work in conjunction with connecting frames A and B to synchronously drive the two gripper mechanisms to open and close, thereby achieving gripping and releasing actions through the two gripper mechanisms. Furthermore, for the gripper mechanism, since the multiple elastic teeth set in the receiving groove of the gripper base have elastic extension and contraction capabilities, during the gripping and cooperating action of the two gripper mechanisms, the multiple elastic teeth on each side can adaptively adjust their gripping posture when contacting the target object. This allows for stable gripping of objects of various shapes, and also meets the stable gripping requirements of the same object with uneven surfaces. Furthermore, this invention innovatively places a pair of shovels opposite each other at the bottom of the two gripper mechanisms. This allows the proximal ends of the two shovels to move closer together under the synchronous drive of the two gripper mechanisms when grasping an object, facilitating rapid separation of the object from the contact surface and contributing to more efficient grasping operations. This invention utilizes the extension and retraction of a hydraulic cylinder, with a piston rod driving a push seat in linear reciprocating motion. During this linear movement, the push seat transmits force to the two gripper mechanisms via two sets of transmission components. Driven by the combined action of these two sets of transmission components, the two gripper mechanisms open and close, thereby enabling the grasping or releasing of objects.

[0031] This robotic gripper boasts high flexibility, stability, and versatility, overcoming the limitation of traditional grippers' single-function grasping capability. It fully integrates the automated drive of hydraulic cylinders with the adaptive posture adjustment of elastic claw teeth, ensuring that the gripper mechanism maintains effective contact with the object surface throughout the grasping process. This improves grasping efficiency while simultaneously enhancing reliability and stability. The gripper can adaptively grasp objects of different shapes or irregularly shaped workpieces without changing the gripper or fixture, simplifying the gripper or fixture replacement process in coal mining robot operations, saving time, and avoiding operational risks during gripper or fixture changes. This significantly improves grasping efficiency and enhances operational safety.

Claims

1. A mechanical gripper with adaptive grasping function, comprising a hydraulic cylinder (1), said hydraulic cylinder (1) being vertically arranged and comprising a cylinder barrel (52) and a piston rod (51); characterized in that, It also includes a connecting rod base (2), a pusher seat (3), a gripper mechanism (26), and a transmission assembly; The connecting rod base (2) has a vertical through hole A (4) in the center area, and two base ear plates (5) are symmetrically arranged at the left and right ends of its lower part; the connecting rod base (2) is coaxially sleeved on the outside of the exposed end of the piston rod (51) through the vertical through hole A (4), and its upper end is fixedly connected to the lower end of the cylinder (52). At the same time, there is a clearance fit between the vertical through hole A (4) and the piston rod (51). The central area of ​​the push seat (3) is provided with a vertical through hole B (7), and two pairs of moving seat ear plates A (8) are symmetrically arranged at the upper left and right ends, and two moving seat ear plates B (53) are symmetrically arranged at the lower left and right ends; the push seat (3) is coaxially sleeved on the outside of the exposed end of the piston rod (51) through the vertical through hole B (7), and the vertical through hole B (7) is fixedly connected to the piston rod (51); Two gripper mechanisms (26) are distributed opposite each other on the left and right sides below the pusher seat (3); the gripper mechanism (26) includes a gripper base (27), elastic claw teeth (37) and a shovel body (36); the gripper base (27) forms a receiving groove (38) inside, and its top end is fixedly connected to a claw seat high ear plate (32) and a claw seat low ear plate (33) from the outside to the inside; multiple elastic claw teeth (37) are installed in the receiving groove (38) along the height direction, and each elastic claw tooth (37) has elastic extension and retraction capability in the depth direction of the receiving groove (38); the outer end of the shovel body (36) is fixedly connected to the inner side of the bottom end of the gripper base (27); Two sets of transmission components are distributed corresponding to two gripper mechanisms (26); each set of transmission components includes a connecting frame A (11), a connecting frame B (12) and a connecting frame C (13); the upper end of the connecting frame A (11) is hinged to the end of the base ear plate (5); the upper end of the connecting frame B (12) is hinged to the lower end of the connecting frame A (11), its upper part is hinged to a pair of moving seat ear plates A (8), and its lower end is hinged to the high ear plate (32) of the gripper seat; the upper end of the connecting frame C (13) is hinged to the moving seat ear plate B (53), and its lower end is hinged to the low ear plate (33) of the gripper seat.

2. A mechanical gripper with adaptive grasping function according to claim 1, characterized in that, The elastic claw tooth (37) includes a strip mounting plate (40), a fixed sleeve (42), a movable sleeve (43), a spring (44), a claw tooth cover (45), and an anti-slip pad (49). The condition mounting plate (40) is horizontally fixedly mounted on the fixed plate (28), and multiple spring positioning holes (41) are evenly opened in its length direction; multiple fixed sleeves (42) are distributed corresponding to the multiple spring positioning holes (41), and the outer end of the fixed sleeve (42) is fixedly mounted on the strip mounting plate (40), and the inner end of the fixed sleeve (42) is fixedly connected to the inner end of the fixed sleeve (42) with a limiting ring (46); multiple movable sleeves (43) are axially slidably inserted into the multiple fixed sleeves (42), and the inner end of the movable sleeve (43) is equipped with an end cap (48), and the outer side of its outer end is fixedly connected with an annular boss (47), and the annular boss (47) and the limiting ring (46) are mutually limiting and cooperating; Multiple movable sleeves (43) and multiple fixed sleeves (42) form multiple telescopic sleeves; multiple springs (44) are respectively set in the inner cavity of multiple telescopic sleeves, one end of the spring (44) is fixedly inserted into the spring positioning hole (41), and the other end abuts against the end plate (48); the claw tooth cover (45) has a U-shaped structure, and its size is adapted to the size of the strip mounting plate (40). The claw tooth cover (45) covers the outside of multiple movable sleeves (43), and its inner sidewall is fixedly connected to the inner end of multiple movable sleeves (43); the size of the anti-slip pad (49) is adapted to the size of the strip mounting plate (40), and it is fixedly connected to the surface of the outer sidewall of the claw tooth cover (45).

3. A mechanical gripper with adaptive grasping function according to claim 1, characterized in that, The thickness of the shovel body (36) gradually decreases from the outside to the inside, and its upper surface transitions downward in an arc shape from the outside to the inside.

4. A mechanical gripper with adaptive gripping function according to claim 1, characterized in that, Two transverse through holes A (6) are symmetrically opened at the ends of the two base ear plates (5); Two pairs of transverse through holes B (9) are symmetrically opened at the ends of the two pairs of moving seat ear plates A (8), and two transverse through holes C (10) are symmetrically opened at the ends of the two moving seat ear plates B (53). The claw seat high ear plate (32) and claw seat low ear plate (33) are respectively provided with transverse through holes K (34) and L (35); The upper and lower ends of the connecting frame A (11) are respectively provided with a pair of connecting ear plates A (20) and a pair of connecting ear plates B (21), and a pair of transverse through holes D (14) are opened on the pair of connecting ear plates A (20), and a pair of transverse through holes E (15) are opened on the pair of connecting ear plates B (21); the pair of connecting ear plates A (20) are sleeved on the outside of the base ear plate (5), and the two are connected by a pin A passing through the transverse through holes A (6) and D (14); The upper end and the upper middle part of the connecting frame B (12) are respectively provided with transverse through holes F (16) and G (17), and a pair of connecting ear plates C (22) are provided at its lower end. A pair of transverse through holes H (18) are provided on the pair of connecting ear plates C (22). The upper end of the connecting frame B (12) is inserted into the interior of a pair of connecting ear plates B (21), and the two are connected by a pin B passing through the transverse through holes F (16) and E (15). The upper part of the connecting frame B (12) is inserted into a pair of moving seat ear plates A (8), and the two are connected by a pin C passing through the transverse through holes G (17) and B (9). A pair of connecting ear plates C (22) are sleeved on the outside of the claw seat high ear plate (32), and the two are connected by a pin D passing through the transverse through holes K (34) and H (18). The upper and lower ends of the connecting frame C (13) are respectively provided with a pair of connecting ear plates D (23) and a pair of connecting ear plates E (24), and a pair of transverse through holes I (19) are opened opposite to each other on the pair of connecting ear plates D (23), and a pair of transverse through holes J (25) are opened opposite to each other on the pair of connecting ear plates E (24); the pair of connecting ear plates D (23) are sleeved on the outside of the end of the moving seat ear plate B (53), and the two are connected by a pin E passing through the transverse through hole C (10) and the transverse through hole I (19); the pair of connecting ear plates E (24) are sleeved on the outside of the claw seat short ear plate (33), and the two are connected by a pin F passing through the transverse through hole L (35) and the transverse through hole J (25).

5. A mechanical gripper with adaptive grasping function according to claim 1, characterized in that, The gripper base (27) includes a fixed plate (28), a top plate (29), a bottom plate (30), and side baffles (31); the top plate (29) and the bottom plate (30) are fixedly connected to the two ends of the fixed plate (28) in the height direction, respectively; the two side baffles (31) are fixedly connected to the two ends of the fixed plate (28) in the width direction, respectively; and a receiving groove (38) is formed between the top plate (29), the bottom plate (30), the side baffles (31), and the fixed plate (28).

6. A mechanical gripper with adaptive grasping function according to claim 1, characterized in that, The bottom plate (30) has two pairs of shovel mounting holes A (39) symmetrically opened at the front and rear ends of the inner end; the outer end of the shovel (36) is fixedly connected to a pair of connecting ear plates (55) corresponding to the front and rear ends, and two pairs of shovel mounting holes B (54) are opened on the pair of connecting ear plates (55); the pair of connecting ear plates (55) are sleeved on the outer side of the inner end of the bottom plate (30), and the two are fixedly connected by positioning pins inserted into the shovel mounting holes A (39) and shovel mounting holes B (54).

7. A mechanical gripper with adaptive grasping function according to claim 1, characterized in that, It also includes a limiting block (50), which is fixedly installed at the exposed end of the piston rod (51).

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