Hydraulic magnetic steel grabber

Abstract

The application relates to the technical field of grippers, in particular to a hydraulic magnetic steel grabbing device, which comprises a rotary support, the top of the outer ring of the rotary support is provided with an upper cover plate, the bottom of the inner ring of the rotary support is provided with a lower cover plate, and the inner wall of the inner ring is provided with internal teeth; a first hydraulic motor is arranged on the upper cover plate, the bottom of the lower cover plate is provided with a main support with a clamping groove, the outer side of the main support is respectively provided with an electromagnetic suction disc and a variable-voltage electric control box, a hydraulic cylinder is arranged in the clamping groove, the hydraulic cylinder can drive the first jaw module and the second jaw module of a grabbing jaw module to synchronously rotate, and the mutual engagement or separation is realized. The device has the advantages of simple structure, long service life of the jaw transmission structure, and the electromagnetic suction disc can be powered through the current converted by oil pressure, so that the short and small objects which cannot be grabbed by the jaw and can be magnetically attracted can be further attracted.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of grabbers, and in particular to a hydraulic magnetic steel grabbing device. BACKGROUND

[0002] A steel grabbing machine refers to a machine for grabbing steel materials, which is generally evolved from a hydraulic excavator. The large and small arms of the steel grabbing machine are commonly referred to as "material grabbing arms", which are generally long, and the front end of the material grabbing arms is a steel grabbing device, that is, a steel grabbing clamp, also known as a plum blossom hydraulic grab bucket or orange peel grab bucket. The main function of the steel grabbing device is to grab and load various materials such as waste metals, industrial waste, gravel, construction waste, and household waste.

[0003] Among them, the steel grabbing device generally realizes the grabbing of objects by controlling the occlusion of two steel grabbing clamps. For example, the Chinese patent with publication number CN214522171U discloses a steel grabbing machine. The control of the two steel grabbing clamps is realized by two separate oil cylinders, which not only makes the structure of the device more complex and bulky, but also requires precise design of the oil cylinder corresponding to each steel grabbing clamp to realize synchronous control of the two steel grabbing clamps, thereby increasing the complexity of control.

[0004] The Chinese patent with publication number CN210312497U discloses a steel grabbing machine grabber structure. Although only one oil cylinder is used for control, the transmission between the two steel grabbing clamps adopts a gear meshing transmission form. Since the transmission relies only on the gear teeth and needs to withstand the gravity of the two steel grabbing clamps when they are opened, the gear teeth are easily worn out after long-term use, thereby affecting the service life of the device. On the other hand, due to the harsh working environment, if a large amount of dust, debris, and other pollutants accumulate between the gears, the damage to the gear teeth will be accelerated.

[0005] Moreover, the above two devices can only grab relatively large objects, and cannot grab relatively small objects.

[0006] Therefore, there is an urgent need for a new technology to solve this technical problem. SUMMARY

[0007] The present application aims to overcome the problems of the prior art and provides a hydraulic magnetic steel grabbing device to solve the technical problems of complex driving structure of the traditional steel grabbing clamp, difficulty in assembly and maintenance, and inability to grab and transport relatively small objects.

[0008] The above-mentioned purpose is achieved by the following technical solutions:

[0009] The hydraulic magnetic steel grabber comprises a rotary bearing, the top of the outer ring of the rotary bearing is provided with an upper cover plate, the bottom of the inner ring of the rotary bearing is provided with a lower cover plate, and the inner wall of the inner ring is provided with internal teeth; a first hydraulic motor is arranged on the upper cover plate and can penetrate the upper cover plate, and an internal gear that can mesh with the internal teeth is arranged on the rotating shaft of the first hydraulic motor;

[0010] A rotary joint mounting hole through which a central rotary joint penetrates is arranged along the axial position of the upper cover plate and the lower cover plate;

[0011] The bottom of the lower cover plate is provided with a main body support with a clamping groove, the outer side of the main body support is respectively provided with an electromagnetic chuck and a variable-voltage electric control box, the variable-voltage electric control box is provided with a second hydraulic motor, a generator and a variable-voltage rectifier, the rotating shaft of the second hydraulic motor is connected with the rotating shaft of the generator, the generator is electrically connected with the variable-voltage rectifier, and the variable-voltage rectifier is electrically connected with the electromagnetic chuck;

[0012] A hydraulic cylinder is arranged in the clamping groove, the piston end of the hydraulic cylinder is connected with a grab jaw module, the grab jaw module comprises a first jaw module and a second jaw module corresponding to each other, and the hydraulic cylinder can drive the first jaw module and the second jaw module to synchronously rotate, so as to realize mutual engagement or separation;

[0013] The hydraulic cylinder is connected with the central rotary joint through an oil pipe;

[0014] The central rotary joint, the first hydraulic motor and the second hydraulic motor are respectively connected with an oil supply module through oil pipes.

[0015] Further, the main body support comprises two main body support plates symmetrical to each other, the two main body support plates are provided with first limiting rotating shaft through holes, second limiting rotating shaft through holes and third limiting rotating shaft through holes symmetrical to each other, the first limiting rotating shaft through holes are provided with first limiting rotating shafts, the second limiting rotating shaft through holes are provided with second limiting rotating shafts, and the third limiting rotating shaft through holes are provided with third limiting rotating shafts;

[0016] The first limiting rotating shaft is movably connected with the cylinder body end of the hydraulic cylinder, the piston end of the hydraulic cylinder is movably connected with the first jaw module, the first jaw module is hinged with the third limiting rotating shaft, the second jaw module is hinged with the second limiting rotating shaft, and the first jaw module and the second jaw module are movably connected with each other through a connecting piece.

[0017] Further, the first jaw module comprises a first jaw support and a first jaw connected with the first jaw support, and the first jaw support is sleeved on the third limiting rotating shaft;

[0018] The second jaw module comprises a second jaw support and a second jaw connected with the second jaw support, and the second jaw support is sleeved on the second limiting rotating shaft;

[0019] The first jaw support and the second jaw support are movably connected through the connecting piece to realize linkage.

[0020] Further, the first jaw support comprises two first support plates which are symmetrical to each other, and a first rotating shaft, a second rotating shaft and a first shaft rod are arranged between the two first support plates, and the first rotating shaft, the second rotating shaft, the first shaft rod and the second limiting rotating shaft are parallel to each other; the first jaw is connected to the first shaft rod, and the second rotating shaft is movably connected to one end of the connecting piece.

[0021] The second jaw support comprises two second support plates which are symmetrical to each other, and a third rotating shaft and a second shaft rod are arranged between the two second support plates, and the third rotating shaft, the second shaft rod and the third limiting rotating shaft are parallel to each other; the second jaw is connected to the second shaft rod, and the third rotating shaft is movably connected to one end of the connecting piece.

[0022] Further, the connecting piece comprises two connecting plates which are symmetrical to each other, and the two connecting plates are supported by a plurality of connecting plate support rods, and first connecting plate through holes which can be sleeved on the second rotating shaft and second connecting plate through holes which can be sleeved on the third rotating shaft are respectively formed at two ends of the two connecting plates.

[0023] Further, the first support plate is triangular, and the first rotating shaft, the second rotating shaft and the first shaft rod correspond to three inner angles of the first support plate respectively.

[0024] Further, a first oil cylinder pull ring is arranged at the end of the cylinder body of the hydraulic cylinder, a second oil cylinder pull ring is arranged at the piston end of the hydraulic cylinder, the first oil cylinder pull ring is sleeved on the first limiting rotating shaft, and the second oil cylinder pull ring is sleeved on the first rotating shaft.

[0025] Further, the first jaw and the second jaw are both the same specification of the grabbing arm, and a nail biting end is arranged at the end of the grabbing arm.

[0026] Further, the first jaw comprises two symmetrically arranged grabbing arms, the second jaw comprises three symmetrically arranged grabbing arms, and the first jaw and the second jaw can cross and bite each other.

[0027] Further, a plurality of protective baffles are further arranged on the main body support, the first jaw support and the second jaw support. Beneficial effects

[0028] The hydraulic magnetic attraction steel grabber provided by the application drives the hydraulic oil cylinder and the grabber module through the main support with the clamping groove, the main support can not only bear the gravity of the core components, but also can protect the components in the clamping groove; the grabber module adopts the shaft linkage mode, which is simple in structure and is not easy to wear compared with the gear meshing transmission. The electromagnetic chuck is arranged outside the main support, which can effectively magnetically attract the magnetic objects that are not easy to be grabbed. In addition, the device uses independent oil pressure to convert the working current required by the electromagnetic chuck, which does not need external power supply and can realize energy saving and environmental protection. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 The control system block diagram of the hydraulic magnetic attraction steel grabber;

[0030] Figure 2 The first perspective view of the hydraulic magnetic attraction steel grabber;

[0031] Figure 3 The second perspective view of the hydraulic magnetic attraction steel grabber;

[0032] Figure 4 The first perspective view of the internal structure of the voltage transformation electric control box in the hydraulic magnetic attraction steel grabber;

[0033] Figure 5 The second perspective view of the internal structure of the voltage transformation electric control box in the hydraulic magnetic attraction steel grabber;

[0034] Figure 6 The first perspective view of the main support in the hydraulic magnetic attraction steel grabber;

[0035] Figure 7 The second perspective view of the main support in the hydraulic magnetic attraction steel grabber;

[0036] Figure 8 The first perspective view of the connection between the main support and the grabber module in the hydraulic magnetic attraction steel grabber;

[0037] Figure 9 The second perspective view of the connection between the main support and the grabber module in the hydraulic magnetic attraction steel grabber;

[0038] Figure 10 The first perspective view of the grabber module in the hydraulic magnetic attraction steel grabber;

[0039] Figure 11 The second perspective view of the grabber module in the hydraulic magnetic attraction steel grabber;

[0040] Figure 12 Connection structure diagram of the first jaw module of the grabber module in the hydraulic magnetic steel grabbing device;

[0041] Figure 13 Connection structure diagram of the first jaw module of the grabber module in the hydraulic magnetic steel grabbing device;

[0042] Figure 14 Connection structure diagram of the second jaw module of the grabber module in the hydraulic magnetic steel grabbing device.

[0043] Figure mark:

[0044] 1-convolute bearing, 101-outer ring, 102-inner ring, 103-inner tooth;

[0045] 2-main body support, 201-clamping groove, 202-main body support plate, 203-first limiting rotation shaft through hole, 204-second limiting rotation shaft through hole, 205-third limiting rotation shaft through hole, 206-first limiting rotation shaft, 207-second limiting rotation shaft, 208-third limiting rotation shaft, 209-supporting rod;

[0046] 3-voltage conversion control box, 301-second hydraulic motor, 302-generator, 303-voltage conversion rectifier;

[0047] 4-grabber module, 401-first jaw module, 402-second jaw module, 403-first jaw support, 404-first jaw, 405-second jaw support, 406-second jaw, 407-first support plate, 408-first rotation shaft, 409-second rotation shaft, 410-first shaft rod, 411-second support plate, 412-third rotation shaft, 413-second shaft rod, 414-grabbing arm, 415-nail biting, 416-protruding block;

[0048] 5-oil supply module, 501-oil pump, 502-oil tank;

[0049] 6-hydraulic cylinder, 601-first oil cylinder pull ring, 602-second oil cylinder pull ring;

[0050] 7-connection, 701-connection plate, 702-connection plate support rod, 703-first connection plate through hole, 704-second connection plate through hole;

[0051] 8-first hydraulic motor, 9-upper cover plate, 10-lower cover plate, 11-inner gear, 12-central rotary joint, 13-rotary joint mounting hole, 14-electromagnetic chuck, 15-first motor protection valve, 16-second motor protection valve, 17-excavator central control system, 18-hanging ear, 19-protection baffle. DETAILED DESCRIPTION

[0052] The application will be further described in detail below in combination with the drawings and embodiments.

[0053] As shown in Figure 2 and 3 A hydraulic magnetic steel grabber is mainly used in combination with a excavator, and a pair of hanging ears 18 are arranged on the upper cover plate 9 for connecting with the telescopic mechanical arm of the excavator. The device comprises a rotary bearing 1, the top of the outer ring 101 of the rotary bearing 1 is provided with an upper cover plate 9, the bottom of the inner ring 102 of the rotary bearing 1 is provided with a lower cover plate 10, and the inner wall of the inner ring 102 is provided with internal teeth 103; a first hydraulic motor 8 is arranged on the upper cover plate 9, the first hydraulic motor 8 can penetrate the upper cover plate 9, and an internal gear 11 that can be engaged with the internal teeth 103 is arranged on the rotating shaft of the first hydraulic motor 8.

[0054] Specifically, the rotary bearing 1 is a new type of mechanical part, which is composed of an inner ring, an outer ring and rolling elements, etc. It is a large bearing that can bear comprehensive load, and can bear large axial, radial load and overturning moment at the same time. By combining with the first hydraulic motor 8 to form a rotary drive system, the first hydraulic motor 8 in this embodiment is an execution element of the hydraulic system, which converts the liquid pressure energy provided by the hydraulic pump into mechanical energy (torque and speed) of its output shaft. Among them, the liquid is the medium for transmitting force and motion, and the oil pressure provided by the oil supply module of the excavator is mainly used in this embodiment.

[0055] In this embodiment, the rotary bearing 1 is used to control the rotary motion of the device, so that the object to be grabbed (such as waste metal, industrial waste, gravel, construction waste, household waste and various materials) can be better grabbed through rotary control without adjusting the position of the excavator vehicle, so as to facilitate subsequent loading, unloading and transportation operations.

[0056] As shown in Figures 4-6 A rotary joint mounting hole 13 is arranged on the axial position of the upper cover plate 9 and the lower cover plate 10, which can be penetrated by the central rotary joint 12.

[0057] The bottom of the lower cover plate 10 is provided with a main support 2 with a clamping groove 201, and the outer side of the main support 2 is respectively provided with an electromagnetic chuck 14 and a variable voltage electric control box 3. The variable voltage electric control box 3 is provided with a second hydraulic motor 301, a generator 302 and a variable voltage rectifier 303. The rotating shaft of the second hydraulic motor 301 is connected with the rotating shaft of the generator 302, the generator 302 is electrically connected with the variable voltage rectifier 303, and the variable voltage rectifier 303 is electrically connected with the electromagnetic chuck 14.

[0058] Specifically, the second hydraulic motor 301 in the embodiment is an executing element of the hydraulic system, which converts the liquid pressure energy provided by the hydraulic pump into mechanical energy (torque and speed) of the output shaft. Among them, the liquid is the medium for transmitting force and motion, and the oil pressure provided by the oil supply module of the excavator is mainly used in the embodiment. When it works, it will drive the generator 302 to work to generate alternating current and transmit it to the voltage converter 303 for voltage conversion and rectification, converting alternating current into direct current that can be supplied to the electromagnetic suction cup 14, without additional power supply, making the device more energy-saving and environmentally friendly in use.

[0059] The hydraulic cylinder 6 is arranged in the clamping groove 201, the piston end of the hydraulic cylinder 6 is connected with the grab module 4, the grab module 4 includes a first jaw module 401 and a second jaw module 402 corresponding to each other, and the hydraulic cylinder 6 can drive the first jaw module 401 and the second jaw module 402 to rotate synchronously, so as to realize mutual engagement or separation.

[0060] As shown in Figure 1 The hydraulic cylinder 6 is connected with the central rotary joint 12 through an oil pipe; the central rotary joint 12, the first hydraulic motor 8 and the second hydraulic motor 301 are connected with the oil supply module 5 through oil pipes respectively.

[0061] In order to ensure the stability of the oil pressure of the first hydraulic motor 8 and the second hydraulic motor 301, the first motor protection valve 15 is arranged between the first hydraulic motor 8 and the oil supply module 5, and the second motor protection valve 16 is arranged between the second hydraulic motor 301 and the oil supply module 5. The first motor protection valve 15 and the second motor protection valve 16 are connected with the central control system 17 of the excavator and controlled by the central control system 17.

[0062] On the other hand, the oil supply module 5 in the embodiment includes an oil pump 501 and an oil tank 502 connected with each other, the oil pump 501 and the oil tank 502 can be components of the excavator itself, and the oil pump 501 and the voltage converter 303 are connected with the central control system 17 of the excavator and controlled by the central control system 17.

[0063] Specifically, the device can not only drive the work of the grab module 4 through the hydraulic cylinder 6 to grab various materials such as waste metal, industrial waste, gravel, construction waste and household garbage for subsequent loading, unloading and transportation operations; but also can magnetize the metal that is easy to be magnetized through the electromagnetic suction cup 14 for subsequent loading, unloading and transportation operations. The metal that is magnetized can be the object that is difficult to be grabbed by the grab module 4.

[0064] It should be noted that in order not to affect the work of the grab module 4, the electromagnetic suction cup 14 in the embodiment is arranged on the outer side of the main frame support plate 202 of the main body support 2.

[0065] As the control mode of the electromagnetic chuck 14 in this embodiment, as shown in Figure 1 Fig. 3, the variable voltage rectifier 303 is electrically connected with the central control system 17 of the excavator, and whether the variable voltage rectifier 303 supplies power to the electromagnetic chuck 14 is controlled by the central control system 17 of the excavator.

[0066] If the power supply is controlled, the electromagnetic chuck 14 generates a magnetic attraction force, and can magnetically attract an object;

[0067] If the power supply is controlled, the electromagnetic chuck 14 generates a magnetic attraction force, and can magnetically attract an object;

[0068] As shown in Figure 6 and 7 The main body support 2 in this embodiment includes two main body support plates 202 which are symmetrical to each other, and first, second and third limiting rotating shaft through holes 203, 204 and 205 are symmetrically arranged on the two main body support plates 202, a first limiting rotating shaft 206 is arranged in the two first limiting rotating shaft through holes 203, a second limiting rotating shaft 207 is arranged in the two second limiting rotating shaft through holes 204, and a third limiting rotating shaft 208 is arranged in the two third limiting rotating shaft through holes 205.

[0069] As shown in Figure 8 and 9 The first limiting rotating shaft 206 is movably connected with the cylinder end of the hydraulic cylinder 6, the piston end of the hydraulic cylinder 6 is movably connected with the first jaw module 401, the first jaw module 401 is hingedly connected with the third limiting rotating shaft 208, the second jaw module 402 is hingedly connected with the second limiting rotating shaft 207, and the first jaw module 401 and the second jaw module 402 are movably connected with each other through the connecting piece 7.

[0070] In addition, a support rod 209 is arranged between the two main body support plates 202 to stabilize the distance between the two main body support plates 202 and ensure the stability of the space of the clamping groove 201.

[0071] The working principle is as follows:

[0072] When the hydraulic cylinder 6 drives the piston to extend, it drives the first jaw module 401 to rotate along the second limiting rotating shaft 207, and the first jaw module 401 drives the connecting piece 7 to drive the second jaw module 402 to rotate along the third limiting rotating shaft 208, so as to realize the mutual engagement of the first jaw module 401 and the second jaw module 402.

[0073] When the hydraulic cylinder 6 drives the piston to contract, it drives the first jaw module 401 to rotate reversely along the second limiting rotary shaft 207, and the first jaw module 401 drives the connecting piece 7 to drive the second jaw module 402 to rotate along the third limiting rotary shaft 208, so as to separate the first jaw module 401 and the second jaw module 402 from each other.

[0074] As shown in Figure 10 and 11 In the embodiment, the first jaw module 401 comprises a first jaw bracket 403 and a first jaw 404 connected with the first jaw bracket 403, and the first jaw bracket 403 is sleeved on the third limiting rotary shaft 208 and can rotate relative to the third limiting rotary shaft 208.

[0075] The second jaw module 402 comprises a second jaw bracket 405 and a second jaw 406 connected with the second jaw bracket 405, and the second jaw bracket 405 is sleeved on the second limiting rotary shaft 207 and can rotate relative to the second limiting rotary shaft 207.

[0076] The first jaw bracket 403 and the second jaw bracket 405 are movably connected through the connecting piece 7 to realize linkage.

[0077] As the connection form between the hydraulic cylinder 6 and the first jaw module 401 and the main bracket 2, a first oil cylinder pull ring 601 is arranged at the end of the cylinder body of the hydraulic cylinder 6, and a second oil cylinder pull ring 602 is arranged at the piston end of the hydraulic cylinder 6, the first oil cylinder pull ring 601 is sleeved on the first limiting rotary shaft 206 and movably connected with the first limiting rotary shaft 206, and the second oil cylinder pull ring 602 is sleeved on the first rotary shaft 408 and movably connected with the first rotary shaft 408.

[0078] Specifically, as shown in Figure 13 The first jaw bracket 403 comprises two first support plates 407 which are symmetrical to each other, a first rotary shaft 408, a second rotary shaft 409 and a first shaft rod 410 are arranged between the two first support plates 407, the first rotary shaft 408, the second rotary shaft 409, the first shaft rod 410 and the second limiting rotary shaft 207 are parallel to each other, the first jaw 404 is connected to the first shaft rod 410, and the second rotary shaft 409 is movably connected with one end of the connecting piece 7.

[0079] As an optimization of the embodiment, the first support plate 407 is triangular, and the first rotary shaft 408, the second rotary shaft 409 and the first shaft rod 410 correspond to three inner angles of the first support plate 407 respectively.

[0080] As shown in Figure 14As shown in the figure, the second jaw support 405 comprises two second support plates 411 which are symmetrical to each other, a third rotating shaft 412 and a second shaft 413 are arranged between the two second support plates 411, the third rotating shaft 412, the second shaft 413 and the third limiting rotating shaft 208 are parallel to each other; the second jaw 406 is connected to the second shaft 413, and the third rotating shaft 412 is movably connected to one end of the connecting piece 7. Among them, the second support plate is arranged in a straight line.

[0081] As shown in the figure, Figure 12 The connecting piece 7 comprises two connecting plates 701 which are symmetrical to each other, the two connecting plates 701 are supported by a plurality of connecting plate support rods 702, and a first connecting plate through hole 703 which can be sleeved on the second rotating shaft 409 and a second connecting plate through hole 704 which can be sleeved on the third rotating shaft 412 are formed at both ends of the two connecting plates 701.

[0082] It should be noted that the first jaw 404 and the second jaw 406 in the embodiment are the same size of the grabbing arm 414, and the end of the grabbing arm 414 is provided with a nail 415; the grabbing arm 414 is arc-shaped, and when grabbing the object, it performs a similar hugging action.

[0083] As a specific embodiment of the present scheme, as shown in the figure, Figure 2 And 3 The first jaw 404 comprises two symmetrical grabbing arms 414, and the second jaw 406 comprises three symmetrical grabbing arms 414, the first jaw 404 and the second jaw 406 can cross each other to hold the object to be grabbed; in order to better hold the object to be grabbed, a plurality of protrusions 416 can be arranged on the inner wall of the arc-shaped grabbing arm 414.

[0084] Finally, in order to ensure that the connecting parts involved in rotation in the device are not disturbed by the outside, the embodiment further comprises a plurality of protective baffles 19 arranged on the main body support 2, the first jaw support 403 and the second jaw support 405.

[0085] The above is only a preferred specific embodiment of the present application, but the protection scope of the present application is not limited to this, any person skilled in the art can think of changes or replacements within the technical range disclosed by the present application, which are all covered by the protection scope of the present application. Therefore, the protection scope of the present application should be limited by the protection scope of the claims.

Claims

1. A hydraulic magnetic steel gripper, characterized in that, The system includes a slewing bearing (1), with an upper cover plate (9) on the top of the outer ring (101) of the slewing bearing (1) and a lower cover plate (10) on the bottom of the inner ring (102) of the slewing bearing (1). The inner wall of the inner ring (102) is provided with internal teeth (103). A first hydraulic motor (8) is provided on the upper cover plate (9), and the first hydraulic motor (8) can pass through the upper cover plate (9). An internal gear (11) that can mesh with the internal teeth (103) is provided on the shaft of the first hydraulic motor (8). A rotary joint mounting hole (13) is provided along the axial position of the upper cover plate (9) and the lower cover plate (10) for the central rotary joint (12) to pass through. The bottom of the lower cover plate (10) is provided with a main body support (2) with a clamping groove (201). The main body support (2) includes two symmetrical main support plates (202). The two main support plates (202) are provided with two symmetrical first limiting pivot holes (203), second limiting pivot holes (204) and third limiting pivot holes (205). The two first limiting pivot holes (203) are provided with a first limiting pivot (206) and the two second limiting pivot holes (205) are provided with a third limiting pivot hole (205). A second limiting pivot (207) is provided in the hole (204), and a third limiting pivot (208) is provided in the two third limiting pivot through holes (205); the first limiting pivot (206) is movably connected to the cylinder end of the hydraulic cylinder (6), the piston end of the hydraulic cylinder (6) is movably connected to the first claw module (401), the first claw module (401) is hinged to the third limiting pivot (208), and the second claw module (402) is connected to the second limiting pivot (207). The first gripper module (401) and the second gripper module (402) are hinged together and movably connected to each other via a connector (7); a support rod (209) is also provided between the two main support plates (202) to stabilize the distance between the two main support plates (202) and ensure the spatial stability of the clamping groove (201); an electromagnetic chuck (14) is provided on the outer side of the main support plate (202) of the main support bracket (2) to avoid affecting the operation of the gripper module (4); The electromagnetic chuck (14) and the transformer control box (3) are respectively provided on the outside of the main support (2). The transformer control box (3) is provided with a second hydraulic motor (301), a generator (302) and a transformer rectifier (303). The shaft of the second hydraulic motor (301) is connected to the shaft of the generator (302). The generator (302) is electrically connected to the transformer rectifier (303). The transformer rectifier (303) is electrically connected to the electromagnetic chuck (14). A hydraulic cylinder (6) is provided in the clamping groove (201). The piston end of the hydraulic cylinder (6) is connected to the gripping module (4). The gripping module (4) includes a first gripper module (401) and a second gripper module (402) that correspond to each other. The hydraulic cylinder (6) can drive the first gripper module (401) and the second gripper module (402) to rotate synchronously, so as to achieve mutual engagement or disengagement. The first gripper module (401) includes a first gripper bracket (403) and a first gripper (404) connected to the first gripper bracket (403). The first gripper bracket (403) is sleeved on the third limiting pivot (208). The second gripper module (402) includes a second gripper bracket (405) and a second gripper (404) connected to the second gripper bracket (405). 406), the second jaw support (405) is sleeved on the second limiting pivot (207); the first jaw support (403) and the second jaw support (405) are movably connected through the connector (7) to achieve linkage; the first support plate (407) is triangular, and the first pivot (408), the second pivot (409) and the first shaft (410) correspond to the three inner corners of the first support plate (407) respectively; the first jaw (404) includes two symmetrically arranged gripping arms (414), and the second jaw (406) includes three symmetrically arranged gripping arms (414), and the first jaw (404) and the second jaw (406) can interlock with each other; a number of protrusions (416) are provided on the arc-shaped inner wall of the gripping arm (414). The first jaw support (403) includes mutually symmetrical first support plates (407), with a first rotating shaft (408), a second rotating shaft (409), and a first shaft (410) disposed between the two first support plates (407). The first jaw (404) is connected to the first shaft (410), and the second rotating shaft (409) is movably connected to one end of the connector (7). The second jaw support (405) includes mutually symmetrical second support plates (411), with a third rotating shaft (412) disposed between the two second support plates (411). The second shaft (413) is connected to the second clamp (406), and the third rotating shaft (412) is movably connected to one end of the connector (7). The connector (7) includes symmetrical connecting plates (701), and the two connecting plates (701) are supported by several connecting plate support rods (702). The two ends of the two connecting plates (701) are respectively provided with a first connecting plate through hole (703) that can be sleeved on the second rotating shaft (409) and a second connecting plate through hole (704) that can be sleeved on the third rotating shaft (412). The hydraulic cylinder (6) is connected to the central rotary joint (12) via an oil pipe; The central rotary joint (12), the first hydraulic motor (8), and the second hydraulic motor (301) are respectively connected to the oil supply module (5) via oil pipes; the oil supply module (5) includes an oil pump (501) and an oil tank (502) connected to each other. The oil pump (501) and the oil tank (502) can be components of the excavator itself. The oil pump (501) and the transformer rectifier (303) are both connected to and controlled by the excavator central control system (17); a first motor protection valve (15) is provided between the first hydraulic motor (8) and the oil supply module (5), and a second motor protection valve (16) is provided between the second hydraulic motor (301) and the oil supply module (5). Both the first motor protection valve (15) and the second motor protection valve (16) are connected to and controlled by the excavator central control system (17); Several protective baffles (19) are also provided on the main support (2), the first jaw support (403) and the second jaw support (405) to prevent external impurities from interfering with each rotating connection part; a pair of hanging ears (18) are also provided on the upper cover plate (9) for connecting with the telescopic mechanical arm of the excavator.

2. The hydraulic magnetic steel gripper according to claim 1, characterized in that, A first cylinder pull ring (601) is provided at the end of the cylinder body of the hydraulic cylinder (6), and a second cylinder pull ring (602) is provided at the piston end of the hydraulic cylinder (6). The first cylinder pull ring (601) is sleeved on the first limiting shaft (206); the second cylinder pull ring (602) is sleeved on the first shaft (408).

3. The hydraulic magnetic steel gripper according to claim 1, characterized in that, The first jaw (404) and the second jaw (406) are both gripping arms (414) of the same specification, and the end of the gripping arm (414) is provided with a bit (415).

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