Fractal structure and fractal adaptive gripping dual-mode gripper

Abstract

The present application relates to the technical field of mechanical gripper, and discloses a fractal structure and a fractal adaptive gripping dual-mode gripper, the fractal structure has a fractal unit, which comprises a top fractal frame, a first-stage fractal plate slidingly arranged at one end of the top fractal frame, a second-stage fractal plate slidingly arranged on the side wall of the first-stage fractal plate away from the top fractal frame, and a movable block slidingly arranged on the side wall of the second-stage fractal plate away from the first-stage fractal plate; in addition to the fractal unit, the fractal gripper also comprises a fixed unit, a conversion unit and a driving unit and the like structural units; in the present application, the fractal structure with a novel structure is designed, so that various shapes of objects can be adaptively contacted through the cooperation between mechanical structures; further, by adding the conversion unit to the gripper structure, the two grippers in the three-gripper structure can realize the change of the degree of freedom, and then the three-direction clamping state is changed into the two-direction gripping state.

Description

Technical Field

[0001] This invention relates to the field of mechanical gripper technology, and in particular to a fractal structure and a fractal adaptive dual-mode gripper. Background Technology

[0002] Currently, robotic arms are mainly used in fields such as agricultural harvesting, production assembly, manufacturing, logistics warehousing, and the automotive industry. The grippers of robotic arms need to be adaptable to objects of different shapes and sizes and have the ability to identify, locate, and grasp them.

[0003] However, existing robotic arms do not adapt well to objects of different shapes and sizes. They generally use suction cup or airbag structures, but these robotic arms are expensive and require complex recognition and calculation systems for assistance. Moreover, after adaptation, the objects they can grasp are relatively light, and the number depends on the setting of the suction port. Furthermore, traditional mechanical grippers only have one of the effects of clamping or holding, which limits the application range of mechanical grippers. Therefore, it is necessary to change this situation. Summary of the Invention

[0004] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

[0005] In view of the problems existing in the above-mentioned mechanical grippers, the present invention is proposed.

[0006] Therefore, the purpose of this invention is to provide a fractal structure and a fractal adaptive dual-mode gripper, which solves the problems of complex adaptive structure, high cost and poor adaptability of existing mechanical grippers.

[0007] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a fractal structure, the structure comprising a fractal unit, which includes a top fractal frame, a primary fractal plate slidably disposed at one end of the top fractal frame, a secondary fractal plate slidably disposed on the side wall of the primary fractal plate away from the top fractal frame, and a movable block slidably disposed on the side wall of the secondary fractal plate away from the primary fractal plate.

[0008] As a preferred embodiment of the fractal structure of the present invention, wherein: the top fractal frame has a concave arc surface at one end facing the first-stage fractal plate, and a shape limiting block is provided in the middle of the concave arc surface; a first arc-shaped groove is provided on the arc-shaped sidewall of the first-stage fractal plate, the shape limiting block is slidably slidable in the first arc-shaped groove, and the arc of the shape limiting block is smaller than the arc of the first arc-shaped groove.

[0009] In a preferred embodiment of the fractal structure of the present invention: The first-stage fractal plate has at least two sets of first arc-shaped concave surfaces on its sidewall away from the top fractal frame, and a first-stage block is provided in the middle of the first arc-shaped concave surface; the second-stage fractal plate has a second arc-shaped groove on its arc-shaped sidewall, and the first-stage block slides within the second arc-shaped groove, the curvature of the first-stage block being smaller than the curvature of the second arc-shaped groove; the second-stage fractal plate has at least two sets of second arc-shaped concave surfaces on its sidewall away from the first-stage fractal plate, and a second-stage block is provided in the middle of the second arc-shaped concave surface; the movable block has a third arc-shaped groove on its arc-shaped sidewall, and the second-stage block slides within the third arc-shaped groove, the curvature of the second-stage block being smaller than the curvature of the third arc-shaped groove.

[0010] Furthermore, another objective of this invention is to provide a fractal structure and a fractal adaptive dual-mode gripper, which solves the problems of existing mechanical grippers having complex adaptive structures, high costs, poor adaptability, and limited structural functions.

[0011] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a fractal structure and a fractal adaptive dual-mode gripper, the mechanical gripper having the fractal structure described above, and further comprising: a fixing unit, which includes a support disk and a retainer connected thereto; a transformation unit, which includes a transformation drive component and a transmission assembly disposed on the support disk, the transformation drive component driving the transmission assembly to rotate; and a driving unit, which includes a displacement assembly disposed on the end sidewall of the retainer, and an opening and closing assembly connected to the output end of the displacement assembly.

[0012] As a preferred embodiment of the fractal adaptive dual-mode gripper of the present invention, the support disk has a through hole in the middle, and the retainer has symmetrically provided limit grooves along its axial direction on the side wall.

[0013] As a preferred embodiment of the fractal adaptive dual-mode gripper of the present invention, the transmission component includes a driving gear disposed at the output end of the transformation drive, an intermediate driven gear meshing and rotating with the driving gear, and a gear rotating seat meshing and rotating with the intermediate driven gear.

[0014] As a preferred embodiment of the fractal adaptive dual-mode gripper of the present invention, the displacement assembly includes: a displacement drive component, a screw connected to the output end of the displacement drive component via a coupling, a screw support component fixed to the end of the screw, a movable nut threadedly connected to the outer side wall of the screw, a triangular connecting frame fixed to the end side wall of the movable nut, and rotating support seats installed on the side walls of each corner of the triangular connecting frame; the displacement drive component is mounted on the end side wall of the retainer via a bracket; both ends of the screw support component slide within the limiting groove; and the movable nut slides within the through hole.

[0015] As a preferred embodiment of the fractal adaptive dual-mode gripper of the present invention, the opening and closing assembly includes a number of rocker forks corresponding to the corners of the triangular connecting frame and a swing rod or sliding rod connected to the side wall of the rocker fork; one end of the rocker fork is fixedly connected to the side wall of the top fractal frame, and the other end is hinged to the side wall of the support plate or the side wall of the gear rotating seat; one end of the swing rod and the sliding rod are hinged to the middle side wall of the rocker fork, and the other end are hinged to the rotating support seat.

[0016] As a preferred embodiment of the fractal adaptive dual-mode gripper of the present invention, the sliding rod includes a sliding rod and sliding rod accessories corresponding to both ends of the sliding rod, and one end of the sliding rod slides through the rotating support base.

[0017] As a preferred embodiment of the fractal adaptive dual-mode gripper described in this invention, an external flange is also fixedly connected to the side wall of the retainer.

[0018] The beneficial effects of this invention are:

[0019] This invention employs a novel fractal structure, enabling adaptive contact with objects of various shapes through the cooperation of mechanical structures. Furthermore, by adding a transformation unit to the gripper structure, two of the three grippers in the three-grip structure can achieve changes in degrees of freedom, thereby transforming from a three-directional gripping state to a two-directional holding state. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] in:

[0022] Figure 1 This is a schematic diagram of the overall structure of the fractal structure of the present invention.

[0023] Figure 2 This is a schematic diagram of the exploded structure of the fractal structure of the present invention.

[0024] Figure 3 This is a schematic diagram of the overall structure of the fractal adaptive dual-mode gripper of the present invention.

[0025] Figure 4 This is a schematic diagram of the fractal adaptive dual-mode gripper of the present invention from another perspective.

[0026] Figure 5 This is a schematic diagram of the overall exploded structure of the fractal adaptive dual-mode gripper of the present invention.

[0027] Figure 6 This is a partial structural schematic diagram of the fractal adaptive dual-mode gripper of the present invention.

[0028] Figure 7 This is a schematic diagram of the connection structure between the fixed unit and the transformation unit of the fractal adaptive gripping dual-mode gripper of the present invention.

[0029] Figure 8 This is a schematic diagram of the grasping posture structure of the fractal adaptive dual-mode gripper of the present invention.

[0030] Figure 9 This is a schematic diagram of the gripping posture structure of the fractal adaptive dual-mode gripper of the present invention. Detailed Implementation

[0031] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0032] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0033] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0034] Secondly, the present invention is described in detail with reference to the schematic diagrams. When detailing the embodiments of the present invention, for ease of explanation, the cross-sectional views illustrating the device structure may be partially enlarged, not according to the usual scale. Furthermore, the schematic diagrams are merely examples and should not limit the scope of protection of the present invention. In addition, actual fabrication should include three-dimensional spatial dimensions of length, width, and depth.

[0035] Example 1

[0036] Reference Figure 1 and 2 The first embodiment of the present invention provides a fractal structure. This structure is designed based on the fractal principle and forms a compact and hierarchically arranged assembly of fan-shaped components. The fan-shaped components at each level can slide relative to each other, and the fan-shaped components at the same level can deflect each other. Through the sliding and deflection between different fan-shaped components, each fan-shaped plate can contact the surface of the object.

[0037] Specifically, the fractal unit 100 includes a top fractal frame 101, a primary fractal plate 102 slidably disposed at one end of the top fractal frame 101, a secondary fractal plate 103 slidably disposed on the side wall of the primary fractal plate 102 away from the top fractal frame 101, and a movable block 104 slidably disposed on the side wall of the secondary fractal plate 103 away from the primary fractal plate 102. It should be noted that this embodiment only describes an assembly of secondary sector components; however, based on the configuration of this embodiment, a simple analogy can be drawn for cases with multi-level sector component structures, which should fall within the protection scope of this solution.

[0038] Furthermore, the top fractal frame 101 is a plate-like structure, with a concave arc surface 101a in one end of its sidewall facing the first-level fractal plate 102, and a T-shaped limiting block 101b is provided in the middle of the arc surface of the concave arc surface 101a; this T-shaped limiting block 101b is inverted T-shaped, that is, the bottom of the T-shape is fixed or integrally formed in the arc sidewall of the concave arc surface 101a; the corresponding sidewall of the first-level fractal plate 102 and the concave arc surface 101a is also arc-shaped, and a first arc-shaped sliding groove 102a is provided on this arc-shaped sidewall. The radial cross section of this first arc-shaped sliding groove 102a is also T-shaped, and the T-shaped limiting block 101b can slide in the first arc-shaped sliding groove 102a. The purpose of the T-shape is to prevent the T-shaped limiting block 101b from falling out of the first arc-shaped sliding groove 102a during use. This T-shaped assembly structure allows the structure with the T-shaped groove to be used in two halves. During installation, the halves are covered over the T-shaped limiting block 101b, and then the two halves are connected and fixed. It should also be noted that an appropriate clearance is provided within the first arc-shaped groove 102a to prevent interference during assembly.

[0039] Furthermore, in order to limit the sliding range between the first-level fractal plate 102 and the top fractal frame 101, the curvature of the T-shaped limiting block 101b must be smaller than the curvature of the first arc-shaped slide groove 102a.

[0040] The primary fractal plate 102 is generally crescent-shaped, with at least two sets of first arc-shaped concave surfaces 102b on its side wall away from the top fractal frame 101. A primary T-shaped block 102c is provided in the middle of the first arc-shaped concave surface 102b. Correspondingly, a second arc-shaped groove 103a is provided on the arc-shaped side wall of the secondary fractal plate 103. The primary T-shaped block 102c can slide within the second arc-shaped groove 103a. The curvature of the primary T-shaped block 102c is smaller than that of the second arc-shaped groove 103a. The curvature of the slide groove 103a; the secondary fractal plate 103 has at least two sets of second arc-shaped concave surfaces 103b on the side wall away from the primary fractal plate 102, and a secondary T-shaped block 103c is provided in the middle of the second arc-shaped concave surface 103b; a third arc-shaped slide groove 104a is provided on the arc-shaped side wall of the movable block 104, and the secondary T-shaped block 103c slides in the third arc-shaped slide groove 104a. The curvature of the secondary T-shaped block 103c is smaller than the curvature of the third arc-shaped slide groove 104a. The assembly method of each fractal plate is the same as the connection method between the primary fractal plate 102 and the top fractal frame 101, which can be deduced by analogy. It will not be described in detail here. The fractal plate can be set in multiple levels. In this embodiment, only the sliding deflection of the three-level sector plate is used as an example for demonstration and explanation.

[0041] Thus, by installing two smaller, slidable, and deflectable sector pieces below a larger sector piece, and installing two even smaller sector pieces below the smaller sector pieces, each of the smaller sector pieces can slide and deflect independently and be at the same level. When contacting any uneven surface, each of the smaller sector pieces, i.e., the bottommost movable block 104 in this embodiment, can slide and deflect to adapt to the shape of the object surface, thereby making contact with the object separately.

[0042] Preferably, springs can be symmetrically installed at both ends of the T-shaped block in the extension direction (not shown in the attached figure), and the other end of the spring is connected to the end side wall of the arc-shaped slide. The spring can achieve the automatic reset effect of the parting structure.

[0043] Example 2

[0044] Reference Figures 3-7 The second embodiment of the present invention provides a fractal structure and a fractal adaptive dual-mode gripper. This mechanical gripper has the fractal structure described in Embodiment 1 above, and is applied to the gripping part of the mechanical gripper to achieve adaptive contact with irregular items.

[0045] In addition to the fractal structure, the mechanical gripper also includes structural units such as a fixing unit 200, a transformation unit 300, and a driving unit 400. The fixing unit 200 is used for connecting and installing the other structural units, the transformation unit 300 is used for changing the gripper mode (grasping and holding) to suit different usage scenarios, and the driving unit 400 is used for driving the opening and closing of the gripper to grasp objects.

[0046] Specifically, the fixing unit 200 includes a support plate 201 and a retainer 202 connected thereto. The support plate 201 is fixedly installed at the axial end of the retainer 202. A through hole 201a is provided in the middle of the support plate 201, and limit grooves 202a are symmetrically provided along the axial direction on the side wall of the retainer 202. Furthermore, an external flange 202b is fixedly connected to the side wall of the retainer 202, which can be used to connect an external robotic arm for use in actual production operations.

[0047] Furthermore, the conversion unit 300 includes a conversion drive 301 and a transmission assembly 302 disposed on the support disk 201. The conversion drive 301 drives the transmission assembly 302 to rotate. The conversion drive 301 is a drive mechanism for driving the transmission assembly 302 to move. In this embodiment, a dual-output shaft micro motor assembly with a worm gear structure is used, which has a self-locking characteristic.

[0048] The transmission assembly 302 includes a driving gear 302a disposed at the output end of the conversion drive 301, an intermediate driven gear 302b meshing and rotating with the driving gear 302a, and a gear rotating seat 302c meshing and rotating with the intermediate driven gear 302b. As shown in the accompanying drawings, the transmission assembly 302 is symmetrically distributed. Taking one side of the structure as an example, the driving gear 302a is fixed on the output shaft of the drive structure and can drive the intermediate driven gear 302b to rotate. The intermediate driven gear 302b has two coaxially rotating gear rings; the top is a bevel gear meshing with the driving gear 302a, and the lower part is a flat gear meshing and rotating with the flat gear disposed below the gear rotating seat 302c. Furthermore, the conversion drive 301 drives the gear rotating seats 302c on both sides to move in a mirror-symmetrical manner.

[0049] It should be noted that in this embodiment, the gripper adopts a three-jaw structure, that is, each single jaw is distributed at a 120-degree interval. The transmission component 302 synchronously adjusts two of the single jaws to change the overall gripping method of the gripper.

[0050] Furthermore, the drive unit 400 includes a displacement component 401 disposed on the end sidewall of the retainer 202, and an opening and closing component 402 connected to the output end of the displacement component 401; wherein, the displacement component 401 is used to provide displacement stroke for the opening and closing component 402, thereby driving the gripper formed by the opening and closing component 402 to achieve the effect of opening and closing.

[0051] Specifically, the displacement assembly 401 is a single-degree-of-freedom reciprocating drive structure, which includes a displacement drive component 401a. The displacement drive component 401a is a drive structure that drives the screw 401b to rotate. In this embodiment, a servo motor assembly with a coupling is used. The displacement drive component 401a is mounted on the side wall of the retainer 202 away from the support plate 201 via a bracket. The screw 401b is connected to the output end of the coupling. A screw support component 401c is mounted on the side wall of the screw 401b at one end of the coupling. Both ends of the support component 401c slide within the limiting groove 202a to maintain the linear movement of the screw 401b and prevent axial movement caused by excessive clamping force during movement, thus preventing it from falling off the coupling. Outside the screw 401b, there is a threaded movable nut 401d. One end of both the screw 401b and the movable nut 401d passes through the through hole 201a in the middle of the support plate 201 and extends to the other end of the retainer 202. The triangular connecting bracket 401e is fixed to the end side wall of the movable nut 401d, and a rotating support seat 401f is installed on each corner side wall of the triangular connecting bracket 401e. It should be noted that each corner of the triangular connecting bracket 401e corresponds to a single claw in the clamping jaws. Similarly, when the clamping jaws have a four-jaw or six-jaw structure, the connecting bracket will also have the shape corresponding to the corners, which will not be described again here. The rotating support seat 401f is a hinged seat that can rotate freely relative to the triangular connecting bracket 401e.

[0052] The opening and closing assembly 402 includes a rocker fork 402a, a swing rod 402b, and a sliding rod 402c. The number of rocker forks 402a corresponds to the number of claws in the formed gripper, and is one-to-one with the number of corners of the triangular connecting frame 401e. One end of the rocker fork 402a is fixed to the side wall of the top parting frame 101 of the parting structure in embodiment 1, and the other end is hinged to the side wall of the support plate 201 or the side wall of the gear rotating seat 302c. In this embodiment, the gripper is a three-claw type, corresponding to three rocker forks 402a. The end of one rocker fork 402a is hinged to the side wall of the support plate 201, and the ends of the other two rocker forks 402a are hinged to the side wall of the gear rotating seat 302c.

[0053] Furthermore, one end of the swing arm 402b and the sliding rod 402c is hinged to the middle side wall of the rocker fork 402a, and the other end is hinged to the rotating support 401f; wherein the sliding rod 402c includes a sliding rod 402c-1 and sliding rod accessories 402c-2 correspondingly connected to both ends of the sliding rod 402c-1, and one end of the sliding rod 402c-1 slides through the rotating support 401f. It should be noted that the swing arm 402b is used to connect the rocker fork 402a hinged to the side wall of the support plate 201; while the sliding rod 402c is used to connect the rocker fork 402a hinged to the side wall of the gear rotating seat 302c. The reason is that the rocker fork 402a hinged to the side wall of the support plate 201 is in a fixed-angle opening and closing process; while the two rocker forks 402a hinged to the side wall of the gear rotating seat 302c can adjust the orientation angle of the two rocker forks 402a so that they face the central axis of the moving nut 401d or other positions, since the gear rotating seat 302c will rotate. The sliding rod 402c-1 in the sliding rod 402c can slide in the rotating support 401f to adapt to the rotation process of the rocker fork 402a, ensure the stable rotation of the rocker fork 402a, and prevent motion interference.

[0054] Combined with appendix Figures 3-7 As shown in the attached figure, based on the gripper structure, its driving process has the following action process:

[0055] The gripper's mode switching process: The activation drive 301 drives the active gear 302a to rotate, which in turn drives the gear rotating seat 302c to rotate via the intermediate driven gear 302b. This causes the two rocker forks 402a to rotate, thus adjusting their orientation. During rotation, the sliding rod 402c-1 slides within the rotating support seat 401f, ensuring that the rocker fork 402a is always aligned with the corresponding rotating support seat 401f. This guarantees that the rocker fork 402a can be pushed by the rotating support seat 401f to perform the opening and closing process. The rotation stops when the desired angle is reached.

[0056] The opening and closing gripping process of the gripper: The displacement component 401 drives the screw 401b to rotate. However, since the moving nut 401d is connected to the three rocker forks 402a through the triangular connecting frame 401e, the swing rod 402b, and the sliding rod 402c, the moving nut 401d cannot rotate. When the screw 401b rotates, the moving nut 401d undergoes linear displacement. Then, the triangular connecting frame 401e pushes the swing rod 402b and the sliding rod 402c to deflect, which in turn drives the three rocker forks 402a to deflect, thus achieving the opening and closing effect.

[0057] Example 3

[0058] Reference Figure 8 and Figure 9 This is the third embodiment of the present invention. This embodiment is based on the fractal gripper constructed in embodiment 2, which is installed on a robotic arm and used in agricultural fruit picking scenarios. Specifically, it is installed on the end flange of the robotic arm via an external flange 202b. During automatic picking, a vision module can be externally connected to the outer wall of the retainer 202 for identifying the ripeness of the fruit. Furthermore, in order to protect the surface of the object being gripped, a flexible body R can be pasted on the contact surface between the fractal structure and the object being gripped, i.e., the side wall of the movable block 104. Compared with the existing bionic flexible body adaptive wrapping, the combination with the fractal structure will give the fractal gripper better gripping strength and structural rigidity.

[0059] Furthermore, the grasping and gripping process of this fractal gripper can be observed. Figure 8 and Figure 9 The fractal gripper is designed for both grasping and holding postures. When applied to agricultural harvesting scenarios, the gripper first extends around the fruits and vegetables using the grasping posture. With the help of a vision module, the robotic arm adjusts its grasping spatial posture, covering the fruits and vegetables in the open state. Then, the drive mechanism moves to the closed state to clamp the fruits and vegetables. During the closing process, the fractal gripper utilizes its adaptive characteristics to geometrically cover the surface of the fruits and vegetables. Pressure is applied to the surface of the fruits and vegetables by a flexible body R. A thin-film pressure sensor detects the feedback signal and stops the closing action, completing the grasping of the fruits and vegetables. At this point, the screw drive stops (and has a self-locking feature to prevent reverse rotation). When the helix angle of the screw 401b is less than the equivalent friction angle between the tooth surfaces, the screw drive has a self-locking characteristic, at which point only rotation can be converted into axial movement. Combined with other collaborative shearing modules, the fruits and vegetables are sheared at the ends, thus achieving the required agricultural harvesting action.

[0060] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A fractal adaptive dual-mode gripper, characterized in that: include, Fractal unit (100) includes a top fractal frame (101), a primary fractal plate (102) slidably disposed at one end of the top fractal frame (101), a secondary fractal plate (103) slidably disposed on the side wall of the primary fractal plate (102) away from the top fractal frame (101), and a movable block (104) slidably disposed on the side wall of the secondary fractal plate (103) away from the primary fractal plate (102). The fixing unit (200) includes a support plate (201) and a retainer (202) connected thereto. The conversion unit (300) includes a conversion drive (301) and a transmission assembly (302) disposed on the support disk (201), wherein the conversion drive (301) drives the transmission assembly (302) to rotate; The transmission assembly (302) includes a drive gear (302a) disposed at the output end of the conversion drive (301), an intermediate driven gear (302b) meshing and rotating with the drive gear (302a), and a gear rotating seat (302c) meshing and rotating with the intermediate driven gear (302b). The drive unit (400) includes a displacement assembly (401) disposed on the end sidewall of the cage (202) and an opening and closing assembly (402) connected to the output end of the displacement assembly (401). The support plate (201) has a through hole (201a) in the middle, and the retainer (202) has a limit groove (202a) symmetrically formed on its side wall along its axial direction. The displacement assembly (401) includes a displacement drive (401a), a screw (401b) connected to the output end of the displacement drive (401a) via a coupling, a screw support (401c) fixed to the end of the screw (401b), a movable nut (401d) threadedly connected to the outer side wall of the screw (401b), a triangular connecting frame (401e) fixed to the side wall of the end of the movable nut (401d), and a rotating support seat (401f) installed on the side wall of each corner of the triangular connecting frame (401e). The displacement drive (401a) is mounted on the end side wall of the retainer (202) via a bracket; The two ends of the screw support (401c) slide within the limiting groove (202a); The movable nut (401d) is slidably fitted within the through hole (201a); The opening and closing assembly (402) includes a number of rocker forks (402a) corresponding to the corners of the triangular connecting frame (401e) and a swing rod (402b) or a sliding rod (402c) connected to the side wall of the rocker fork (402a). One end of the rocker fork (402a) is fixedly connected to the side wall of the top forming frame (101), and the other end is hinged to the side wall of the support plate (201) or the side wall of the gear rotating seat (302c). One end of the swing rod (402b) and the sliding rod (402c) is hinged to the middle side wall of the rocker fork (402a), and the other end is hinged to the rotating support (401f); The sliding rod (402c) includes a sliding rod (402c-1) and sliding rod accessories (402c-2) corresponding to the two ends of the sliding rod (402c-1). One end of the sliding rod (402c-1) slides through the rotating support (401f).

2. The fractal adaptive dual-mode gripper according to claim 1, characterized in that: The top forming frame (101) has a concave arc surface (101a) at one end facing the first-level forming plate (102), and a T-shaped limiting block (101b) is provided in the middle of the concave arc surface (101a). The first arc-shaped slide groove (102a) is provided on the arc-shaped sidewall of the first-level fractal plate (102). The T-shaped limiting block (101b) slides in the first arc-shaped slide groove (102a) and the arc of the T-shaped limiting block (101b) is smaller than the arc of the first arc-shaped slide groove (102a).

3. The fractal adaptive dual-mode gripper according to claim 2, characterized in that: The first-level fractal plate (102) has at least two sets of first arc-shaped concave surfaces (102b) on one side wall away from the top fractal frame (101), and a first-level T-shaped block (102c) is provided in the middle of the first arc-shaped concave surface (102b). The arc-shaped sidewall of the secondary fractal plate (103) is provided with a second arc-shaped groove (103a), and the primary T-shaped block (102c) slides in the second arc-shaped groove (103a). The arc of the primary T-shaped block (102c) is smaller than the arc of the second arc-shaped groove (103a). The secondary fractal plate (103) has at least two sets of second arc-shaped concave surfaces (103b) on one side wall away from the primary fractal plate (102), and a secondary T-shaped block (103c) is provided in the middle of the second arc-shaped concave surface (103b). The movable block (104) has a third arc-shaped groove (104a) on its arc-shaped sidewall. The secondary T-shaped block (103c) slides in the third arc-shaped groove (104a). The arc of the secondary T-shaped block (103c) is smaller than the arc of the third arc-shaped groove (104a).

4. The fractal adaptive dual-mode gripper according to claim 3, characterized in that: An external flange (202b) is also fixedly connected to the side wall of the cage (202).

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