Mechanical gripper module and pole erection robot for pole grabbing and pole erection

Abstract

The invention discloses a mechanical claw module and a pole-erecting robot for grasping and erecting electric poles. During the clamping, if two groups of claws are simultaneously sleeved on the electric pole, the piston rod is compressed to drive the two piston heads to move toward the first connecting end, and at the same time, the third chamber and the fourth chamber are pressurized through the air pipe to ensure stable clamping of the claws. When one group of claws is sleeved on the electric pole, one of the piston rods is compressed, and the pressure in the first and second chambers increases and is greater than the air pressure in the third chamber, so that the other piston rod is in an extended state. At this time, the other group of claws is in an open state, and the angle of the mounting seat is adjusted to make the other group of claws sleeved on the electric pole. The other piston rod is compressed to drive the claws to close and clamp the electric pole, and finally the third chamber and the fourth chamber are pressurized through the air pipe to make the two groups of claws in a clamped state. This scheme avoids the problem of one group of claws being empty when the electric pole and the claws are not vertical, and the four-bar linkage can adjust the position and the angle of the claws at the same time.

Description

Technical Field

[0001] The invention relates to a pole erecting robot, in particular to a mechanical claw module and a pole erecting robot for grasping and erecting electric poles. Background Art

[0002] The pole erecting robot uses a crawler-type walking main body and a multi-degree-of-freedom mechanical arm to drive the gripper to clamp the pole and erect it so as to install it in the hole opened on the ground. It completely replaces manual labor and has the advantages of flexible movement and rapid pole erection.

[0003] The patent with application number CN2022106512099 discloses a multifunctional processing device for power poles and its use method, including a chassis, a fixed box is fixedly connected to the center of the top of the chassis, a controller is fixedly connected to the back of the fixed box, and a lifting mechanism is provided in the inner cavity of the fixed box, and a claw controlled by an electric control box is also provided.

[0004] In the above patent, the electric control box is used to drive the claws to rotate and clamp the pole. However, when the pole is placed, if the ground is uneven, it will cause the claws and the pole to be in a non-vertical state. For example, the claws are vertical but the pole is in a non-horizontal state due to the uneven ground. At this time, when the above structure is used for clamping, one set of claws will hold the pole while the other set of claws will not hold the pole. At this time, if the claws are tightened, not only will they fail to clamp, but the ends of the claws will also squeeze the side wall of the pole, causing damage to the pole or the claws. Summary of the invention

[0005] Based on the deficiency in the prior art that when the clamps and the pole are in a non-vertical state, during clamping, one set of clamps will hold the pole while the other set of clamps will not. At this time, if the clamps are tightened, not only will they fail to clamp, but the ends of the clamps will squeeze the side wall of the pole, causing damage to the pole or the clamps. The present invention provides a mechanical clamp module and a pole-erecting robot for grasping and erecting poles.

[0006] The technical solution adopted by the present invention to solve the above technical problems is:

[0007] Mechanical gripper module for pole grabbing and pole erection, including:

[0008] The mounting seat body has a first connecting end and a second connecting end, wherein the first connecting end is used for connection and installation, and two communicating piston chambers are arranged inside the first connecting end;

[0009] The piston rod comprises two piston heads, the two piston heads are respectively arranged in the two piston chambers and divide the two piston chambers into a first chamber, a second chamber, a third chamber and a fourth chamber, and the two piston rods extend to the second connecting end;

[0010] The pipelines include four pipelines and are respectively connected to the first chamber, the second chamber, the third chamber and the fourth chamber for supplying gas to drive the piston rod to extend and retract;

[0011] A clamping jaw group, which includes two groups, each group includes two clamping jaws that can be opened and closed and are hinged to the second connection end, the clamping jaw has a clamping end and a driving end, and its hinge point is located between the clamping end and the driving end, the driving end is hinged to the piston rod, and when the piston rod is extended or retracted, the two clamping jaws are driven to rotate around their respective hinge points to open or close;

[0012] Before clamping, the air pressure in the first chamber and the second chamber is greater than that in the third chamber and the fourth chamber so as to push the piston toward the second connecting end so that the piston rod extends and drives the clamping jaws to open;

[0013] During clamping, if two sets of jaws are simultaneously sleeved on the pole, the piston rod is compressed to drive the two piston heads to move toward the first connecting end, and at the same time, the third chamber and the fourth chamber are pressurized through the pipeline to ensure stable clamping of the jaws. When one set of jaws is sleeved on the pole, one of the piston rods is compressed, and the pressure in the first chamber and the second chamber increases and is greater than the air pressure in the third chamber, so that the other piston rod is in an extended state. At this time, the other set of jaws is in an open state. Then the angle of the mounting seat is adjusted to make the other set of jaws sleeved on the pole. At this time, the other piston rod is compressed to drive the jaws to close and clamp the pole. Finally, the third chamber and the fourth chamber are pressurized through the pipeline to make both sets of jaws in a clamped state.

[0014] As a preference, it also includes a connecting rod mechanism, which includes a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, wherein the first connecting rod is connected to the mechanical arm, the second connecting rod and the third connecting rod are parallel and one end of each of them is rotatably connected to the first connecting rod, the fourth connecting rod is parallel to the first connecting rod and the other ends of the second connecting rod and the third connecting rod are both rotatably connected to the fourth connecting rod, the first connecting rod is provided with a first driving mechanism, the first driving mechanism drives the second connecting rod or the third connecting rod to rotate, and the mounting seat is provided on the fourth connecting rod. When the connecting rod mechanism is extended, the first connecting rod and the fourth connecting rod are always kept parallel, and at the same time, when adjusting, the first connecting rod and the second connecting rod are dislocated so that the mounting seat on the fourth connecting rod can be dislocated to achieve the adjustment of the pole clamping position.

[0015] The first solution: the fourth connecting rod is provided with a second driving mechanism for driving the mounting seat body to rotate. The second driving mechanism is used to drive the mounting seat body to rotate, thereby adjusting the posture of the clamping structure on the mounting seat body to facilitate alignment with the electric pole.

[0016] The second scheme: the fourth connecting rod is provided with a mounting cavity with a cover plate, and the mounting cavity is provided with a parallel first rotating plate and a second rotating plate and a parallel first pull rod and a second pull rod, and the first pull rod and the second pull rod are both rotatably hinged between the first rotating plate and the second rotating plate so that the first rotating plate, the first pull rod, the second rotating plate and the second pull rod form a parallelogram structure with adjustable spacing between opposite sides, and the third connecting rod is rotatably connected with the fourth connecting rod through a first rotating shaft extending into the mounting cavity and the first rotating shaft is fixed to the middle of the first rotating plate, and a second rotating shaft is provided in the middle of the second rotating plate, and the second rotating shaft extends out of the fourth connecting rod and is connected to the mounting seat body. When the structure adjusts the position through the connecting rod mechanism, the mounting seat body rotates accordingly, and the fourth connecting rod and the first connecting rod are always kept parallel during adjustment, and the angle of the mounting seat body equivalent to the fourth connecting rod is changed, so that the posture of the clamping structure is adjusted to adapt to the non-horizontally placed electric pole.

[0017] Preferably, a turning seat is rotatably provided on the mechanical arm, a telescopic hydraulic cylinder is provided between the turning seat and the mechanical arm, the telescopic hydraulic cylinder drives the turning seat to turn in the vertical direction, and the first connecting rod is fixed on the turning seat. After clamping, the height of the pole is first raised by the mechanical arm, and then the turning seat is turned to turn the angle to stand the pole up.

[0018] Preferably, the first driving mechanism is a driving motor or a rotary hydraulic cylinder, and the second driving mechanism is a driving motor or a rotary hydraulic cylinder.

[0019] Preferably, two of the four pipelines connected to the first chamber and the second chamber are connected to a tee and connected to the gas source station through a main pipeline; the third chamber and the fourth chamber are connected to a tee and connected to the gas source station through a main pipeline. In this solution, the chamber isolated by the piston head is pressurized and depressurized respectively through two pipelines, thereby driving the piston head to move, and the movement of the piston head drives the opening and closing of the clamping jaws.

[0020] Preferably, two main pipes are provided with high-pressure resistant air intake control valves and two main pipes are provided with branch pipes, and the branch pipes are provided with high-pressure resistant pressure relief control valves. The air intake control valve controls the air intake to increase the pressure of the corresponding chamber, and the pressure relief control valve is connected to the outside to release the pressure.

[0021] The pole-standing robot comprises a walking main machine and a mechanical arm arranged on the walking main machine, the mechanical arm having multiple degrees of freedom in the vertical direction, and also comprises the above-mentioned mechanical claw module, the mechanical claw module being arranged on the mechanical arm in a flippable manner. The walking main machine is a crawler-type main machine, which has an extendable mechanical arm.

[0022] Preferably, an articulated seat is provided at the end of the mechanical arm, a swingable and detachable spiral drill head is articulated on the articulated seat, and the spiral drill head is powered by the walking main machine. The spiral drill head is detachably arranged on the mechanical arm, and the spiral drill head is powered by the walking main machine.

[0023] Compared with the prior art, the advantages of the present invention are as follows: when the device of the present application clamps, if two groups of clamping jaws are simultaneously sleeved on the pole, the piston rod is compressed to drive the two piston heads to move toward the first connecting end, and at the same time, the third chamber and the fourth chamber are pressurized through the pipeline to ensure stable clamping of the clamping jaws. When one group of clamping jaws is sleeved on the pole, one of the piston rods is compressed, and the pressure in the first chamber and the second chamber increases and is greater than the air pressure in the third chamber, so that the other piston rod is in an extended state, and at this time, the other group of clamping jaws is in an open state, and then the angle of the mounting seat is adjusted to make the other group of clamping jaws sleeved on the pole. At this time, the other piston rod is compressed to drive the clamping jaws to close and clamp the pole, and finally the third chamber and the fourth chamber are pressurized through the pipeline to make both groups of clamping jaws in a clamped state. This scheme avoids the problem of one group of clamping jaws being empty when the pole and the clamping jaws are not vertical. In addition, the clamping position can be adjusted in parallel through the four-bar linkage, and the angle of the clamping jaws can be adjusted while adjusting the position. Finally, the entire clamping structure is arranged on the mechanical arm of the walking host, which has high flexibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present invention will be further described in detail below in conjunction with the accompanying drawings and preferred embodiments, but those skilled in the art will appreciate that these drawings are drawn only for the purpose of explaining the preferred embodiments and therefore should not be used as a limitation on the scope of the present invention. In addition, unless otherwise specified, the drawings are only schematically representing the composition or structure of the described objects and may contain exaggerated displays, and the drawings are not necessarily drawn to scale.

[0025] Figure 1 A side view of the present application;

[0026] Figure 2 A perspective view of the present application;

[0027] Figure 3 for Figure 2 The enlarged view of the H in the middle;

[0028] Figure 4 It is a three-dimensional diagram of the clamping jaw part;

[0029] Figure 5 It is a top view of the clamping jaw part;

[0030] Figure 6 for Figure 5 Middle AA section;

[0031] Figure 7 is a schematic diagram of the structure of the connecting rod mechanism (second scheme);

[0032] Figure 8 This is the exploded diagram of the linkage mechanism (second solution);

[0033] Fig. 9 is a schematic diagram of the structure of the connecting rod mechanism (first scheme);

[0034] In the figure: 10, walking main machine; 20, mechanical arm; 30, telescopic hydraulic cylinder; 40, flip seat; 50, connecting rod mechanism; 500, first connecting rod; 501, second connecting rod; 502, third connecting rod; 503, fourth connecting rod; 5031, mounting groove; 504, first driving mechanism; 505, second driving mechanism; 506, second rotating shaft; 507, first pull rod; 508, second pull rod; 509, first rotating plate; 510, second rotating plate; 511, first rotating shaft; 70, clamping jaw group; 701, clamping jaw; 702, driving arm; 703, clamping block; 80, mounting seat body; 801, piston rod; 802, piston chamber; 8021, first chamber; 8022, third chamber; 8023, second chamber; 8024, fourth chamber; 803, piston head. DETAILED DESCRIPTION

[0035] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It will be appreciated by those skilled in the art that these descriptions are only illustrative and exemplary and should not be construed as limiting the scope of protection of the present invention. Example

[0036] Mechanical gripper module for pole grabbing and pole erection, such as Figure 3-9 As shown, including:

[0037] The mounting seat body 80 has a first connecting end and a second connecting end, wherein the first connecting end is used for connection and installation, and two communicating piston chambers 802 are provided inside the first connecting end;

[0038] The piston rod 801 includes two of them. Preferably, a pressure sensor can be provided at the end of the piston rod 801 to feedback the pressure value. The pressure value has two functions. One is to judge whether the clamping jaws 701 on both sides are in a clampable position. Only when the difference in the pressure values ​​on both sides is within a preset range, it indicates that the clamping jaws 701 can be closed by applying pressure through the pipeline. If one side is larger than the other side, it indicates that the angle needs to be adjusted until the pressure difference on both sides is within a preset range before clamping. The deflection direction is to rotate toward the side with a smaller pressure value. The two piston heads 803 are respectively provided in the two piston chambers 802 and the two piston chambers 802 are divided into a first chamber 8021, a second chamber 8023, a third chamber 8022 and a fourth chamber 8024. The two piston rods 801 extend to the second connecting end.

[0039] The pipeline includes four pipes and is respectively connected to the first chamber 8021, the second chamber 8022, the third chamber 8023 and the fourth chamber 8024 for supplying gas to drive the piston rod 801 to extend and retract;

[0040] The clamping jaw group 70 includes two groups, each group includes two clamping jaws 701 that can be opened and closed and are hinged to the second connection end, the clamping jaw 701 has a clamping end and a driving end, and its hinge point is located between the clamping end and the driving end, and the driving end is hinged to the piston rod 801. When the piston rod 801 is extended or retracted, the two clamping jaws 701 are driven to rotate around their respective hinge points to open or close;

[0041] Before clamping, the air pressure in the first chamber 8021 and the second chamber 8023 is greater than that in the third chamber 8022 and the fourth chamber 8024 to push the piston toward the second connection end so that the piston rod 801 extends and drives the clamping jaw 701 to open. Specifically, It also includes an upper mounting plate and a lower mounting plate arranged on the mounting seat body 80, two hinged shafts arranged between the two mounting plates, two clamping jaws 701 rotatably arranged on the hinged shafts, a sliding shaft arranged on the piston rod 801, and two driving arms 702 rotatably arranged on the sliding shafts, the other ends of the two driving arms 702 are hinged to one end of the clamping jaw 701, the two ends of the sliding shaft pass through the upper mounting main plate and the lower mounting plate, and the upper and lower mounting plates are provided with strip-shaped sliding holes for sliding the sliding shafts, wherein the middle part of the clamping jaw 701 is rotatably connected to the hinged shaft, the left end of the clamping jaw 701 is rotatably connected to the sliding shaft, the right end of the clamping jaw 701 is provided with a detachable clamping block 703, and the clamping block 703 is provided with an arc-shaped clamping surface matching the side wall of the pole;

[0042] During clamping, if the two groups of jaws 701 are simultaneously sleeved on the pole, the piston rod 801 is compressed to drive the two piston heads 803 to move toward the first connection end, and at the same time, the third chamber 8022 and the fourth chamber 8024 are pressurized through the pipeline to ensure that the clamping of the jaws 701 is stable. When one group of jaws 701 is sleeved on the pole, one of the piston rods 801 is compressed, and the pressure in the first chamber 8021 and the second chamber 8023 increases and is greater than the air pressure in the third chamber 8022, so that the other piston rod 801 is in an extended state, and the other group of jaws 701 is in an open state. Then, the angle of the mounting seat 80 is adjusted to make the other group of jaws 701 sleeved on the pole. At this time, the other piston rod 801 is compressed to drive the jaws 701 to close and clamp the pole. Finally, the third chamber 8022 and the fourth chamber 8024 are pressurized through the pipeline to make both groups of jaws 701 in a clamped state.

[0043] like Figure 7-9As shown, it also includes a connecting rod mechanism 50, which includes a first connecting rod 500, a second connecting rod 501, a third connecting rod 502 and a fourth connecting rod 503. The first connecting rod 500 is connected to the robot arm 20, the second connecting rod 501 and the third connecting rod 502 are parallel and one end of both is rotatably connected to the first connecting rod 500, the fourth connecting rod 503 is parallel to the first connecting rod 500 and the other ends of the second connecting rod 501 and the third connecting rod 502 are rotatably connected to the fourth connecting rod 503, and a first driving mechanism 504 is provided on the first connecting rod 500, and the first driving mechanism 504 drives the second connecting rod 501 or the third connecting rod 502 to rotate, and the mounting seat 80 is arranged on the fourth connecting rod 503. When the connecting rod mechanism 50 is extended, the first connecting rod 500 and the fourth connecting rod 503 always remain parallel. At the same time, during adjustment, the first connecting rod 500 and the second connecting rod 501 are offset so that the mounting seat body 80 on the fourth connecting rod 503 can be offset to achieve the adjustment of the pole clamping position. It should be noted that in this embodiment, the first connecting rod 500 is combined with the flip seat 40, and a set of second connecting rods 501 and third connecting rods 502 are installed on the front side wall of the fourth connecting rod 503, and the mounting seat body 80 is set on the rear side wall of the fourth connecting rod 503. At the same time, in order to increase the structural strength, the fourth connecting rod 503 can be widened and a mounting groove 5031 is opened in the middle thereof, and another set of second connecting rods 501 and third connecting rods 502 is set between the mounting groove 5031 and the flip seat 40. The front and rear sets of second connecting rods 501 and third connecting rods 502 are arranged on the front and rear sides of the second connecting rod 503. 01 and the projections of the third link 502 in the front and rear directions overlap. When the link is set as a group, the first drive mechanism 504 and the second link 501 are respectively arranged on the front and rear sides of the first link 500. When the link is set in two groups, a mounting frame is required to be provided on the first link 500 or the flip seat 40 for installing the first drive mechanism 504. The second link 501 and the third link 502 are both fixed with hinge shafts extending into the first link 500, and the first drive mechanism drives one of the hinge shafts to rotate.

[0044] The first option: Fig. 9 As shown, the fourth connecting rod 503 is provided with a second driving mechanism 505 for driving the mounting seat body 80 to rotate. The second driving mechanism 505 is used to drive the mounting seat body 80 to rotate, thereby adjusting the posture of the clamping structure on the mounting seat body 80 to align with the pole.

[0045] The second option: Figure 7-8As shown, the fourth connecting rod 503 is provided with an installation cavity with a cover plate, and the installation cavity is provided with a parallel first rotating plate 509 and a second rotating plate 510 and a parallel first pull rod 507 and a second pull rod 508. The first pull rod 507 and the second pull rod 508 are both rotatably hinged between the first rotating plate 509 and the second rotating plate 510 so that the first rotating plate 509, the first pull rod 507, the second rotating plate 510 and the second pull rod 508 form a parallelogram structure with adjustable side spacing. The third connecting rod 502 is rotatably connected to the fourth connecting rod 503 through a first rotating shaft 511 extending into the installation cavity, and the first rotating shaft 511 is fixed to the middle of the first rotating plate 509. The middle of the second rotating plate 510 is provided with a second rotating shaft 506, and the second rotating shaft 506 extends out of the fourth connecting rod 503 and is connected to the mounting seat body 80. When the position of the structure is adjusted by the link mechanism 50, the mounting seat body 80 rotates accordingly. During the adjustment, the fourth link 503 and the first link 500 always remain parallel, and the angle of the mounting seat body 80 equivalent to the fourth link 503 is changed, so that the posture of the clamping structure is adjusted to adapt to the non-horizontally placed pole. The first link 500 and the flip seat 40 can be combined into the same structure, that is, the flip seat 40 is used as the first link 500.

[0046] The first scheme is used to adjust the deflection angle of the clamping, that is, when the piston rod 801 of the clamping jaw 701 on one side is compressed and the piston rod 801 on the other side is not compressed, it deflects to the side with a smaller pressure value until the difference in pressure values ​​on both sides is within a preset range and then closes and clamps. Direction adjustment can be directly rotated and adjusted by the second drive mechanism 505, and an angle sensor can be equipped for angle control; in addition, the deflection angle can also be adjusted by the structure in the second scheme. This adjustment method uses the connecting rod mechanism 50 for adjustment. When the angle of the clamping part changes, the distance between the clamping part and the pole will also change to a certain extent. Therefore, position compensation needs to be performed by the mechanical arm 20 during adjustment.

[0047] like Figure 3 As shown, a turning seat 40 is rotatably provided on the mechanical arm 20, and a telescopic hydraulic cylinder 30 is provided between the turning seat 40 and the mechanical arm 20. The telescopic hydraulic cylinder 30 drives the turning seat 40 to turn in the vertical direction, and the first connecting rod 500 is fixed on the turning seat 40. After clamping, the height of the pole is first raised by the mechanical arm 20, and then the turning seat 40 is turned to an angle to stand the pole up.

[0048] like Figure 7 As shown in Figure 9, the first driving mechanism 504 is a driving motor or a rotating hydraulic cylinder, and the second driving mechanism 505 is a driving motor or a rotating hydraulic cylinder.

[0049] Preferably, two of the four pipelines connected to the first chamber 8021 and the second chamber 8023 are connected to a tee and connected to the gas source station through a main pipeline; the third chamber 8022 and the fourth chamber 8024 are connected to a tee and connected to the gas source station through a main pipeline. In this solution, the chamber isolated by the piston head 803 is pressurized and depressurized respectively through two pipelines, thereby driving the piston head 803 to move, and the movement of the piston head 803 drives the opening and closing of the clamping jaws 701.

[0050] Preferably, two main pipes are provided with high-pressure resistant air intake control valves and two main pipes are provided with branch pipes, and the branch pipes are provided with high-pressure resistant pressure relief control valves. The air intake control valve controls the air intake to increase the pressure of the corresponding chamber, and the pressure relief control valve is connected to the outside to release the pressure. Example

[0051] Pole robots, such as Figure 1-9 As shown, it includes a walking main machine 10 and a mechanical arm 20 arranged on the walking main machine 10, the mechanical arm 20 has multiple degrees of freedom in the vertical direction, and also includes the above-mentioned mechanical claw module, which can be flipped and arranged on the mechanical arm 20. Among them, the walking main machine 10 is a crawler main machine, which has an extendable mechanical arm 20.

[0052] Preferably, an articulated seat is provided at the end of the mechanical arm 20, and a swingable and detachable spiral drill head is hinged on the articulated seat, and the spiral drill head is powered by the walking host 10. The spiral drill head is detachably arranged on the mechanical arm 20, and the spiral drill head is powered by the walking host 10.

[0053] like Figure 1-2 As shown, in this embodiment, an articulated arm hinged to each other is provided at the end of the telescopic hydraulic cylinder 30 , and the articulated arm is rotatably connected to the flip seat 40 and the output end of the telescopic hydraulic cylinder 30 for transmission between the telescopic hydraulic cylinder 30 and the flip seat 40 .

[0054] The above is an introduction to the present invention. This article uses specific examples to explain the principles and implementation methods of the mechanical claw module and the pole-erecting robot for grabbing and erecting poles. The above examples are only used to help understand the present invention and its core ideas. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present invention, the present invention can also be improved and modified in a number of ways, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A mechanical claw module for grabbing and erecting electric poles, characterized in that: include: The mounting seat body has a first connecting end and a second connecting end, wherein the first connecting end is used for connection and installation, and two communicating piston chambers are arranged inside the first connecting end; The piston rod includes two of them. A pressure sensor is arranged at the end of the piston rod to feedback the pressure value. The pressure value has two functions. One is to judge whether the clamping jaws on both sides are in a clampable position. Only when the difference of the pressure values ​​on both sides is within a preset range, it indicates that the clamping jaws can be closed by applying pressure through the pipeline. If one side is greater than the other side, it indicates that the angle needs to be adjusted until the pressure difference on both sides is within the preset range before clamping. The deflection direction is to rotate toward the side with a smaller pressure value. The two piston heads are respectively arranged in the two piston chambers and the two piston chambers are divided into a first chamber, a second chamber, a third chamber and a fourth chamber. The two piston rods extend to the second connecting end. The pipelines include four pipelines and are respectively connected to the first chamber, the second chamber, the third chamber and the fourth chamber for supplying gas to drive the piston rod to extend and retract; A clamping jaw group, which includes two groups, each group includes two clamping jaws that can be opened and closed and are hinged to the second connection end, the clamping jaw has a clamping end and a driving end, and its hinge point is located between the clamping end and the driving end, the driving end is hinged to the piston rod, and when the piston rod is extended or retracted, the two clamping jaws are driven to rotate around their respective hinge points to open or close; Before clamping, the air pressure in the first chamber and the second chamber is greater than that in the third chamber and the fourth chamber so as to push the piston toward the second connecting end so that the piston rod extends and drives the clamping jaws to open; It also includes a connecting rod mechanism, which includes a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, the first connecting rod is connected to the mechanical arm, the second connecting rod and the third connecting rod are parallel and one end of both is rotatably connected to the first connecting rod, the fourth connecting rod is parallel to the first connecting rod and the other ends of the second connecting rod and the third connecting rod are both rotatably connected to the fourth connecting rod, a first driving mechanism is provided on the first connecting rod, the first driving mechanism drives the second connecting rod or the third connecting rod to rotate, the mounting seat body is provided on the fourth connecting rod, and the fourth connecting rod is provided with a second driving mechanism that drives the mounting seat body to rotate; when the connecting rod mechanism is extended, the first connecting rod and the fourth connecting rod always remain parallel, and at the same time, when adjusting, the first connecting rod and the second connecting rod are dislocated so that the mounting seat body on the fourth connecting rod can be dislocated to achieve the adjustment of the pole clamping position; During clamping, if two sets of jaws are simultaneously sleeved on the pole, the piston rod is compressed to drive the two piston heads to move toward the first connecting end, and at the same time, the third chamber and the fourth chamber are pressurized through the pipeline to ensure stable clamping of the jaws. When one set of jaws is sleeved on the pole, one of the piston rods is compressed, and the pressure in the first chamber and the second chamber increases and is greater than the air pressure in the third chamber, so that the other piston rod is in an extended state. At this time, the other set of jaws is in an open state. Then the angle of the mounting seat is adjusted to make the other set of jaws sleeved on the pole. At this time, the other piston rod is compressed to drive the jaws to close and clamp the pole. Finally, the third chamber and the fourth chamber are pressurized through the pipeline to make both sets of jaws in a clamped state.

2. The mechanical claw module for grabbing and erecting electric poles according to claim 1, characterized in that: The fourth connecting rod is provided with an installation cavity with a cover plate, and the installation cavity is provided with a parallel first rotating plate and a second rotating plate and a parallel first pull rod and a second pull rod. The first pull rod and the second pull rod are rotatably hinged between the first rotating plate and the second rotating plate so that the first rotating plate, the first pull rod, the second rotating plate and the second pull rod form a parallelogram structure with adjustable side spacing. The third connecting rod is rotatably connected to the fourth connecting rod through a first rotating shaft extending into the installation cavity, and the first rotating shaft is fixed to the middle part of the first rotating plate. A second rotating shaft is provided in the middle part of the second rotating plate, and the second rotating shaft extends out of the fourth connecting rod and is connected to the mounting seat body.

3. The mechanical claw module for grabbing and erecting electric poles according to claim 1, characterized in that: A turning seat is rotatably provided on the mechanical arm, a telescopic hydraulic cylinder is provided between the turning seat and the mechanical arm, the telescopic hydraulic cylinder drives the turning seat to turn in the vertical direction, and the first connecting rod is fixed on the turning seat.

4. The mechanical claw module for grabbing and erecting electric poles according to claim 1, characterized in that: The first driving mechanism is a driving motor or a rotary hydraulic cylinder, and the second driving mechanism is a driving motor or a rotary hydraulic cylinder.

5. The mechanical claw module for grabbing and erecting electric poles according to claim 1, characterized in that: Among the four pipelines, the two connected to the first chamber and the second chamber are connected to a tee and are connected to the gas source station through a main pipeline; the two connected to the third chamber and the fourth chamber are connected to a tee and are connected to the gas source station through a main pipeline.

6. The mechanical claw module for grabbing and erecting electric poles according to claim 4, characterized in that: The two main pipes are provided with high-pressure resistant air intake control valves and the two main pipes are provided with branch pipes, and the branch pipes are provided with high-pressure resistant pressure relief control valves.

7. A pole-erecting robot, comprising a walking main body and a mechanical arm arranged on the walking main body, wherein the mechanical arm has multiple degrees of freedom in the vertical direction, and is characterized in that: It also includes the mechanical claw module described in any one of claims 1-6, and the mechanical claw module can be flipped and arranged on the mechanical arm.

8. The pole-erecting robot according to claim 7, characterized in that: An articulated seat is arranged at the end of the mechanical arm, and a swingable and detachable spiral drill head is articulated on the articulated seat. The spiral drill head is powered by a walking main machine.

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