Grabbing manipulator for ice lamp and ice sculpture design

Abstract

The invention discloses a grabbing manipulator for ice lamp and ice sculpture design, relates to the technical field of manipulators, and provides the following scheme: the grabbing manipulator comprises a mechanical arm, the end part of the mechanical arm is rotatably connected with a pair of opening and closing claws, one end of each opening and closing claw is provided with an end block, the mechanical arm is connected with a pulling block, and a cloth belt is arranged between the end block and the pulling block; a chain plate is arranged on one side of the cloth belt, a plurality of air bags are connected between the chain plate and the cloth belt, a fixing block is installed on the cloth belt, and claw nails are connected to the fixing block in a sliding mode. The opening and closing claw is closed, the cloth belt abuts against the surface of the ice block, the air bag is expanded to push the cloth belt to tightly hold the ice block, and therefore limiting is conducted, when the air bag is expanded, the heating block is controlled to heat the claw nails, the hot claw nails are inserted into the outer wall of the ice block, firmness is improved, cold water is sprayed out through the water spraying holes in the ends of the claw nails, and the cold water is on the ice surface and can be rapidly frozen and solidified; and meanwhile, cracks can be rapidly filled, and water on the surfaces of the ice blocks can improve the extraction of the flow guide grooves.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and particularly to a grasping manipulator for ice lantern and ice sculpture design. Background Art

[0002] A manipulator is an automatic operating device that can imitate some action functions of human hands and arms to grasp, transport objects or operate tools according to a fixed program. Its characteristics are that it can complete various expected operations through programming, and it combines the respective advantages of humans and machines in terms of structure and performance. During the production process of ice sculptures and ice lanterns, using a manipulator to grasp ice blocks can improve work efficiency.

[0003] After retrieval, a Chinese invention patent, with the publication number: CN118700203B, and the name: A material grasping manipulator. This invention includes a mounting plate, on the top of which two symmetrically distributed support rods are fixedly installed. A mounting seat is fixedly connected between the two support rods. A motor is fixedly installed between the mounting plate and the mounting seat. Clamping mechanisms for contacting and grasping the material with the two pressing plates are provided on both sides of the mounting seat. The output end of the motor extends into the interior of the mounting seat. A clamping mechanism for pressing the two sides of the material between the two pressing plates is provided inside the mounting seat. The pushing and clamping mechanism is installed on the surface of the pressing plate. Adjusting mechanisms are provided on both sides of the mounting seat. By means of the clamping mechanism, moving along both sides of the material, the clamping surface of the pressing plate on the outside of the material is increased, thus achieving the effect of stably grasping the material.

[0004] However, in the actual use process, the above and similar technical solutions still have some problems: 1. In the ice lantern production process flow, after hollowing out the ice block, when using a manipulator to perform the grasping operation, it faces the problem of precise control of the force. Due to the brittle nature of the ice block material, it is difficult for the manipulator to precisely control the grasping force during the grasping process. If the grasping force exceeds the reasonable range, that is, the force is too large, it is extremely easy to cause irreversible damage to the ice lantern structure, thereby affecting the finished product quality and artistic presentation effect of the ice lantern, and increasing the waste rate and cost loss during the production process; 2. When carrying out the grasping operation on the ice block, due to the smooth surface characteristic of the ice block, there are significant limitations in using traditional two-horizontal-strip mechanical claws for clamping. For ice blocks with unconventional shapes such as circular or polygonal shapes, it is difficult for such mechanical claws to achieve stable and effective clamping. On the one hand, the force-bearing surface in contact with the ice block is small, resulting in insufficient friction between the clamping claws and the ice block during the clamping process, and it is extremely easy to slip. On the other hand, if convex nails are tried to be set on the surface of the clamping claws to enhance the friction, when the clamping claws apply thrust, the convex nails will generate concentrated stress on the local part of the ice block. Due to the limited strength of the ice block, this concentrated stress is extremely easy to cause the ice block to break, further exacerbating the difficulty and risk of ice block grasping; 3. During the production process of ice lanterns, when cracks appear in the ice, there is a lack of special repair organizations to deal with the cracks in a timely and effective manner, which will not only affect the overall structural stability and aesthetics of the ice lanterns, but may also accelerate the damage of the ice. At the same time, water will inevitably flow out during the ice processing process. If this water is not properly handled, it will gradually freeze on the ground at the work site. The smoothness of the ground after freezing increases, which poses a great safety hazard to the walking and operation of the staff, and can easily cause the staff to slip and get injured, affecting the work progress and personnel safety. Summary of the invention

[0005] The purpose of the present invention is to solve the shortcomings of the prior art and to propose a grasping robot for ice lantern and ice sculpture design that is easy to grasp, firmly grasps, adapts to ice cubes of different shapes, and can repair cracks.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions: A gripping manipulator for ice lantern and ice sculpture design, comprising a mechanical arm, the end of the mechanical arm is connected to an opening and closing mechanism, the opening and closing mechanism comprises an opening and closing claw, and the end of the mechanical arm is rotatably connected to a pair of opening and closing claws; The opening and closing claw is connected with a clamping mechanism, and the clamping mechanism includes an end block, an end block is installed on the inner side of one end of the opening and closing claw facing away from the mechanical arm, a pulling block is connected to the mechanical arm, a cloth belt is installed between the end block and the pulling block, a pair of chain plates are provided on the sides of the cloth belts facing away from each other, and the two ends of the chain plates are rotatably connected to the end block and the pulling block respectively, and a plurality of air bags are connected between the chain plates and the cloth belts, and gas enters the interior of the air bags to prop up the air bags, and under the limit of the chain plates, the air bags expand and push the cloth belts to hold the ice cubes tightly, thereby limiting the position, which is convenient for clamping and carrying the ice cubes; The cloth belt is connected to a water spray mechanism, which includes a fixed block, a plurality of penetrating fixed blocks are installed on the cloth belt, a penetrating claw nail is slidably connected to the fixed block, a plurality of heating blocks corresponding to the claw nail are installed on one side of the airbag, the end of the claw nail is installed on the heating end of the heating block, a water spray hole is provided on the end of the claw nail facing away from the heating block, a connecting pipe connected to the water spray hole is installed on the claw nail, cold water enters the interior of the water pipe, passes through the connecting pipe into the claw nail, and is sprayed out through the water spray hole at the end of the claw nail, and the cold water can quickly freeze and solidify on the ice surface, thereby increasing the firmness between the claw nail and the ice block.

[0007] Preferably, the claw nail has a conical shape at one end facing away from the heating block, a spring is installed between the heating block and the fixed block, and the spring is movably connected to the claw nail to facilitate the contraction and reset of the claw nail.

[0008] Preferably, the opening and closing claws are in a semi-circular ring shape. A slider is slidably connected to the end of the robotic arm. A first electric push rod is installed on the robotic arm. One end of the slider is fixedly connected to the telescopic end of the first electric push rod. A connecting rod is rotatably connected between the slider and each of the pair of opening and closing claws. When the first electric push rod is started, the slider is pulled to slide, and thus the pair of opening and closing claws are pulled to rotate and open.

[0009] Preferably, a restraint assembly is connected to the robotic arm. The restraint assembly includes a sliding frame. The sliding frame is slidably connected to the end of the robotic arm. A pulling block is slidably connected to the sliding frame. A second electric push rod is installed on the robotic arm. The pulling block is fixedly connected to the telescopic end of the second electric push rod, which is convenient for pulling the cloth belt and the chain plate. When facing a relatively large ice block, a longer cloth belt and chain plate can be released, so as to facilitate adapting to the size of the ice block.

[0010] Preferably, a third electric push rod is installed at the end of the robotic arm. The sliding frame is fixedly connected to the telescopic end of the third electric push rod. A guide roller is rotatably connected to one end of the sliding frame close to each chain plate. The guide roller abuts against one side of the chain plate. When the cloth belt and the chain plate are retracted into the sliding frame, the range enclosed by the sliding frame can be reduced, so that the cloth belt is closely attached to the surface of the ice block, thereby clamping the ice block.

[0011] Preferably, an air inlet pipe is installed on the robotic arm. The air inlet pipe is fixedly connected to a plurality of air bags and communicates with the inside of the air bags. A water pipe is installed inside the air inlet pipe. The end of the connecting pipe penetrates through the air inlet pipe and is fixed to the water pipe. The connecting pipe communicates with the water pipe, so as to facilitate injecting gas into the air bags.

[0012] Preferably, a partition belt is provided between adjacent air bags. The two ends of the partition belt are respectively fixedly connected to the chain plate and the cloth belt, so as to limit the lateral expansion of the air bags.

[0013] Preferably, a collection mechanism is connected to the cloth belt. The collection mechanism includes a diversion groove. A diversion groove is provided at the bottom end of one side where the pair of cloth belts are close to each other. A collection pipe is installed on the cloth belt. The collection pipe communicates with the diversion groove, so as to facilitate collecting the flowing water.

[0014] Preferably, the robotic arm is equipped with a controller. A refrigeration water tank is installed on the controller. A first water pump is installed on the refrigeration water tank. The output pipe of the first water pump is fixedly connected to and communicates with the water pipe. An air pump is installed on the controller. The output pipe of the air pump is fixedly connected to and communicates with the air inlet pipe. A second water pump is installed on the controller. The input pipe of the second water pump is fixedly connected to and communicates with the collection pipe.

[0015] Compared with the prior art, the present invention provides a grasping manipulator for ice lantern and ice sculpture design, which has the following beneficial effects: 1. The grasping manipulator for ice lantern and ice sculpture design rotates and opens a pair of opening and closing claws by means of a connecting rod, places the ice block for ice lantern and ice sculpture between the pair of opening and closing claws, closes the opening and closing claws, makes the cloth belt contact the surface of the ice block, and the chain plate can be bent, so as to facilitate adapting to the shape of the ice block. Start the third electric push rod, and the third electric push rod extends, thereby pushing the sliding frame to slide forward. The guide roller at the end of the sliding frame contacts the outer side of the chain plate. When the sliding frame moves forward, it stores the chain plate. The guide roller at the end of the sliding frame will approach the ice block, reducing the space enclosed by the cloth belt, so that the cloth belt tightly contacts the surface of the ice block, thereby increasing the binding force. Start the air pump to inflate the airbag. Under the limitation of the chain plate, after the airbag expands, it pushes the cloth belt to hold the ice block tightly, thereby performing positioning and facilitating the clamping and handling of the ice block.

[0016] 2. The grasping manipulator for ice lantern and ice sculpture design, when the airbag expands, controls the heating block to heat the claw nails. The heated claw nails extend out of the outer wall of the fixed block under the push of the airbag, and the hot claw nails are inserted into the outer wall of the ice block. Start the refrigeration water tank to make the water inside the refrigeration water tank close to the freezing point, pump it out through the first water pump, the cold water enters the inside of the water pipe, passes through the connecting pipe and enters the claw nails, and sprays out through the water spraying holes at the end of the claw nails. The cold water can quickly freeze and solidify on the ice surface, thereby increasing the firmness between the claw nails and the ice block. At the same time, during the processing of the ice block, cracks are likely to occur in the ice block, especially in the production of ice lanterns, which requires hollowing out. Through the supply of cold water, the cracks can be quickly filled, so that the ice block is bonded firmly again, thereby ensuring the quality of the ice sculpture. After the ice sculpture is carved, when the claw nails are pulled out, the cold water can fill the holes caused by the claw nails, thereby ensuring the integrity of the ice sculpture surface.

[0017] 3. The grasping manipulator for ice lantern and ice sculpture design, during the ice sculpture process, heat is generated during cutting and grinding, so that some water flows down along the surface of the ice block. Start the second water pump, and perform negative pressure at the diversion groove through the collecting pipe, so as to facilitate pumping out the flowing water. At the same time, the cold water flowing out of the water spraying holes can also be discharged through the diversion groove before freezing, so as to avoid water droplets falling to the ground. Description of the Drawings

[0018] Figure 1 is a three-dimensional view of a grasping manipulator for ice lantern and ice sculpture design proposed by the present invention; Figure 2 is a view of the controller connection structure of the present invention; Figure 3 is a view of the connection structure of the opening and closing claws of the present invention; Figure 4 is a view of the connection structure of the third electric push rod of the present invention; Figure 5 is a view of the connection structure of the second electric push rod of the present invention; Figure 6View of the sliding frame connection structure of the present invention; Figure 7 View of the guide roller connection structure of the present invention; Figure 8 View of the cloth belt connection structure of the present invention; Figure 9 View of the airbag connection structure of the present invention; Figure 10 View of the fixed block connection structure of the present invention.

[0019] In the figure: 1, robotic arm; 2, opening and closing mechanism; 21, opening and closing claws; 22, first electric push rod; 23, slider; 24, connecting rod; 3, clamping mechanism; 31, end block; 32, chain plate; 33, airbag; 34, cloth belt; 35, air inlet pipe; 36, air pump; 37, restraint assembly; 371, pulling block; 372, second electric push rod; 373, sliding frame; 374, guide roller; 375, third electric push rod; 4, controller; 5, water spraying mechanism; 51, refrigeration water tank; 52, water pipe; 53, claw nails; 54, fixed block; 55, water spraying holes; 56, heating block; 57, spring; 58, connecting pipe; 59, first water pump; 6, collection mechanism; 61, collection pipe; 62, second water pump; 63, diversion groove; 7, partition belt. Detailed implementation manners

[0020] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0021] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention. Embodiment

[0022] Refer to Figures 1 - 10, A grasping manipulator for ice lantern and ice sculpture design, comprising a robotic arm 1. An opening and closing mechanism 2 is connected to the end of the robotic arm 1. The opening and closing mechanism 2 includes opening and closing claws 21. A pair of opening and closing claws 21 are rotatably connected to the end of the robotic arm 1. A clamping mechanism 3 is connected to the opening and closing claws 21. The clamping mechanism 3 includes end blocks 31. End blocks 31 are installed on the inner sides of the ends of the opening and closing claws 21 that face away from the robotic arm 1. A pulling block 371 is connected to the robotic arm 1. A cloth belt 34 is installed between the end block 31 and the pulling block 371. Chain plates 32 are provided on the sides of the pair of cloth belts 34 that face away from each other. The two ends of each chain plate 32 are respectively rotatably connected to the end block 31 and the pulling block 371. A plurality of air bags 33 are connected between the chain plate 32 and the cloth belt 34. By driving the cloth belt 34 to open through the opening and closing claws 21, the ice block can be clamped. The outward movement of the cloth belt 34 can be avoided by the restriction of the chain plate 32. After the air bags 33 expand, they push the cloth belt 34 to contact the surface of the ice block, so as to facilitate adaptation to ice blocks of different shapes.

[0023] In the present invention, the opening and closing claws 21 are in a semi-circular ring shape. A slider 23 is slidably connected to the end of the robotic arm 1. A first electric push rod 22 is installed on the robotic arm 1. One end of the slider 23 is fixedly connected to the telescopic end of the first electric push rod 22. Link rods 24 are rotatably connected between the slider 23 and the pair of opening and closing claws 21 respectively, so as to facilitate controlling the opening and closing of the opening and closing claws 21.

[0024] In the present invention, a restraint assembly 37 is connected to the robotic arm 1. The restraint assembly 37 includes a sliding frame 373. The sliding frame 373 is slidably connected to the end of the robotic arm 1. The pulling block 371 is slidably connected to the sliding frame 373. A second electric push rod 372 is installed on the robotic arm 1. The pulling block 371 is fixedly connected to the telescopic end of the second electric push rod 372, so as to facilitate pulling the cloth belt 34 and the chain plate 32. When facing a relatively large ice block, a longer cloth belt 34 and chain plate 32 can be released, so as to facilitate adaptation to the size of the ice block.

[0025] In the present invention, a third electric push rod 375 is installed at the end of the robotic arm 1. The sliding frame 373 is fixedly connected to the telescopic end of the third electric push rod 375. Guide rollers 374 are rotatably connected to one end of the sliding frame 373 close to each chain plate 32. The guide rollers 374 are in contact with one side of the chain plate 32. When the cloth belt 34 and the chain plate 32 are retracted into the sliding frame 373, the range enclosed by the sliding frame 373 can be reduced, so that the cloth belt 34 is closely attached to the surface of the ice block, thereby clamping the ice block.

[0026] In the present invention, partition belts 7 are provided between adjacent air bags 33. The two ends of each partition belt 7 are respectively fixedly connected to the chain plate 32 and the cloth belt 34, so as to restrict the air bags 33 from expanding to both sides and facilitate pushing the cloth belt 34.

[0027] In the present invention, an air inlet pipe 35 is installed on the robotic arm 1. The air inlet pipe 35 is fixedly connected to a plurality of air bags 33 and communicates with the interior of the air bags 33. The robotic arm 1 is equipped with a controller 4, and an air pump 36 is installed on the controller 4. The output pipe of the air pump 36 is fixedly connected to and communicates with the air inlet pipe 35, thereby facilitating inflation of the air bags 33. When inflation stops, the air bags 33 lose pressure and automatically contract. Embodiment

[0028] Based on Embodiment 1, a grasping robotic hand for ice lantern and ice sculpture design. A water spraying mechanism 5 is connected to the cloth belt 34. The water spraying mechanism 5 includes a fixing block 54. A plurality of through fixing blocks 54 are installed on the cloth belt 34. A through claw nail 53 is slidably connected to the fixing block 54. A plurality of heating blocks 56 corresponding to the claw nails 53 are installed on one side of the air bag 33. The end of the claw nail 53 is installed on the heating end of the heating block 56. A water spraying hole 55 is provided at one end of the claw nail 53 facing away from the heating block 56. A connecting pipe 58 communicating with the water spraying hole 55 is installed on the claw nail 53, thereby facilitating the claw nail 53 to be fitted on the surface of the ice block, firmly grasping the ice block, and being able to repair the cracks of the ice block when spraying water.

[0029] In the present invention, one end of the claw nail 53 facing away from the heating block 56 is conical. A spring 57 is installed between the heating block 56 and the fixing block 54. The spring 57 is movably sleeved on the claw nail 53, thereby facilitating the contraction and reset of the claw nail 53.

[0030] In the present invention, a water pipe 52 is installed inside the air inlet pipe 35. The end of the connecting pipe 58 penetrates the air inlet pipe 35 and is fixed to the water pipe 52. The connecting pipe 58 communicates with the water pipe 52, thereby facilitating water injection into the claw nail 53.

[0031] In the present invention, a refrigerating water tank 51 is installed on the controller 4. A first water pump 59 is installed on the refrigerating water tank 51. The output pipe of the first water pump 59 is fixedly connected to and communicates with the water pipe 52, thereby facilitating continuous supply of cold water. Embodiment

[0032] Based on Embodiment 2, a grasping robotic hand for ice lantern and ice sculpture design. A collecting mechanism 6 is connected to the cloth belt 34. The collecting mechanism 6 includes a diversion groove 63. A diversion groove 63 is provided at the bottom end of each of the two mutually approaching sides of the cloth belt 34. A collecting pipe 61 is installed on the cloth belt 34. The collecting pipe 61 communicates with the diversion groove 63, thereby facilitating the extraction of the flowing-down cold water.

[0033] In the present invention, a second water pump 62 is installed on the controller 4. The input pipe of the second water pump 62 is fixedly connected to and communicates with the collecting pipe 61, thereby facilitating the formation of negative pressure to extract the flowing-down water.

[0034] Working principle: to clamp the ice lantern and ice sculpture, start the first electric push rod 22, pull the slider 23 to slide, thereby pulling the pair of opening and closing claws 21 to rotate and open through the connecting rod 24, so that the ice used for the ice lantern and ice sculpture is located in the middle of the pair of opening and closing claws 21, control the first electric push rod 22 to extend, push the pair of opening and closing claws 21 to close, start the second electric push rod 372, pull the pulling block 371, so that the cloth belt 34 and the chain plate 32 move toward the inside of the mechanical arm 1, so that the cloth belt 34 contacts the surface of the ice block, and the chain plate 32 can be bent, so as to adapt to the shape of the ice block, start the third electric push rod 375, and the third electric push rod 375 extends, from The slide frame 373 is pushed to slide forward, and the guide roller 374 at the end of the slide frame 373 contacts the outer side of the chain plate 32. When the slide frame 373 moves forward, the chain plate 32 is stored, and the guide roller 374 at the end of the slide frame 373 is close to the ice cube, reducing the space surrounded by the cloth belt 34, so that the cloth belt 34 is closely in contact with the surface of the ice cube, thereby increasing the binding force, and starting the air pump 36, the air pump 36 inflates the air inlet pipe 35, and the gas enters the interior of the air bag 33, thereby propping up the air bag 33. Under the limit of the chain plate 32, the air bag 33 expands and pushes the cloth belt 34 to hold the ice cube tightly, thereby limiting the position, which is convenient for clamping and carrying the ice cube; When the airbag 33 expands, the heating block 56 is controlled to heat the claw nail 53. The heated claw nail 53 extends out of the outer wall of the fixed block 54 under the push of the airbag 33. The hot claw nail 53 is inserted into the outer wall of the ice block, the spring 57 is compressed, the heating block 56 is turned off, the hot claw nail 53 is cooled, and the refrigeration water tank 51 is started. The water inside the refrigeration water tank 51 will be cooled to between one degree and zero degrees, so that the water inside the refrigeration water tank 51 is close to the freezing point, and is pumped out through the first water pump 59. The cold water enters the interior of the water pipe 52, passes through the connecting pipe 58 into the claw nail 53, and is sprayed out through the water spray hole 55 at the end of the claw nail 53. The cold water is icing. The surface can freeze and solidify quickly, thereby increasing the firmness between the claw nail 53 and the ice block. At the same time, during the processing of ice blocks, ice blocks are prone to cracks, especially for the production of ice lanterns, which need to be hollowed out. Through the supply of cold water, the cracks can be quickly filled, so that the ice blocks can be firmly bonded again, thereby ensuring the quality of the ice sculpture. After the ice sculpture is completed, when the claw nail 53 is pulled out, the cold water can fill the holes caused by the claw nail 53, thereby ensuring the integrity of the ice sculpture surface. During the ice sculpture process, the ice sculpture room needs to be controlled to be below zero degrees to prevent the ice blocks from melting and ensure that the cold water freezes. During the ice carving process, cutting and grinding generate heat, which causes some water to flow down along the surface of the ice block, and the second water pump 62 is started, so that negative pressure is generated at the guide groove 63 through the collection pipe 61, so as to facilitate the extraction of the flowing water. At the same time, the cold water flowing out of the water spray hole 55 can also be discharged through the guide groove 63 when it is not frozen, so as to prevent water from dripping onto the ground.

[0035] The above are only the preferred specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, making equivalent substitutions or changes, shall be covered by the protection scope of the present invention.

Claims

1. A gripping manipulator for ice lantern and ice sculpture design, comprising a manipulator arm (1), the end of the manipulator arm (1) being connected to an opening and closing mechanism (2), the opening and closing mechanism (2) comprising an opening and closing claw (21), the end of the manipulator arm (1) being rotatably connected to a pair of opening and closing claws (21), characterized in that: The opening and closing claw (21) is connected to a clamping mechanism (3), the clamping mechanism (3) comprising an end block (31), the end block (31) being installed on the inner side of one end of the opening and closing claw (21) facing away from the mechanical arm (1), the mechanical arm (1) being connected to a pulling block (371), a cloth belt (34) being installed between the end block (31) and the pulling block (371), a pair of chain plates (32) being provided on the sides facing away from each other of the cloth belts (34), the two ends of the chain plates (32) being rotatably connected to the end block (31) and the pulling block (371), respectively, and a plurality of air bags (33) being connected between the chain plates (32) and the cloth belts (34); The cloth belt (34) is connected to a water spray mechanism (5), the water spray mechanism (5) comprising a fixed block (54), a plurality of fixed blocks (54) penetrating the cloth belt (34) are mounted on the cloth belt (34), a claw nail (53) penetrating the fixed block (54) is slidably connected to the fixed block (54), a plurality of heating blocks (56) corresponding to the claw nails (53) are mounted on one side of the airbag (33), the ends of the claw nails (53) are mounted on the heating end of the heating block (56), a water spray hole (55) is provided on the end of the claw nail (53) away from the heating block (56), and a connecting pipe (58) connected to the water spray hole (55) is mounted on the claw nail (53).

2. The grasping manipulator for ice lantern and ice sculpture design according to claim 1, wherein, One end of the claw nail (53) facing away from the heating block (56) is conical, a spring (57) is installed between the heating block (56) and the fixed block (54), and the spring (57) is movably sleeved with the claw nail (53).

3. The grasping manipulator for ice lantern and ice sculpture design according to claim 1, characterized in that, The opening and closing claws (21) are in a semicircular ring shape, a slider (23) is slidably connected to the end of the mechanical arm (1), a first electric push rod (22) is mounted on the mechanical arm (1), one end of the slider (23) is fixedly connected to the telescopic end of the first electric push rod (22), and a connecting rod (24) is rotatably connected between the slider (23) and the pair of opening and closing claws (21).

4. A grasping manipulator for ice lantern and ice sculpture design according to claim 1, characterized in that, The mechanical arm (1) is connected to a restraining assembly (37), the restraining assembly (37) comprising a sliding frame (373), the end of the mechanical arm (1) is slidably connected to the sliding frame (373), the pulling block (371) is slidably connected to the sliding frame (373), a second electric push rod (372) is installed on the mechanical arm (1), and the pulling block (371) is fixedly connected to the telescopic end of the second electric push rod (372).

5. A grasping manipulator for ice lantern and ice sculpture design according to claim 4, characterized in that, A third electric push rod (375) is installed at the end of the mechanical arm (1), and the sliding frame (373) is fixedly connected to the telescopic end of the third electric push rod (375).

6. The grasping manipulator for ice lantern and ice sculpture design according to claim 5, characterized in that, One end of the sliding frame (373) close to each chain plate (32) is rotatably connected to a guide roller (374), and the guide roller (374) contacts one side of the chain plate (32).

7. A grasping manipulator for ice lantern and ice sculpture design according to claim 1, characterized in that An air inlet pipe (35) is installed on the robotic arm (1). The air inlet pipe (35) is fixedly connected to a plurality of air bags (33) and is in communication with the inside of the air bags (33). A water pipe (52) is installed inside the air inlet pipe (35). The end of the connecting pipe (58) penetrates through the air inlet pipe (35) and is fixed to the water pipe (52). The connecting pipe (58) is in communication with the water pipe (52).

8. A grasping manipulator for ice lantern and ice sculpture design according to claim 1, characterized in that, Partition belts (7) are provided between two adjacent air bags (33). The two ends of the partition belts (7) are respectively fixedly connected to the chain plates (32) and the cloth belts (34).

9. The grasping manipulator for ice lantern and ice sculpture design according to claim 7, characterized in that, A collection mechanism (6) is connected to the cloth belt (34). The collection mechanism (6) includes a diversion groove (63). Diversion grooves (63) are provided at the bottom ends of one side of a pair of cloth belts (34) close to each other. A collection pipe (61) is installed on the cloth belt (34). The collection pipe (61) is in communication with the diversion groove (63).

10. The grasping manipulator for ice lantern and ice sculpture design according to claim 9, characterized in that, The robotic arm (1) is equipped with a controller (4). A refrigeration water tank (51) is installed on the controller (4). A first water pump (59) is installed on the refrigeration water tank (51). The output pipe of the first water pump (59) is fixedly connected to and in communication with the water pipe (52). An air pump (36) is installed on the controller (4). The output pipe of the air pump (36) is fixedly connected to and in communication with the air inlet pipe (35). A second water pump (62) is installed on the controller (4). The input pipe of the second water pump (62) is fixedly connected to and in communication with the collection pipe (61).

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