Whisker tipped end effector gripper

Abstract

The present application relates to a kind of cat paw imitated end effector gripper, including whole paw connecting piece, two clamping and single paw installation unit, whole paw drive unit and multiple single paw structure;The upper portion of the whole paw connecting piece is fixedly connected with robot end;Two clamping and single paw installation unit are respectively rotatably connected with the lower portion left and right sides of whole paw connecting piece, and the whole paw drive unit is installed on whole paw connecting piece and drives two clamping and single paw installation unit swing, to adapt to the curved surface shape of bale;Multiple single paw structure is evenly distributed in the front and back of two clamping and single paw installation unit left and right sides, and single paw structure has single paw grab hook on it, and single paw grab hook is driven by single paw drive unit Swing, to be pierced into bale and realize grabbing.The end effector gripper can improve the reliability and effectiveness of bale goods grabbing, and the structure occupies small space, can be applied to narrow space grabbing work.

Description

Technical Field

[0001] This invention relates to the field of mechanical gripper technology, specifically to a cat-paw-like end effector gripper. Background Technology

[0002] Currently, robotic grippers for burlap sacks and similar goods on the market are divided into two types based on their operating principles: gripping mechanical claws and suction cup grippers. These end effectors are relatively large in terms of structural space and have high requirements for stacking methods.

[0003] Currently, grippers with suction cup and grasping structures are ineffective when handling sack-like goods in the confined space of a freight car. Grab-like grippers are suitable for working on conveyor belts, but they struggle to grasp stacked goods and may interfere with the sides of sacks. Suction cup grippers are suitable for goods with flat surfaces such as boxes, but they cannot effectively grasp sacks, which have uneven, curved surfaces and are porous. Both types of grippers are relatively tall, and when goods are stacked to a certain height in the freight car, they may interfere with the roof. With rising labor costs, the level of automation in unloading cargo in freight cars remains low, and technological bottlenecks are particularly prominent. There is a need to design and develop new robotic end effector grippers specifically designed for grasping sack-like goods in freight cars. Summary of the Invention

[0004] The purpose of this invention is to provide a cat-paw-like end effector gripper that can improve the reliability and effectiveness of gripping sack-like goods, and has a small structural footprint, making it suitable for gripping operations in confined spaces.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: a cat-paw-like end effector gripper, comprising a full claw connector, two clamping and single claw mounting units, a full claw drive unit, and multiple single claw structures; the upper part of the full claw connector is fixedly connected to the robot end effector; the two clamping and single claw mounting units are rotatably connected to the lower left and right sides of the full claw connector, respectively; the full claw drive unit is mounted on the full claw connector and drives the two clamping and single claw mounting units to swing, adapting to the curved surface shape of a burlap sack; the multiple single claw structures are evenly distributed on the front and rear sides of the two clamping and single claw mounting units, each single claw structure having a single claw hook, which is driven to swing by the single claw drive unit to penetrate into the burlap sack for grasping.

[0006] Furthermore, the two clamping and single-claw mounting units are symmetrically distributed on the left and right sides of the lower part of the whole-claw connector; the whole-claw connector includes a robot connecting plate and two swing member connecting plates, the two swing member connecting plates are arranged front and rear and fixedly connected to the lower part of the robot connecting plate, and the robot connecting plate is fixedly connected to the robot end; the clamping and single-claw mounting unit includes a single-claw mounting plate and a swing member, the upper end of the single-claw mounting plate is fixedly connected to the lower end of the swing member, and the lower part of the swing member is rotatably connected to the left or right side of the lower part of the front and rear swing member connecting plates through a rotary pin; the left and right sides of the swing member connecting plate are symmetrically provided with first arc-shaped sliding grooves, and the upper end of the swing member has a first guide post, the front and rear ends of the first guide post are respectively inserted into the first arc-shaped sliding grooves of the front and rear swing member connecting plates, so as to limit the maximum swing angle of the swing member through the first arc-shaped sliding grooves; the whole-claw driving unit drives the swing member and the single-claw mounting plate to swing around the rotary pin, thereby changing the clamping angle formed by the two single-claw mounting plates to adapt to the curved surface shape of the burlap bag.

[0007] Furthermore, the claw drive unit includes two claw push cylinders and two first motion blocks. The two claw push cylinders are arranged front to back and fixedly installed on the lower part of the robot connecting plate. The two first motion blocks are arranged front to back and located between the front and rear swing member connecting plates. The first motion block is composed of an I-shaped drive part and its lower bending connection part. The drive ends of the front and rear claw push cylinders are respectively connected to the bending connection parts of the front and rear first motion blocks to drive the corresponding first motion blocks to move up and down. The first guide posts at the upper ends of the left and right swing members are respectively located in the grooves on the left and right sides of the I-shaped drive part, so that the first guide posts are driven to move by the up and down movement of the I-shaped drive part, thereby driving the swing members to swing around the pivot pin.

[0008] Furthermore, each single-claw mounting plate is provided with two pairs of single-claw structures along its length direction. The two single-claw structures of each pair are symmetrically installed on the single-claw mounting plate and form a certain angle. The single-claw mounting plate is provided with two straight slides parallel to each other along its length direction. The single-claw structure is slidably installed in the corresponding straight slide and locked by fasteners to flexibly adjust the installation position of the single-claw structure on the single-claw mounting plate.

[0009] Further, the single-claw structure includes a single-claw shell, a U-shaped rotating block, a limiting block, a single-claw drive unit, a single-claw gripper hook, and two single-claw rotating supports. The single-claw drive unit is fixedly installed inside the single-claw shell on its side and drives the second moving block thereon to reciprocate linearly. The two single-claw rotating supports are arranged front and rear and fixedly installed on the bottom of the single-claw shell. The limiting block is located in the middle between the two single-claw rotating supports and is fixedly connected to the bottom of the single-claw shell. The U-shaped rotating block is located between the two single-claw rotating supports and is clamped on the front and rear sides of the limiting block. The U-shaped rotating block is rotatably connected to the single-claw rotating supports, and the front and rear sides of the U-shaped rotating block... Each component has a sliding groove. The second moving block has a second guide post, with its front and rear ends respectively passing through the sliding grooves on the front and rear sides of the U-shaped rotating block. This allows the U-shaped rotating block to swing through the linear motion of the second moving block and the second guide post. The limiting block has a second arc-shaped sliding groove, and a third guide post passes between the front and rear sides of the U-shaped rotating block. The third guide post passes through the second arc-shaped sliding groove to limit the maximum swing angle of the U-shaped rotating block. The single-claw gripper is fixedly connected to the U-shaped rotating block so that the reciprocating swing of the U-shaped rotating block causes the single-claw gripper to rotate out of or retract into the single-claw housing.

[0010] Furthermore, the single-claw drive unit includes a single-claw linear cylinder and a second motion block. The drive end of the single-claw linear cylinder is fixedly connected to the second motion block to drive the second motion block to reciprocate linearly.

[0011] Furthermore, the single-claw gripper includes two parallel arc-shaped hooks and a connecting part. The rear ends of the two arc-shaped hooks are connected to the connecting part as a whole, and the connecting part is fixedly connected to the U-shaped rotating block.

[0012] Furthermore, the bottom plate of the single claw shell has a through hole with a diameter larger than that of the single claw hook, so that the single claw hook can be rotated out or retracted into the single claw shell; the single claw hook is completely retracted into the single claw shell when not in operation.

[0013] Furthermore, the gripping force of each individual claw structure is independently controllable.

[0014] The present invention also provides a robot end effector, wherein the robot end effector is equipped with the above-mentioned cat-paw-like end effector gripper, for grasping stacked burlap sacks of goods in a freight car.

[0015] Compared with existing technologies, the present invention has the following advantages: The present invention provides a cat-paw-like end effector gripper. This end effector gripper can adapt to the four-sided curvature of burlap sacks by changing the gripping angle of the entire claw. Combined with the hooks on a single claw to grip the burlap sack, it achieves reliable and effective gripping of burlap sacks with different curved shapes and porous structures. Simultaneously, this structure occupies little space, allowing it to enter narrow spaces for gripping. Therefore, it can still effectively grip goods even in complex stacking situations and when materials are piled haphazardly. Furthermore, this end effector gripper has a simple structure, low implementation cost, high degree of automation, and convenient operation, and can be widely used in various robot end effectors. Therefore, the present invention has strong practicality and broad application prospects. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the cat-paw-like end effector gripper according to an embodiment of the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the structure of the cat-paw-like end effector gripper according to an embodiment of the present invention. Figure 2 ; Figure 3 This is a schematic diagram of the structure of the cat-paw-like end effector gripper assembled on the end of a robot according to an embodiment of the present invention; Figure 4 yes Figure 3 A magnified view of part A (front view of the claw-like end effector gripper). Figure 5 This is a cross-sectional view of the cat-paw-like end effector gripper according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the connection structure between the single-claw structure and the single-claw mounting plate in an embodiment of the present invention; Figure 7 This is a cross-sectional view of the single-claw structure in an embodiment of the present invention.

[0017] In the diagram: 1. Robot end effector; 2. Cat-paw-like end effector gripper; 3. Single-claw structure; 4. Single-claw mounting plate; 401. Linear slide rail; 5. Claw push cylinder; 6. Claw connector; 601. Robot connecting plate; 602. Swinging component connecting plate; 603. First arc-shaped slide groove; 7. Single-claw shell; 8. U-shaped rotary block; 9. Single-claw linear cylinder; 10. Single-claw rotary support; 11. Single-claw gripper hook; 12. Rotary pin; 13. Swinging component; 14. First motion block; 15. First guide post; 16. Limiting block; 17. Second motion block; 18. Second guide post; 19. Second arc-shaped slide groove; 20. Third guide post; 21. Fastener. Detailed Implementation

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0019] It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0020] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0021] This invention utilizes biomimetic principles, mimicking the skeletal structure of a cat's paw, to propose a cat-claw-inspired robotic end effector gripper for grasping burlap sacks in confined spaces, such as inside a freight car. This cat-claw-inspired robotic end effector gripper adapts to the four-sided curvature of burlap sacks through the deformation of its entire claw structure, combined with a single-claw hook to ensure reliable grasping of the sacks. This enables the robot to unpile stacked burlap sacks within the enclosed environment of a freight car.

[0022] like Figure 1-2 As shown, the cat-paw-like end effector gripper provided in this embodiment includes a full-claw connector 6, two clamping and single-claw mounting units, a full-claw drive unit, and multiple single-claw structures 3. Figure 3 As shown, the upper part of the full-claw connector 6 is fixedly connected to the robot end effector 1. The two gripping and single-claw mounting units are rotatably connected to the lower left and right sides of the full-claw connector 6, respectively. The full-claw drive unit is mounted on the full-claw connector 6 and drives the two gripping and single-claw mounting units to swing, adapting to the curved surface of the burlap sack. The multiple single-claw structures 3 are evenly distributed on the front and rear sides of the two gripping and single-claw mounting units. Each single-claw structure 3 has a single-claw gripper hook, which is driven to swing by the single-claw drive unit to penetrate into the burlap sack for grasping.

[0023] like Figure 1-2As shown in Figures 4-5, the two gripping and single-claw mounting units are symmetrically distributed on the left and right sides of the lower part of the full-claw connector 6. The full-claw connector 6 includes a robot connecting plate 601 and two swing member connecting plates 602. The two swing member connecting plates 602 are arranged front and rear and fixedly connected to the lower part of the robot connecting plate 601. The robot connecting plate 601 is fixedly connected to the robot end effector 1. The gripping and single-claw mounting unit includes a single-claw mounting plate 4 and a swing member 13. The upper end of the single-claw mounting plate 4 is fixedly connected to the lower end of the swing member 13. The lower part of the swing member 13 is rotatably connected to the lower left or right side of the two swing member connecting plates 602 simultaneously through a rotary pin 12. The swaying component connecting plate 602 has symmetrically formed first arc-shaped grooves 603 on its left and right sides. The upper end of the swaying component 13 has a first guide post 15. The front and rear ends of the first guide post 15 are respectively inserted into the first arc-shaped grooves 603 of the front and rear swaying component connecting plates 602, so as to limit the maximum swaying angle of the swaying component 13 through the first arc-shaped grooves 603. The whole claw driving unit drives the swaying component 13 and the single claw mounting plate 4 to sway around the rotary pin 12, thereby changing the clamping angle formed by the two single claw mounting plates 4 to adapt to the curved surface shape of the burlap sack.

[0024] The claw drive unit includes two claw push cylinders 5 and two first motion blocks 14. The two claw push cylinders 5 are arranged front to back and fixedly installed on the lower part of the robot connecting plate 601. The two first motion blocks 14 are arranged front to back and located between the front and rear swing member connecting plates 602. The first motion block 14 is composed of an I-shaped drive part and a bent connecting part on its lower side. The drive ends of the front and rear claw push cylinders 5 are respectively connected to the bent connecting parts of the front and rear first motion blocks 14 to drive the corresponding first motion blocks 14 to move up and down. The first guide posts 15 at the upper ends of the left and right swing members 13 are respectively located in the grooves on the left and right sides of the I-shaped drive part, so that the first guide posts 15 are driven to move by the up and down movement of the I-shaped drive part, thereby driving the swing members 13 to swing around the pivot pin 12.

[0025] In this embodiment, each single-claw mounting plate 4 has two pairs of single-claw structures along its length. The two single-claw structures 3 of each pair are symmetrically mounted on the single-claw mounting plate 4, forming a certain angle. The gripping force of each single-claw structure 3 is independently controllable. Figure 6 As shown, the single claw mounting plate 4 has two parallel straight slide rails 401 along its length direction. The single claw structure 3 is slidably installed in the corresponding straight slide rail 401 and locked by fasteners 21 to flexibly adjust the installation position of the single claw structure 3 on the single claw mounting plate 4.

[0026] like Figure 6-7As shown, the single-claw structure 3 includes a single-claw shell 7, a U-shaped rotating block 8, a limiting block 16, a single-claw drive unit, a single-claw gripper hook 11, and two single-claw rotating supports 10. The single-claw drive unit is fixedly installed inside the side of the single-claw shell 7 and drives the second moving block 17 on it to reciprocate linearly. The two single-claw rotating supports 10 are arranged front and rear and fixedly installed on the bottom of the single-claw shell 7. The limiting block 16 is located in the middle between the two single-claw rotating supports 10 and is fixedly connected to the bottom of the single-claw shell 7. The U-shaped rotating block 8 is located between the two single-claw rotating supports 10 and is clamped on the front and rear sides of the limiting block 16. The U-shaped rotating block 8 is rotatably connected to the single-claw rotating support 10, and openings are made on both the front and rear sides of the U-shaped rotating block 8. The U-shaped rotating block 8 has a sliding groove, and a second guide post 18 is provided on the second moving block 17. The front and rear ends of the second guide post 18 are respectively inserted into the sliding grooves on the front and rear sides of the U-shaped rotating block 8, thereby driving the U-shaped rotating block 8 to swing through the linear motion of the second moving block 17 and the second guide post 18. A second arc-shaped sliding groove 19 is provided on the limiting block 16, and a third guide post 20 is inserted between the front and rear sides of the U-shaped rotating block 8. The third guide post passes through the second arc-shaped sliding groove 19 to limit the maximum swing angle of the U-shaped rotating block 8. The single claw hook 11 is fixedly connected to the U-shaped rotating block 8, so that the single claw hook 11 can be rotated out of or retracted into the single claw shell 7 by the back and forth swing of the U-shaped rotating block 8. In this embodiment, the single claw shell 7 is composed of an opaque base and a transparent top cover.

[0027] Specifically, the single-claw drive unit includes a single-claw linear cylinder 9 and a second motion block 17. The drive end of the single-claw linear cylinder 9 is fixedly connected to the second motion block 17 to drive the second motion block 17 to reciprocate linearly.

[0028] The single-claw gripper 11 includes two parallel arc-shaped hook portions and a connecting portion. The rear ends of the two arc-shaped hook portions are integrally connected to the connecting portion, which is fixedly connected to the U-shaped rotating block 8. The bottom plate of the single-claw housing 7 has a through hole with a diameter larger than that of the single-claw gripper 11, allowing the single-claw gripper 11 to be rotated out or retracted into the single-claw housing 7. The single-claw gripper 11 is completely retracted into the single-claw housing 7 when not in operation.

[0029] To accommodate bag shapes with varying curvatures, the end effector's claw structure needs to fit snugly against the curved surface of the burlap bag. This snug fit is a prerequisite for effective claw insertion. Therefore, this invention proposes a deformable end effector claw structure that can adjust the gripping angle of the claw to adapt to burlap bags with different degrees of curvature. Since the long side angle of the burlap bag varies over a wider range, an adaptive and adjustable gripper structure is used to minimize structural design complexity, maximizing the gripping of burlap bags in various shapes and meeting the unloading needs of burlap bags in freight car stacking. Furthermore, to achieve stable gripping, single claw structures are evenly distributed across the claw structure, ensuring smooth unloading operations. Based on this, the invention's cat-claw-like single claw structure can penetrate and hook into the burlap bag for gripping. This structure effectively reduces the vertical space occupied by traditional gripper devices and does not interfere with surrounding burlap bags during operation, making it ideal for gripping porous burlap bags.

[0030] When gripping burlap sacks, a single-jaw linear cylinder drives the single-jaw gripper hook to rotate. The hook, hidden inside the single-jaw shell, extends through a fixed oscillating motion and penetrates the burlap sack, thus gripping it. When the burlap sack is significantly curved, a wide range of adjustment of the bending angle is needed to ensure a good fit to the sack surface. Therefore, the entire gripper structure features an adjustable clamping angle on the long side and a fixed clamping angle on the short side, reducing structural complexity and facilitating motion control. The device is driven by a cylinder to support the weight of the gripper. After gripping, the clamping angle must be maintained or the gripper must be straightened; otherwise, the gripper's inward retraction will cause the sack surface to shrink, leading to the entire sack detaching.

[0031] This embodiment also provides a robot end effector, which is equipped with the aforementioned cat-claw-like end effector gripper for grabbing stacked burlap sacks of goods inside a freight car.

[0032] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the protection scope of the present invention.

Claims

1. A cat-paw-inspired end effector gripper, characterized in that, The system includes a full claw connector (6), two clamping and single claw mounting units, a full claw drive unit, and multiple single claw structures (3). The upper part of the full claw connector (6) is fixedly connected to the robot end (1). The two clamping and single claw mounting units are rotatably connected to the lower left and right sides of the full claw connector (6). The full claw drive unit is mounted on the full claw connector (6) and drives the two clamping and single claw mounting units to swing to adapt to the curved shape of the burlap sack. The multiple single claw structures (3) are evenly distributed on the front and rear sides of the two clamping and single claw mounting units. Each single claw structure (3) has a single claw hook, which is driven to swing by the single claw drive unit to penetrate into the burlap sack to achieve grasping. The single-claw structure (3) includes a single-claw shell (7), a U-shaped rotating block (8), a limiting block (16), a single-claw drive unit, a single-claw gripper (11), and two single-claw rotating supports (10). The single-claw drive unit is fixedly installed on the side inside the single-claw shell (7) and drives the second moving block (17) on it to reciprocate linearly. The two single-claw rotating supports (10) are arranged front and rear and fixedly installed on the bottom inside the single-claw shell (7). The limiting block (16) is located in the middle between the two single-claw rotating supports (10) and is fixedly connected to the bottom of the single-claw shell (7). The U-shaped rotating block (8) is located between the two single-claw rotating supports (10) and is sandwiched between the front and rear sides of the limiting block (16). The U-shaped rotating block (8) is rotatably connected to the single-claw rotating support (10). Sliding plates are opened on the front and rear sides of the U-shaped rotating block (8). The second moving block (17) is provided with a second guide post (18), and the front and rear ends of the second guide post (18) are respectively inserted into the sliding grooves on the front and rear sides of the U-shaped rotating block (8), so that the U-shaped rotating block (8) is driven to swing through the front and rear linear motion of the second moving block (17) and the second guide post (18); the limiting block (16) is provided with a second arc-shaped sliding groove (19), and a third guide post (20) is inserted between the front and rear sides of the U-shaped rotating block (8). The third guide post passes through the second arc-shaped sliding groove (19) to limit the maximum swing angle of the U-shaped rotating block (8) through the second arc-shaped sliding groove (19); the single claw hook (11) is fixedly connected to the U-shaped rotating block (8) so that the single claw hook (11) can be rotated out or retracted into the single claw shell (7) through the back and forth swing of the U-shaped rotating block (8); The single-claw gripper (11) includes two parallel arc-shaped hooks and a connecting part. The rear ends of the two arc-shaped hooks are connected to the connecting part as a whole. The connecting part is fixedly connected to the U-shaped rotating block (8).

2. The cat-paw-like end effector gripper according to claim 1, characterized in that, The two clamping and single-claw mounting units are symmetrically distributed on the left and right sides of the lower part of the whole claw connector (6); the whole claw connector (6) includes a robot connecting plate (601) and two swing member connecting plates (602), the two swing member connecting plates (602) are arranged front and rear and fixedly connected to the lower part of the robot connecting plate (601), the robot connecting plate (601) is fixedly connected to the robot end (1); the clamping and single-claw mounting unit includes a single-claw mounting plate (4) and a swing member (13), the upper end of the single-claw mounting plate (4) is fixedly connected to the lower end of the swing member (13), the lower part of the swing member (13) is connected to the front and rear swing members simultaneously through a rotary pin (12). The lower left or right side of the connecting plate (602) is rotatably connected; the left and right sides of the swing member connecting plate (602) are symmetrically provided with first arc-shaped sliding grooves (603); the upper end of the swing member (13) has a first guide post (15); the front and rear ends of the first guide post (15) are respectively inserted into the first arc-shaped sliding grooves (603) of the front and rear swing member connecting plates (602) to limit the maximum swing angle of the swing member (13) through the first arc-shaped sliding grooves (603); the whole claw driving unit drives the swing member (13) and the single claw mounting plate (4) to swing around the rotary pin (12), thereby changing the clamping angle formed by the two single claw mounting plates (4) to adapt to the curved surface shape of the burlap bag.

3. The cat-paw-like end effector gripper according to claim 2, characterized in that, The claw drive unit includes two claw push cylinders (5) and two first motion blocks (14). The two claw push cylinders (5) are arranged front to back and fixedly installed on the lower part of the robot connecting plate (601). The two first motion blocks (14) are arranged front to back and located between the front and rear swing member connecting plates (602). The first motion block (14) is composed of an I-shaped drive part and its lower side bending connection part. The drive ends of the front and rear claw push cylinders (5) are respectively connected to the bending connection parts of the front and rear first motion blocks (14) to drive the corresponding first motion blocks (14) to move up and down. The first guide posts (15) at the upper ends of the left and right swing members (13) are respectively located in the grooves on the left and right sides of the I-shaped drive part, so as to drive the first guide posts (15) to move through the up and down movement of the I-shaped drive part, thereby driving the swing members (13) to swing around the pivot pin (12).

4. The cat-paw-like end effector gripper according to claim 2, characterized in that, Each single-claw mounting plate (4) has two pairs of single-claw structures along its length. The two single-claw structures (3) of each pair of single-claw structures are symmetrically installed on the single-claw mounting plate (4) and form a certain angle. The single-claw mounting plate (4) has two straight slides parallel to each other along its length. The single-claw structure (3) is slidably installed in the corresponding straight slide and locked by fasteners to flexibly adjust the installation position of the single-claw structure (3) on the single-claw mounting plate (4).

5. The cat-paw-like end effector gripper according to claim 1, characterized in that, The single-claw drive unit includes a single-claw linear cylinder (9) and a second motion block (17). The drive end of the single-claw linear cylinder (9) is fixedly connected to the second motion block (17) to drive the second motion block (17) to reciprocate linearly.

6. The cat-paw-like end effector gripper according to claim 1, characterized in that, The bottom plate of the single claw shell (7) has a through hole with a diameter larger than that of the single claw hook (11) so that the single claw hook (11) can be rotated out or retracted into the single claw shell (7); the single claw hook (11) is completely stored inside the single claw shell (7) when not in operation.

7. The cat-paw-like end effector gripper according to claim 1, characterized in that, The gripping force of each single claw structure (3) is independently controllable.

8. A robot end effector, characterized in that, The robot end effector is equipped with a cat-claw-like end effector gripper as described in any one of claims 1-7, for gripping stacked burlap sacks of goods inside the freight car.

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