Telescopic folding mechanical arm clamping jaw and telescopic clamping method thereof

Abstract

The invention discloses a telescopic folding mechanical arm clamping jaw and a telescopic clamping method.The telescopic folding mechanical arm clamping jaw comprises a telescopic folding assembly and a mechanical clamping jaw base arranged on the telescopic folding assembly, and a clamping jaw assembly is arranged on the mechanical clamping jaw base in a driving mode; the telescopic folding assembly comprises a plurality of layers of connecting plates arranged at intervals, interval areas are reserved between the connecting plates arranged at intervals, each layer of interval area is internally provided with oppositely-arranged unfolding and folding plate assemblies, and the connecting plates arranged at intervals are in driving connection through the unfolding and folding plate assemblies. The distance between the interval areas between the connecting plates is adjusted by adjusting the opening and closing angle between the unfolding and folding plate assemblies, and the mechanical clamping jaw base is driven to achieve telescopic folding. The invention discloses a telescopic folding mechanical arm clamping jaw which is simple in structure, easy to integrate, high in adaptability and capable of achieving high precision and quick response and a telescopic clamping method of the telescopic folding mechanical arm clamping jaw.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic arms, and in particular to a telescopic folding robotic arm clamp and a telescopic clamping method thereof. Background Art

[0002] The design and application of robotic arms are crucial in automation and robotics. Traditional robotic arms often use complex pneumatic or hydraulic systems. These systems are not only complex in structure, occupy a large space, and are difficult to transport and deploy, but also have limited adaptability to the environment, insufficient flexibility, and poor reconfigurability. Summary of the Invention

[0003] The present invention overcomes the deficiencies of the prior art and provides a telescopic folding mechanical arm clamping claw and a telescopic clamping method thereof which has a simple structure, is easy to integrate, has strong adaptability and can achieve high precision and rapid response.

[0004] In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a telescopic folding mechanical arm gripper, comprising: a telescopic folding component, and a mechanical gripper base arranged on the telescopic folding component, the mechanical gripper base is driven to be provided with a gripper component; the telescopic folding component comprises several layers of spaced connecting plates, and spaced areas are reserved between the spaced connecting plates, and each layer of spaced areas is provided with relatively arranged expansion and retraction plate components, the spaced connecting plates are driven and connected through the expansion and retraction plate components, and the spacing between the spaced areas between the connecting plates is adjusted by adjusting the opening and closing angles between the expansion and retraction plate components, thereby driving the mechanical gripper base to achieve telescopic folding.

[0005] In a preferred embodiment of the present invention, the expansion and retraction plate assemblies in the spaced areas between adjacent connecting plates are arranged in a staggered manner.

[0006] In a preferred embodiment of the present invention, the deployment plate assembly includes a lower deployment plate and an upper deployment plate connected by a deployment servo drive, and the other ends of the lower deployment plate and the upper deployment plate are respectively connected to the edges of the spaced connecting plates. The deployment servo drives the lower deployment plate and the upper deployment plate to open and close and swing, thereby adjusting the spacing of the spaced areas between the spaced connecting plates.

[0007] In a preferred embodiment of the present invention, the stowage plate assembly further comprises an upper connecting plate and a lower connecting plate connected for opening and closing, and the two sides of the lower stowage plate and the upper stowage plate that are relatively open and closed are pivotally connected via the upper connecting plate and the lower connecting plate respectively.

[0008] In a preferred embodiment of the present invention, the connecting plate is a square plate; the lower expansion and retraction plate is an upper trapezoidal plate, and the lower connecting plate is a lower trapezoidal plate, and the short bottom side of the lower expansion and retraction plate and the short bottom side of the lower connecting plate are pivotally connected, and the long bottom side of the lower expansion and retraction plate and the long bottom side of the lower connecting plate are respectively connected to the side sides of the corresponding connecting plate; the upper connecting plate is an upper triangular plate, and the lower connecting plate is a lower triangular plate.

[0009] In a preferred embodiment of the present invention, the gripper assembly includes a push-pull servo mounted on a mechanical gripper base, wherein the push-pull servo is drivingly connected to a push-pull crank, and the push-pull crank is connected to a driving rod of the gripper bracket via a push-pull arm; The clamping jaw bracket is provided with a rotary steering gear and a driving gear and a clamping jaw gear connected to the rotary steering gear; The shown clamping gear is provided with a claw seat, and the claw seat is connected to several groups of connecting rods that can open and close relative to the central axis of the claw seat. The ends of the connecting rods are connected to clamping jaws, and the clamping jaws and connecting rods are driven and connected to the clamping jaw bracket through a triangular connecting rod.

[0010] In a preferred embodiment of the present invention, the triangular connecting rod is hinged to the clamping jaw bracket, the connecting rod is hinged to the claw seat, the claw seat is fixedly connected to the clamping jaw gear, the push-pull crank is connected to the steering gear, and the push-pull arm is hinged to the push-pull crank and the driving rod of the clamping jaw bracket.

[0011] In a preferred embodiment of the present invention, a telescopic clamping method of a telescopic folding robot arm clamp is implemented using a telescopic folding robot arm clamp, comprising the following steps: By driving the expansion and contraction servo of the expansion and contraction plate assembly in the telescopic folding assembly, the opening and closing angles between the upper and lower expansion and contraction plates connected to the expansion and contraction servo are adjusted, thereby adjusting the expansion and contraction shape of the telescopic folding assembly and driving the mechanical gripper base connected to the telescopic folding assembly to move to the required position; The angle of the claw seat is adjusted by driving the rotating servo in the claw assembly on the mechanical claw base, and the driving pull rod of the claw bracket connected to the push-pull servo is extended and retracted relative to the claw bracket to drive the connecting rod, triangular connecting rod and claw to realize the clamping and release of the claw assembly.

[0012] In a preferred embodiment of the present invention, when the push-pull servo drives the push-pull crank to rotate clockwise, the push-pull arm is driven to swing upward, causing the driving rod of the clamping jaw bracket to move upward, driving the triangular connecting rod to rotate outward, thereby driving the clamping jaw to open outward, thereby achieving the grasping of the object; when the rotary servo drives the driving gear to rotate, driving the clamping jaw gear to rotate synchronously, thereby driving the upper part of the mechanical clamping jaw to rotate together, thereby achieving the adjustment of the horizontal angle of the clamping jaw.

[0013] In a preferred embodiment of the present invention, each layer of the telescopic folding assembly includes a pair of oppositely arranged expansion and contraction plate assemblies, and the expansion and contraction servos in the oppositely arranged expansion and contraction plate assemblies are respectively a left servo and a right servo; The left servo's rotating shaft is connected to the rotary pair, so that the left servo is connected to the upper and lower expansion and retraction plates at the same time. By providing PWM signals to the left and right servos respectively, the rotation angles of the left and right servos are controlled, thereby controlling the opening and closing angles of the upper and lower expansion and retraction plates.

[0014] The present invention solves the defects existing in the technical background, and the beneficial technical effects of the present invention are: A telescopic folding mechanical arm gripper and a telescopic clamping method thereof adopt PWM signals to control the mechanical gripper of the telescopic folding mechanical arm gripper, can be interconnected with external equipment to realize human-computer interaction, and has excellent adaptive function.

[0015] 1. The telescopic folding mechanical arm gripper of the present invention has a simple structure, a large range of motion, and flexible movement.

[0016] 2. The folding structure of the telescopic folding robot arm gripper of the present invention is easy to stack and integrate, does not require pipes and valves of the air pressure and hydraulic systems, and does not require the external magnetic field required for magnetic drive.

[0017] 3. The control method of the telescopic folding robot arm gripper of the present invention is simple, and the action is controlled by PWM signal, which reduces the complexity of the robot arm gripper in the prior art.

[0018] 4. The telescopic folding mechanical arm gripper of the present invention has strong adaptability and is not affected by factors such as magnetic field strength, hydraulic flow, pressure, and ambient temperature. It can achieve high precision and rapid response, meet the needs of automation and robotics technology, and save manpower, material resources, and financial resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention will be further described below with reference to the accompanying drawings and examples.

[0020] Figure 1 A schematic diagram of the mechanical gripper structure of a retractable folding mechanical arm gripper according to a preferred embodiment of the present invention; Figure 2 This is a schematic structural diagram of a folding unit of a retractable folding robot arm gripper according to a preferred embodiment of the present invention; Figure 3 A schematic diagram of a mechanical arm structure with a retractable folding mechanical arm gripper according to a preferred embodiment of the present invention; Figure 4 This is a schematic structural diagram of a retractable folding robot arm gripper according to a preferred embodiment of the present invention after the robot arm is retracted; Figure 5A front view of a retractable folding robot arm gripper according to a preferred embodiment of the present invention after retraction; Figure 6 A flow chart of human-machine interaction control of a retractable folding robot arm gripper according to a preferred embodiment of the present invention; Figure 7 This is a diagram showing the architecture of a gesture recognition and visual feedback system according to a preferred embodiment of the present invention; Figure 8 This is a two-dimensional cross-sectional view of the centers of two square plates and two steering gears according to a preferred embodiment of the present invention.

[0021] Explanation of the numbers in the figure: 1. Mechanical gripper base; 2. Gripper bracket; 3. Gripper; 4. Triangular connecting rod; 5. Connecting rod; 6. Claw seat; 7. Driving gear; 8. Gripper gear; 9. Rotary servo; 10. Push-pull servo; 11. Push-pull crank; 12. Push-pull arm; 13. Right servo; 14. Connecting plate; 15. Upper expansion and contraction plate; 16. Upper connecting plate; 17. Left servo; 18. Lower expansion and contraction plate; 19. Lower connecting plate. DETAILED DESCRIPTION

[0022] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. These drawings are simplified schematic diagrams that only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0023] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, bottom, top, etc.), the directional indications are only used to explain the relative positional relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly. The terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. Unless otherwise clearly specified and defined, the terms "set", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be a communication between the internal parts of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0024] Example 1, as Figures 1-6 As shown, a telescopic folding mechanical arm gripper comprises: a telescopic folding component, and a mechanical gripper base 1 arranged on the telescopic folding component, wherein the gripper assembly is driven and arranged on the mechanical gripper base 1.

[0025] Specifically, the telescopic folding assembly includes several layers of spaced connecting plates 14, with spacing areas reserved between the spaced connecting plates 14. Relatively arranged expansion and contraction plate assemblies are arranged in each layer of the spacing areas. The spaced connecting plates 14 are driven and connected through the expansion and contraction plate assemblies. The spacing between the spacing areas between the connecting plates 14 is adjusted by adjusting the opening and closing angles between the expansion and contraction plate assemblies to drive the mechanical gripper base 1 to achieve telescopic folding.

[0026] The deployment plate assembly includes a lower deployment plate 18 and an upper deployment plate 15, connected by a deployment servo, and an upper connecting plate 16 and a lower connecting plate 19, which are connected in an opening and closing manner. The other ends of the lower deployment plate 18 and the upper deployment plate 15 are respectively connected to the edges of the spaced-apart connecting plates 14. The deployment servo drives the lower deployment plate 18 and the upper deployment plate 15 to swing open and close, adjusting the spacing between the spaced-apart connecting plates 14. The opposing opening and closing edges of the lower deployment plate 18 and the upper deployment plate 15 are pivotally connected by the upper connecting plate 16 and the lower connecting plate 19, respectively. In this embodiment, the connecting plate 14 is a square plate; the lower expansion and retraction plate 18 is an upper trapezoidal plate, and the lower connecting plate 19 is a lower trapezoidal plate, and the short bottom side of the lower expansion and retraction plate 18 and the short bottom side of the lower connecting plate 19 are pivotally connected, and the long bottom side of the lower expansion and retraction plate 18 and the long bottom side of the lower connecting plate 19 are respectively connected to the side sides of the corresponding connecting plate 14; the upper connecting plate 16 is an upper triangular plate, and the lower connecting plate 19 is a lower triangular plate.

[0027] Specifically, the clamping assembly includes a push-pull servo 10 arranged on a mechanical clamping base 1, and the push-pull servo 10 is driven and connected to a push-pull crank 11, and the push-pull crank 11 is connected to the driving pull rod of the clamping bracket 2 through a push-pull arm 12; the clamping bracket 2 is provided with a rotating servo 9 and a driving gear 7 and a clamping gear 8 driven and connected to the rotating servo 9; the clamping gear 8 is provided with a claw seat 6, and the claw seat 6 is connected to several groups of connecting rods 5 that can open and close relative to the central axis of the claw seat 6, and the end of the connecting rod 5 is connected to the clamping jaw 3, and the clamping jaw 3 and the connecting rod 5 are driven and connected to the driving pull rod of the clamping jaw bracket 2 through a triangular connecting rod 4. Among them, the triangular connecting rod 4 is hinged to one end of the driving rod of the clamping jaw bracket 2, the connecting rod 5 is hinged to the claw seat 6, the claw seat 6 is fixedly connected to the clamping jaw gear 8, the push-pull crank 11 is connected to the push-pull servo 10, and the push-pull arm 12 is hinged to the other end of the push-pull crank 11 and the driving rod of the clamping jaw bracket 2.

[0028] In the second embodiment, based on the first embodiment, the expansion and contraction plate components in the spacing areas between adjacent connecting plates 14 are arranged in a staggered manner.

[0029] Example 3: Further, based on Example 2, the force sensor model is the existing Tekscan FlexiForce A201 force sensor, which is installed on the inner side of the gripping surface of the embedded gripper 3. This embodiment is also provided with a depth camera corresponding to the telescopic folding robot arm gripper to capture the posture of the telescopic folding robot arm gripper. The depth camera model is an Intel RealSense D455 depth camera, which is installed on the lower side of the gripper base 1, with the lens axis forming a 15° depression angle with the centerline of the gripper 3.

[0030] Example 4, based on Example 1 or Example 2, a telescopic clamping method of a telescopic folding mechanical arm clamp is implemented using a telescopic folding mechanical arm clamp, comprising the following steps: By driving the expansion and contraction servos of the expansion and contraction plate assemblies in the telescopic and folding assembly, the opening and closing angles between the upper expansion and contraction plate 15 and the lower expansion and contraction plate 18 connected to the expansion and contraction servos are adjusted, thereby adjusting the telescopic configuration of the driven telescopic and folding assembly and driving the mechanical gripper base 1 connected to the telescopic and folding assembly to move to the desired position. Specifically, each layer of the telescopic and folding assembly includes a pair of oppositely disposed expansion and contraction plate assemblies, and the expansion and contraction servos in the oppositely disposed expansion and contraction plate assemblies are respectively a left servo 17 and a right servo 13; the rotating shaft of the left servo 17 is connected to the rotary pair, so that the left servo 17 is simultaneously connected to the upper expansion and contraction plate 15 and the lower expansion and contraction plate 18. By providing PWM signals to the left servo 17 and the right servo 13, respectively, the rotation angles of the left servo 17 and the right servo 13 are controlled, thereby controlling the opening and closing angles of the upper expansion and contraction plate 15 and the lower expansion and contraction plate 18.

[0031] The angle of the claw seat 6 is adjusted by driving the rotary servo 9 in the claw assembly on the mechanical gripper base 1, and the driving rod of the claw bracket 2 of the push-pull servo 10 is extended and retracted to drive the connecting rod 5, the triangular connecting rod 4, and the claw 3 to achieve the clamping and release of the claw assembly. Specifically, when the push-pull servo 10 drives the push-pull crank 11 to rotate clockwise, it drives the push-pull arm 12 to swing upward, causing the driving rod of the claw bracket 2 to move upward relative to the claw bracket 2, driving the triangular connecting rod 4 to rotate outward, thereby driving the claw 3 to open outward and achieve the grasping of the object; when the rotary servo 9 drives the driving gear 7 to rotate, it drives the claw gear 8 to rotate synchronously, thereby driving the upper part of the telescopic folding mechanical arm claw to rotate together, achieving the adjustment of the horizontal angle of the claw 3.

[0032] Furthermore, the rotation angles of the left and right servos 17, 13 are equal to the change in the angle between the upper and lower expansion and retraction plates 15, 18. Telescopic Implementation: PWM signals simultaneously control the left and right servos 17, 13, controlling the angles of the two trapezoidal plates to change in unison, achieving folding and telescoping. Bending Implementation: PWM signals simultaneously control the left and right servos 17, 13. The left servo 17 reduces the angle between the two trapezoidal plates on the left, while the right servo 13 reduces the angle between the two trapezoidal plates on the left, thereby achieving left bending; right bending is achieved in the opposite direction; forward and backward bending is achieved on the folding unit in another dimension above or below, achieving 360° bending without dead angles. The upper and lower connecting plates 16, 19 provide auxiliary support during the movement of the robotic arm, sharing the load and improving the stability of the structure. PWM signals control the expansion and retraction servos (e.g., all servos from top to bottom) to change the same angle simultaneously, achieving rapid telescopic bending.

[0033] Example 5, based on Example 4, a telescopic clamping method of a telescopic folding mechanical arm clamp is implemented using a telescopic folding mechanical arm clamp, further comprising: Idealize a single element as a rotating, telescopic link, define the robotic arm as a four-axis series connection, and find the transformation formula between the servo angle and the end coordinate. Take the center of each square connecting plate 14 as the coordinate origin, and the direction perpendicular to the square connecting plate 14 as the positive z-axis; when viewed from the front, Figure 5 The y-axis is perpendicular to the image and the x-axis follows the right-hand rule. The specific coordinate axes are as follows: Figure 5 As shown in the figure, the line connecting the center points of the connecting plates 14 of two adjacent square plates serves as the virtual connecting rod in the algorithm. All α angles (including α1, α2, α3, α4, etc.) are the angles between the z-axis of the connecting plates of the corresponding layer and the corresponding virtual connecting rod, and all l angles (including l1, l2, l3, l4, etc.) are the lengths of the corresponding virtual connecting rods.

[0034] The first virtual link: the rotation angle around the x-axis is α1, and the extension length along the z-axis is l1; Rotation matrix: ; Translation matrix: ; Transformation matrix: .

[0035] The second virtual link: the rotation angle around the new y-axis is α2, and the extension length along the corresponding z-axis is l2; Rotation matrix: ; Translation matrix: ; Transformation matrix: .

[0036] The third virtual link: the rotation angle around the new x-axis is α3, and the extension length along the corresponding z-axis is l3; Rotation matrix: ; Translation matrix: ; Transformation matrix: .

[0037] The fourth virtual link: the rotation angle around the new y-axis is α4, and the extension length along the corresponding z-axis is l4; Rotation matrix: ; Translation matrix: ; Transformation matrix: .

[0038] The total transformation matrix from the base to the end effector is: ; End effector coordinates is the total transformation matrix The elements in the first 3 rows and 4 columns are: .

[0039] The specific fitting derivation data are as follows: For a single component, the two-dimensional cross-sectional view of the center of the two square plates and the two servos is as follows: Figure 8 As shown: Given: AF=AB=CD=DE=a, BC=EF=b, O1M1=O1N1=c; , ; O1M1 and O1N1 are the perpendicular bisectors of BC and EF respectively; but, , ; but, ; but, , ; but ; Since the first virtual link is M1N1; ; ; And so on: ; , (n=1, 2, 3, 4); and Asked for (rotation angle of the end point around the new y-axis) and (The telescopic length of the end along the new z-axis) Substitute the angles of each servo into the formula to calculate the end coordinates: x4=l1sinα2sinα4cosα3+l2sinα4cosα3+l3sinα4cosα3+l4sinα4cosα3; y4=l1(sinα1cosα2sinα4cosα3-cosα1sinα2sinα4cosα3)+l2(sinα1sinα4cosα3+cosα1cosα4 cosα3)+l3(sinα1sinα4cosα3+cosα1cosα4cosα3)+l4(sinα1sinα4cosα3+cosα1cosα4cosα3); z4=l1(cosα1cosα2sinα4cosα3+sinα1sinα2sinα4cosα3)+l2(cosα1sinα4cosα3-sinα1cosα4 cosα3)+l3(cosα1sinα4cosα3-sinα1cosα4cosα3)+l4(cosα1sinα4cosα3-sinα1cosα4cosα3); Calculate the end coordinates .

[0040] Working principle: The present invention provides a telescopic folding robotic arm gripper and a telescopic clamping method thereof, comprising a mechanical gripper, a folding structure robotic arm, a servo drive unit and an intelligent control system. The folding structure is composed of a plurality of hinged square plates, trapezoidal plates and triangular plates. The servo drives the folding unit to extend, bend and fold by controlling the PWM signal, thereby realizing high-degree-of-freedom movement of the robotic arm. The present invention uses a PWM signal to control the left servo to reduce the angle between the two trapezoidal plates on the left and the right servo to reduce the angle between the two trapezoidal plates on the left, thereby realizing left bending; right bending is the opposite; front and rear bending is realized on the folding unit in another dimension above or below, thereby achieving 360° bending without dead angles. Auxiliary support is provided during the movement of the robotic arm to share the force and improve the stability of the structure.

[0041] The present invention has a simple structure, a large range of motion of the robotic arm, and flexible movement; the folding structure is easy to stack and integrate, and does not require complex devices such as pipelines and valves in the pneumatic and hydraulic systems, nor does it require the external magnetic field required for magnetic drive; the control system is simple, and precise control can be achieved through PWM signals, reducing complexity; it has strong adaptability and is not affected by factors such as magnetic field strength, hydraulic flow, pressure, and ambient temperature; it can achieve high precision and rapid response, meet the needs of automation and robotics technology, and save manpower, material resources, and financial resources.

[0042] The above specific implementation methods are specific support for the scheme ideas proposed in the present invention, and cannot be used to limit the scope of protection of the present invention. Any equivalent changes or equivalent modifications made on the basis of this technical scheme in accordance with the technical ideas proposed in the present invention still fall within the scope of protection of the technical scheme of the present invention.

Claims

1. A telescopic folding robot arm gripper, characterized in that , including: a telescopic folding component, and a mechanical gripper base arranged on the telescopic folding component, wherein the mechanical gripper base is driven to be provided with a gripper component; The telescopic folding assembly includes several layers of spaced connecting plates, with spacing areas reserved between the spaced connecting plates. Relatively opposite expansion and contraction plate assemblies are arranged in each spaced area. The spaced connecting plates are driven and connected through the expansion and contraction plate assemblies. The spacing between the spacing areas between the connecting plates is adjusted by adjusting the opening and closing angles between the expansion and contraction plate assemblies, thereby driving the mechanical gripper base to achieve telescopic folding.

2. The telescopic folding robot arm gripper according to claim 1, characterized in that: The expansion and contraction plate components in the spacing areas between adjacent connecting plates are arranged in a staggered manner.

3. The telescopic folding mechanical arm gripper according to claim 2, characterized in that: The deployment plate assembly includes a lower deployment plate and an upper deployment plate connected by a deployment servo drive, and the other ends of the lower deployment plate and the upper deployment plate are respectively connected to the edges of the spaced connecting plates. The deployment servo drives the lower deployment plate and the upper deployment plate to open and close and swing, thereby adjusting the spacing of the spaced areas between the spaced connecting plates.

4. The telescopic folding mechanical arm gripper according to claim 3, characterized in that: The expansion and retraction plate assembly also includes an upper connecting plate and a lower connecting plate that are opened and closed. The two relatively open and closed sides of the lower expansion and retraction plate and the upper expansion and retraction plate are pivotally connected via an upper connecting plate and a lower connecting plate respectively.

5. The telescopic folding mechanical arm gripper according to claim 4, characterized in that: The connecting plate is a square plate; The lower unfolding and retracting plate is an upper trapezoidal plate, and the lower connecting plate is a lower trapezoidal plate. The short bottom side of the lower unfolding and retracting plate is pivotally connected to the short bottom side of the lower connecting plate, and the long bottom side of the lower unfolding and retracting plate and the long bottom side of the lower connecting plate are respectively connected to the side sides of the corresponding connecting plates. The upper connecting plate is an upper triangular plate, and the lower connecting plate is a lower triangular plate.

6. The telescopic folding mechanical arm gripper according to claim 5, characterized in that: The clamping jaw assembly includes a push-pull servo motor provided on a mechanical clamping jaw base, the push-pull servo motor is drivingly connected to a push-pull crank, and the push-pull crank is connected to a driving rod of the clamping jaw bracket through a push-pull arm; The clamping jaw bracket is provided with a rotary steering gear and a driving gear and a clamping jaw gear connected to the rotary steering gear; The shown clamping gear is provided with a claw seat, and the claw seat is connected to several groups of connecting rods that can open and close relative to the central axis of the claw seat. The ends of the connecting rods are connected to clamping jaws, and the clamping jaws and connecting rods are driven and connected to the clamping jaw bracket through a triangular connecting rod.

7. The telescopic folding mechanical arm gripper according to claim 6, characterized in that: The triangular connecting rod is hinged to the clamping claw bracket, the connecting rod is hinged to the claw seat, the claw seat is fixedly connected to the clamping claw gear, the push-pull crank is connected to the steering gear, and the push-pull arm is hinged to the push-pull crank and the driving rod of the clamping claw bracket.

8. A telescopic clamping method for a telescopic folding robot arm gripper, characterized in that: The invention is realized by using a telescopic folding mechanical arm gripper according to any one of claims 1 to 7, comprising the following steps: By driving the expansion and contraction servo of the expansion and contraction plate assembly in the telescopic folding assembly, the opening and closing angles between the upper and lower expansion and contraction plates connected to the expansion and contraction servo are adjusted, thereby adjusting the expansion and contraction shape of the telescopic folding assembly and driving the mechanical gripper base connected to the telescopic folding assembly to move to the required position; The angle of the claw seat is adjusted by driving the rotating servo in the claw assembly on the mechanical claw base, and the driving pull rod of the claw bracket connected to the push-pull servo is extended and retracted relative to the claw bracket to drive the connecting rod, triangular connecting rod and claw to realize the clamping and release of the claw assembly.

9. The telescopic clamping method of a telescopic folding robot arm gripper according to claim 8, characterized in that: When the push-pull servo drives the push-pull crank to rotate clockwise, the push-pull arm swings upward, causing the driving rod of the gripper bracket to move upward, driving the triangular connecting rod to rotate outward, thereby driving the gripper to open outward and achieve the purpose of grabbing the object; When the rotary servo drives the active gear to rotate, the gripper gear will rotate synchronously, thereby driving the upper part of the mechanical gripper to rotate together, thereby adjusting the horizontal angle of the gripper.

10. The telescopic clamping method of a telescopic folding robot arm gripper according to claim 9, characterized in that: Each layer of the telescopic and folding assembly includes a pair of oppositely arranged expansion and contraction plate assemblies, and the expansion and contraction servos in the oppositely arranged expansion and contraction plate assemblies are respectively a left servo and a right servo; The left servo's rotating shaft is connected to the rotary pair, so that the left servo is connected to the upper and lower expansion and retraction plates at the same time. By providing PWM signals to the left and right servos respectively, the rotation angles of the left and right servos are controlled, thereby controlling the opening and closing angles of the upper and lower expansion and retraction plates.

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