A telescopic folding mechanical arm gripper and a telescopic gripping method thereof

Abstract

The application discloses a telescopic folding mechanical arm gripper and a telescopic clamping method thereof, wherein the telescopic folding mechanical arm gripper comprises a telescopic folding assembly and a mechanical gripper base arranged on the telescopic folding assembly, and a gripper assembly is arranged on the mechanical gripper base and is driven; the telescopic folding assembly comprises a plurality of layers of interval arranged link plates, interval areas are reserved between the interval arranged link plates, opposite arranged unfolding and folding plate assemblies are arranged in each layer of interval areas, the interval arranged link plates are driven and connected through the unfolding and folding plate assemblies, the interval areas between the link plates are adjusted by adjusting the opening and closing angle between the unfolding and folding plate assemblies, and the telescopic folding of the mechanical gripper base is realized. The application discloses a telescopic folding mechanical arm gripper and a telescopic clamping method thereof, which are simple in structure, easy to integrate, high in adaptability, capable of realizing high precision and fast response, and the like.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical arm, in particular to a telescopic folding mechanical arm gripper and a telescopic clamping method thereof. BACKGROUND

[0002] In the field of automation and robotics, the design and application of mechanical arms are of great importance. Traditional mechanical arms often use complex pneumatic or hydraulic systems, which not only have complex structure, large space occupation, and are not easy to transport and deploy, but also have limited adaptability to the environment, insufficient flexibility, and poor reconfigurability. SUMMARY

[0003] The present application overcomes the shortcomings of the prior art and provides a telescopic folding mechanical arm gripper and a telescopic clamping method thereof, which are simple in structure, easy to integrate, highly adaptable, and capable of achieving high precision and fast response.

[0004] To achieve the above-mentioned purpose, the technical solution adopted by the present application is as follows: a telescopic folding mechanical arm gripper, comprising: a telescopic folding assembly, and a mechanical gripper base provided on the telescopic folding assembly, a gripper assembly is drivenly provided on the mechanical gripper base; the telescopic folding assembly comprises a plurality of layers of spaced apart link plates, and a spacing area is reserved between the spaced apart link plates, a pair of opposed deployment and retraction plate assemblies are provided in each layer of spacing area, the spaced apart link plates are drivingly connected through the deployment and retraction plate assemblies, the spacing distance of the spacing area between the link plates is adjusted by adjusting the opening and closing angle between the deployment and retraction plate assemblies, and the mechanical gripper base is driven to realize telescopic folding.

[0005] In a preferred embodiment of the present application, the deployment and retraction plate assemblies of the spacing area between adjacent link plates are staggered.

[0006] In a preferred embodiment of the present application, the deployment and retraction plate assembly comprises a lower deployment and retraction plate and an upper deployment and retraction plate drivingly connected through a deployment and retraction steering engine, the other ends of the lower deployment and retraction plate and the upper deployment and retraction plate are respectively connected to the edges of the spaced apart link plates, the lower deployment and retraction plate and the upper deployment and retraction plate are driven to swing by the deployment and retraction steering engine, and the spacing distance of the spacing area between the spaced apart link plates is adjusted.

[0007] In a preferred embodiment of the present application, the deployment and retraction plate assembly further comprises an upper connecting plate and a lower connecting plate connected in an opening and closing manner, the opposite sides of the lower deployment and retraction plate and the upper deployment and retraction plate are respectively pivotally connected through the upper connecting plate and the lower connecting plate.

[0008] In one preferred embodiment of the present application, the adapter plate is a square plate; the lower extension / folding plate is an upper trapezoidal plate, the lower connecting plate is a lower trapezoidal plate, and the short bottom edge of the lower extension / folding plate and the short bottom edge of the lower connecting plate are pivotally connected, and the long bottom edges of the lower extension / folding plate and the lower connecting plate are respectively connected with the side edges of the corresponding adapter plates; the upper connecting plate is an upper triangular plate, and the lower connecting plate is a lower triangular plate.

[0009] In one preferred embodiment of the present application, the clamping jaw assembly comprises a push-pull steering engine arranged on the mechanical clamping jaw base, and a push-pull crank is drivingly connected to the push-pull steering engine, and the push-pull crank is connected with the driving pull rod of the clamping jaw support through a push-pull arm.

[0010] The clamping jaw support is provided with a rotating steering engine, a driving gear and a clamping jaw gear drivingly connected with the rotating steering engine.

[0011] The clamping jaw gear is provided with a jaw base, and a plurality of sets of connecting rods capable of opening and closing relative to the central axis of the jaw base are connected to the jaw base, the end of the connecting rod is connected with a clamping jaw, and the clamping jaw and the connecting rod are drivingly connected with the clamping jaw support through a triangular connecting rod.

[0012] In one preferred embodiment of the present application, the triangular connecting rod is hingedly connected with the clamping jaw support, the connecting rod is hingedly connected with the jaw base, the jaw base is fixedly connected with the clamping jaw gear, the push-pull crank is connected with the steering engine, and the push-pull arm is hingedly connected with the push-pull crank and the driving pull rod of the clamping jaw support.

[0013] In one preferred embodiment of the present application, a telescopic clamping method of a telescopic folding mechanical arm clamping jaw is realized by using a telescopic folding mechanical arm clamping jaw, and comprises the following steps:

[0014] By driving the extension / folding steering engine of the extension / folding plate assembly in the telescopic folding assembly, the opening and closing angle between the upper extension / folding plate and the lower extension / folding plate connected with the extension / folding steering engine is adjusted, and then the telescopic form of the driving telescopic folding assembly is adjusted, and the mechanical clamping jaw base connected with the driving telescopic folding assembly is displaced to the required position.

[0015] By driving the rotating steering engine of the clamping jaw assembly on the mechanical clamping jaw base, the angle of the jaw base is adjusted, and by driving the driving pull rod of the clamping jaw support connected with the push-pull steering engine, the connecting rod, the triangular connecting rod and the clamping jaw are driven to link, so as to realize the clamping and releasing of the clamping jaw assembly.

[0016] In one preferred embodiment of the present application, when the push-pull steering engine drives the push-pull crank to rotate clockwise, the push-pull arm swings upward, the driving pull rod of the clamping jaw support moves upward, the triangular connecting rod rotates outward, and the clamping jaw is opened outward, so as to realize the grabbing of the object; when the rotating steering engine drives the driving gear to rotate, the clamping jaw gear rotates synchronously, and the upper part of the mechanical clamping jaw rotates together, so as to adjust the horizontal angle of the clamping jaw.

[0017] In a preferred embodiment of the present application, each layer of the telescopic folding assembly comprises a pair of oppositely arranged folding plate assemblies, and the folding plate actuators in the oppositely arranged folding plate assemblies are respectively left and right actuators;

[0018] The rotation shaft of the left actuator is connected with the rotation pair, so that the left actuator is connected with the upper folding plate and the lower folding plate at the same time, and the rotation angle of the left and right actuators is controlled by providing PWM signals to the left and right actuators respectively, so as to control the opening and closing angle of the upper and lower folding plates.

[0019] The present application solves the defects in the technical background, and has the beneficial technical effects of:

[0020] A telescopic folding mechanical arm gripper and a telescopic gripping method thereof, which adopts a PWM signal to control the mechanical gripper of the telescopic folding mechanical arm gripper, can realize human-computer interaction with external equipment, and has excellent adaptive function.

[0021] 1. The telescopic folding mechanical arm gripper has simple structure and large movable range of the mechanical arm, and is flexible to move.

[0022] 2. The folding structure of the telescopic folding mechanical arm gripper is easy to stack and integrate, does not need to rely on the pipeline and valve of the pneumatic and hydraulic systems, and does not need the external magnetic field required by magnetic driving.

[0023] 3. The control mode of the telescopic folding mechanical arm gripper is simple, the action is controlled through a PWM signal, and the complexity of the mechanical arm gripper in the prior art is reduced.

[0024] 4. The telescopic folding mechanical arm gripper has strong adaptability and is not affected by factors such as magnetic field strength, hydraulic flow, pressure, and environmental temperature; can realize high precision and fast response, meets the needs of automation and robot technology, and saves manpower, material resources, and financial resources. BRIEF DESCRIPTION OF DRAWINGS

[0025] The present application will be further described below in combination with the drawings and examples.

[0026] Figure 1 A mechanical gripper structure diagram of a telescopic folding mechanical arm gripper according to a preferred embodiment of the present application;

[0027] Figure 2 A structure diagram of a folding unit of a mechanical arm of a telescopic folding mechanical arm gripper according to a preferred embodiment of the present application;

[0028] Figure 3 A structure diagram of a telescopic folding mechanical arm gripper according to a preferred embodiment of the present application;

[0029] Figure 4 A structure diagram of a telescopic folding mechanical arm gripper after the mechanical arm is telescoped, which is a preferred embodiment of the present application;

[0030] Figure 5 A front view of a telescopic folding mechanical arm gripper after the mechanical arm is telescoped, which is a preferred embodiment of the present application;

[0031] Figure 6 A man-machine interactive control flow chart of a telescopic folding mechanical arm gripper, which is a preferred embodiment of the present application;

[0032] Figure 7 A gesture recognition and visual feedback system architecture diagram, which is a preferred embodiment of the present application;

[0033] Figure 8 A two-dimensional section view of the center of two square plates and two steering gears, which is a preferred embodiment of the present application.

[0034] The figure label explanation: 1, mechanical gripper base; 2, gripper support; 3, gripper; 4, triangular connecting rod; 5, connecting rod; 6, claw base; 7, driving gear; 8, gripper gear; 9, rotary steering gear; 10, push-pull steering gear; 11, push-pull crank; 12, push-pull arm; 13, right steering gear; 14, connecting plate; 15, upper extension and retraction plate; 16, upper connecting plate; 17, left steering gear; 18, lower extension and retraction plate; 19, lower connecting plate. DETAILED DESCRIPTION

[0035] The present application will now be further described in greater detail in connection with the attached drawings and examples, which are merely schematic and are non-limiting. These drawings, which show only what is important in connection with the present application, show:

[0036] It should be noted that if the present application has directionality indications (such as up, down, bottom, top, etc.) in the embodiments, the directionality indications are only used to explain the relative positional relationship, movement condition, etc. between the components in a certain posture, and if the certain posture changes, the directionality indications also change accordingly. The terms "first", "second" are only for description purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features with "first", "second" can explicitly or implicitly include one or more of the features. Unless otherwise explicitly specified and limited, the terms "set", "connected", "connected" should be broadly understood, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be directly connected, or indirectly connected through an intermediate medium, or it can be connected inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0037] In one embodiment, as shown in the drawings, a telescopic folding mechanical arm gripper comprises a telescopic folding assembly and a mechanical gripper base 1 provided on the telescopic folding assembly, and a gripper assembly is provided on the mechanical gripper base 1. Figures 1-6 Specifically, the telescopic folding assembly comprises a plurality of spaced apart connection plates 14, and a spacing area is reserved between the spaced apart connection plates 14. A pair of expansion and contraction plate assemblies are provided in each spacing area. The spaced apart connection plates 14 are drivingly connected through the expansion and contraction plate assemblies. The spacing distance of the spacing area between the connection plates 14 is adjusted by adjusting the opening and closing angle between the expansion and contraction plate assemblies, and the mechanical gripper base 1 is driven to realize telescopic folding.

[0038] The expansion and contraction plate assembly comprises a lower expansion and contraction plate 18 and an upper expansion and contraction plate 15 drivingly connected through an expansion and contraction steering engine, and an upper connecting plate 16 and a lower connecting plate 19 connected in a hinged manner. The other end of the lower expansion and contraction plate 18 and the upper expansion and contraction plate 15 is connected to the edge of the spaced apart connection plates 14, respectively. The lower expansion and contraction plate 18 and the upper expansion and contraction plate 15 are driven to swing by the expansion and contraction steering engine, so as to adjust the spacing distance of the spacing area between the spaced apart connection plates 14. The two side edges of the lower expansion and contraction plate 18 and the upper expansion and contraction plate 15 are respectively pivotally connected through the upper connecting plate 16 and the lower connecting plate 19. In this embodiment, the connection plates 14 are square plates; the lower expansion and contraction plate 18 is an upper trapezoidal plate, the lower connecting plate 19 is a lower trapezoidal plate, and the short bottom edge of the lower expansion and contraction plate 18 and the short bottom edge of the lower connecting plate 19 are pivotally connected. The long bottom edge of the lower expansion and contraction plate 18 and the long bottom edge of the lower connecting plate 19 are respectively connected to the side edges of the corresponding connection plates 14; the upper connecting plate 16 is an upper triangular plate, and the lower connecting plate 19 is a lower triangular plate.

[0039] Specifically, the gripper assembly comprises a push-pull steering engine 10 provided on the mechanical gripper base 1, a push-pull crank 11 drivingly connected on the push-pull steering engine 10, and a push-pull arm 12 connected to the driving pull rod of the gripper support 2 through the push-pull crank 11. A rotary steering engine 9, a driving gear 7 and a gripper gear 8 drivingly connected to the rotary steering engine 9 are provided on the gripper support 2. A jaw base 6 is provided on the gripper gear 8. A plurality of connecting rods 5 capable of opening and closing relative to the center axis of the jaw base 6 are connected to the jaw base 6. The end of the connecting rod 5 is connected to a gripper 3. The gripper 3 and the connecting rod 5 are drivingly connected to the driving pull rod of the gripper support 2 through a triangular connecting rod 4. The triangular connecting rod 4 is hingedly connected to one end of the driving pull rod of the gripper support 2. The connecting rod 5 is hingedly connected to the jaw base 6. The jaw base 6 is fixedly connected to the gripper gear 8. The push-pull crank 11 is connected to the push-pull steering engine 10. The push-pull arm 12 is hingedly connected to the other end of the push-pull crank 11 and the driving pull rod of the gripper support 2.

[0040]

[0041] ​In Embodiment Two, on the basis of Embodiment One, the expansion and contraction plate assemblies in the spacing areas between adjacent connecting plates 14 are staggered.

[0042] In Embodiment Three, further based on Embodiment Two, the force sensor model is Tekscan FlexiForce A201 force sensor in the prior art, which is installed on the inner side of the gripping surface of the embedded gripper 3. In this embodiment, a depth camera corresponding to the telescopic folding mechanical arm gripper is also provided, which is used to collect the posture of the telescopic folding mechanical arm gripper. The depth camera model is Intel RealSense D455 depth camera, which is installed below the side of the mechanical gripper base 1, and the lens axis is at an angle of 15° with the center line of the gripper 3.

[0043] In Embodiment Four, on the basis of Embodiment One or Embodiment Two, a telescopic clamping method of a telescopic folding mechanical arm gripper is realized, which comprises the following steps:

[0044] By driving the expansion and contraction rudders of the expansion and contraction plate assemblies in the telescopic folding assembly, the opening and closing angle between the upper expansion and contraction plate 15 and the lower expansion and contraction plate 18 connected by the expansion and contraction rudders is adjusted, and then the telescopic mode of the telescopic folding assembly is adjusted, and the mechanical gripper base 1 connected to the telescopic folding assembly is displaced to the required position. Specifically, each layer of the telescopic folding assembly comprises a pair of oppositely arranged expansion and contraction plate assemblies, and the expansion and contraction rudders in the oppositely arranged expansion and contraction plate assemblies are respectively left rudder 17 and right rudder 13. The rotating shaft of the left rudder 17 is connected with the rotating pair, so that the left rudder 17 is connected with the upper expansion and contraction plate 15 and the lower expansion and contraction plate 18 at the same time. By providing PWM signals to the left rudder 17 and the right rudder 13 respectively, the rotating angles of the left rudder 17 and the right rudder 13 are controlled, so as to control the opening and closing angle of the upper expansion and contraction plate 15 and the lower expansion and contraction plate 18.

[0045] By driving the rotating rudder 9 of the gripper assembly on the mechanical gripper base 1, the angle of the gripper base 6 is adjusted, and by driving the driving pull rod of the gripper support 2 of the push-pull rudder 10, the linkage of the connecting rod 5, the triangular connecting rod 4 and the gripper 3 is driven to realize the clamping and releasing of the gripper assembly. Specifically, when the push-pull rudder 10 drives the push-pull crank 11 to rotate clockwise, the push-pull arm 12 swings upward, the driving pull rod of the gripper support 2 moves upward relative to the gripper support 2, the triangular connecting rod 4 rotates outward, and thus the gripper 3 is opened outward to realize the gripping of the object; when the rotating rudder 9 drives the driving gear 7 to rotate, the driven gear 8 rotates synchronously, and thus the upper part of the telescopic folding mechanical arm gripper rotates together to realize the adjustment of the horizontal angle of the gripper 3.

[0046] Further, the rotation angle of the left steering machine 17 and the right steering machine 13 is equal to the angle change of the included angle between the upper folding plate 15 and the lower folding plate 18. The stretching and folding is realized by that the PWM signal controls the left steering machine 17 and the right steering machine 13 simultaneously, and controls the included angle of the two trapezoidal plates to be consistent and change consistently. The bending is realized by that the PWM signal controls the left steering machine 17 and the right steering machine 13 simultaneously, the left steering machine 17 makes the included angle of the two trapezoidal plates on the left side decrease, and the right steering machine 13 makes the included angle of the two trapezoidal plates on the left side decrease, so as to realize the left bending; the right bending is opposite; the front and back bending is realized on the folding unit in the other dimension on the upper or lower side, so as to achieve 360° bending without dead angle. The upper connecting plate 16 and the lower connecting plate 19 assist in supporting in the movement process of the mechanical arm, share the stress, and improve the stability of the structure. The stretching and folding is realized by that the PWM signal controls the folding machines (such as all the folding machines from top to bottom) to change simultaneously by the same angle.

[0047] In the fifth embodiment, on the basis of the fourth embodiment, a stretching and folding method of a stretching and folding mechanical arm gripper is realized by using a stretching and folding mechanical arm gripper, and further comprises:

[0048] The single element is idealized as a rotating and stretching connecting rod, the mechanical arm is defined as four-axis series, and the transformation formula of the steering angle and the end coordinate is obtained. The center of each square connecting plate 14 is taken as the coordinate origin, and the z-axis positive direction is perpendicular to the square connecting plate 14. In the front view, the y-axis is perpendicular to the picture outward, and the x-axis is in accordance with the right-hand rule. The specific coordinate axes are shown in FIG. 6. Figure 5 Figure 5 The center point position line of the connecting plate 14 of the adjacent two square plates is taken as the virtual connecting rod in the algorithm. All the α angles (including α1, α2, α3, α4, etc.) are the included angles between the z-axis of the corresponding square connecting plate and the corresponding virtual connecting rod. All the l (including l1, l2, l3, l4, etc.) are the lengths of the corresponding virtual connecting rod.

[0049] The first virtual connecting rod: rotating around the x-axis by an angle of α1, and stretching along the z-axis by a length of l1;

[0050] Rotation matrix: ;

[0051] Translation matrix: ; Transformation matrix: .

[0052] The second virtual connecting rod: rotating around the new y-axis by an angle of α2, and stretching along the corresponding z-axis by a length of l2;

[0053] Rotation matrix: ;

[0054] Translation matrix: ;

[0055] ​Transformation matrix: .

[0056] Third virtual link: rotate angle a3 around new x-axis, and stretch length l3 along corresponding z-axis;

[0057] Rotation matrix: ;

[0058] Translation matrix: ; Transformation matrix: .

[0059] Fourth virtual link: rotate angle a4 around new y-axis, and stretch length l4 along corresponding z-axis;

[0060] Rotation matrix: ;

[0061] Translation matrix: ; Transformation matrix: .

[0062] The total transformation matrix from base to end effector is: ; The end effector coordinate is the element in the first three rows and fourth column of the total transformation matrix , that is: .

[0063] The specific fitting derivation data are as follows:

[0064] For a single element, the two-dimensional sectional view of the center of the two square plates and the two servos is as shown in Figure 8 : known: AF=AB=CD=DE=a, BC=EF=b, O1M1=O1N1=c; , ; O1M1 and O1N1 are the mid-perpendiculars of BC and EF respectively;

[0065] Then, , ;

[0066] Then, ;

[0067] Then, , ;

[0068] Then ;

[0069] Since the first virtual link is M1N1; ; ;

[0070] Similarly: ; , (n=1, 2, 3, 4); the and are substituted into the formula for calculating the coordinates of the end effector from the included angles of the servos: (terminal end rotation angle around the new y-axis) and (terminal end extension length along the new z-axis) are substituted into the formula for calculating the coordinates of the end effector from the included angles of the servos:

[0071] x4 = l1sinα2sinα4cosα3 + l2sinα4cosα3 + l3sinα4cosα3 + l4sinα4cosα3;

[0072] y4 = l1(sinα1cosα2sinα4cosα3 - cosα1sinα2sinα4cosα3) + l2(sinα1sinα4cosα3 + cosα1cosα4cosα3) + l3(sinα1sinα4cosα3 + cosα1cosα4cosα3) + l4(sinα1sinα4cosα3 + cosα1cosα4cosα3);

[0073] z4 = l1(cosα1cosα2sinα4cosα3 + sinα1sinα2sinα4cosα3) + l2(cosα1sinα4cosα3 - sinα1cosα4cosα3) + l3(cosα1sinα4cosα3 - sinα1cosα4cosα3) + l4(cosα1sinα4cosα3 - sinα1cosα4cosα3);

[0074] the coordinates of the end effector are calculated.

[0075] Working principle:

[0076] The application provides a telescopic folding mechanical arm gripper and a telescopic clamping method thereof, comprising a mechanical gripper, a folding structure mechanical arm, a servo driving 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 is controlled by a PWM signal to drive the folding unit to telescope, bend and fold, thereby realizing high degree of freedom movement of the mechanical arm. The application controls the left servo to reduce the included angle of the two trapezoidal plates on the left side, and controls the right servo to reduce the included angle of the two trapezoidal plates on the left side, 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 angle. The mechanical arm is assisted and supported during movement, thereby sharing the load and improving the stability of the structure.

[0077] The application has simple structure, large movable range of the mechanical arm, flexible movement, easy folding structure for stacking and integration, no need of complicated devices such as pipes and valves in air pressure and hydraulic systems, no need of external magnetic field for magnetic drive, simple control system, accurate control through PWM signal, high adaptability, no influence of factors such as magnetic field intensity, hydraulic flow, pressure, and environmental temperature, high precision and fast response, meeting the needs of automation and robot technology, and saving manpower, material resources and financial resources.

[0078] The above specific embodiments are specific supports for the scheme idea of the application, and cannot be used to limit the protection scope of the application. Any equivalent change or equivalent modification made on the basis of the technical scheme of the application according to the technical idea of the application still belongs to the protection scope of the technical scheme of the application.

Claims

1. A telescopic folding robotic arm gripper, characterized in that... The invention includes: a telescopic folding assembly, and a mechanical gripper base disposed on the telescopic folding assembly, wherein the mechanical gripper base is driven to be equipped with the gripper assembly; The telescopic folding assembly includes several layers of spaced connecting plates with a reserved gap area between them. Each layer of the gap area has a corresponding unfolding and retracting plate assembly. The spaced connecting plates are connected by the unfolding and retracting plate assembly. The spacing between the gap areas between the connecting plates is adjusted by adjusting the opening and closing angle between the unfolding and retracting plate assemblies, thereby driving the mechanical gripper base to achieve telescopic folding. The unfolding and retracting panel assemblies in the interval areas between adjacent connecting panels are arranged in an alternating manner; The deployment and retraction plate assembly includes a lower deployment and retraction plate and an upper deployment and retraction plate connected by a deployment and retraction servo motor. The other ends of the lower deployment and retraction plate and the upper deployment and retraction plate are respectively connected to the edges of the spaced connecting plates. The lower deployment and retraction plate and the upper deployment and retraction plate are opened and closed by the deployment and retraction servo motor to adjust the spacing between the spaced connecting plates. The unfolding and retracting panel assembly also includes an upper connecting plate and a lower connecting plate that can be opened and closed. The two sides of the lower and upper expansion plates that open and close relative to each other are pivotally connected by an upper connecting plate and a lower connecting plate, respectively. 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. The short bottom edge of the lower expansion and retraction plate and the short bottom edge of the lower connecting plate are pivotally connected, and the long bottom edge of the lower expansion and retraction plate and the long bottom edge of the lower connecting plate are respectively connected to the side edge of the corresponding connecting plate. The upper connecting plate uses an upper triangular plate, and the lower connecting plate uses a lower triangular plate; The gripper assembly includes a push-pull servo motor mounted on a mechanical gripper base. A push-pull crank is driven and connected to the push-pull servo motor. The push-pull crank is connected to the drive rod of the gripper bracket via a push-pull arm. The gripper bracket is equipped with a rotary servo motor and a drive gear and gripper gear that are driven and connected to the rotary servo motor. The gripper gear shown is provided with a gripper seat, and several sets of connecting rods that can open and close relative to the central axis of the gripper seat are connected to the gripper seat. The end of the connecting rod is connected to a gripper, and the gripper and the connecting rod are drivenly connected to the gripper bracket through a triangular connecting rod. The triangular connecting rod is hinged to the gripper bracket, the connecting rod is hinged to the gripper seat, the gripper seat is fixedly connected to the gripper gear, the push-pull crank is connected to the servo motor, and the push-pull arm is hinged to the push-pull crank and the drive rod of the gripper bracket. Each layer of the telescopic folding assembly includes a pair of oppositely arranged unfolding and retracting plate assemblies, with the unfolding and retracting servos in the oppositely arranged unfolding and retracting plate assemblies being the left servo and the right servo, respectively. The left servo motor's shaft is connected to a rotary joint, allowing the left servo motor to connect to both the upper and lower extension / retraction plates. 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 extension / retraction plates.

2. A telescopic gripping method for a telescopic folding robotic arm gripper, characterized in that, The telescopic folding robotic arm gripper as described in claim 1 is used to achieve this, comprising the following steps: By driving the extension and retraction servo of the extension and retraction plate assembly in the telescopic folding assembly, the opening and closing angle between the upper and lower extension and retraction plates connected to the extension and retraction servo is adjusted, thereby adjusting the extension and retraction mode of the telescopic folding assembly and driving the mechanical gripper base seat connected to the telescopic folding assembly to move to the required position. The angle of the gripper base is adjusted by rotating the servo motor in the gripper assembly on the mechanical gripper base. The drive rod of the gripper bracket connected by the drive push-pull servo motor extends and retracts relative to the gripper bracket, which in turn drives the connecting rod, triangular connecting rod and gripper to achieve clamping and releasing of the gripper assembly.

3. The telescopic gripping method of a telescopic folding robotic arm gripper according to claim 2, characterized in that: When the push-pull servo drives the push-pull crank to rotate clockwise, it causes the push-pull arm to swing upward, which in turn moves the drive rod of the gripper bracket upward, causing the triangular connecting rod to rotate outward, thereby causing the gripper to open outward and grasp the object. When the rotary servo drives the drive gear to rotate, it drives the gripper gear to rotate synchronously, thereby causing the upper part of the mechanical gripper to rotate as well, thus adjusting the horizontal angle of the gripper.

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