Grabbing device and material grabbing method

Abstract

The grabbing device comprises a base, a driving control unit and a clamping seat, a plurality of grab buckets are connected to the clamping seat in a turnover mode, each grab bucket comprises a bucket box, the lower bottom face of each bucket box is a shoveling part, each bucket box comprises a lever assembly, and each lever assembly comprises a crow plate, a lever and a first telescopic rod; the crow plate penetrates out of a through hole in the wall body of the bucket box and is fixedly connected with one end of the lever, the other end of the lever is rotatably connected with the telescopic end of the first telescopic rod, and the fixed end of the first telescopic rod is rotatably connected with the outer surface of the wall body of the bucket box; a connecting rod assembly is arranged between the clamping seat and the bucket box, the connecting rod assembly comprises a second telescopic rod and an extension arm, the second telescopic rod is rotatably connected with the clamping seat and the wall body of the bucket box, and the extension arm is fixedly connected with the clamping seat and rotatably connected with the second telescopic rod. The grabbing device can rapidly grab materials, is small in clamping force, avoids brute force, is low in manufacturing cost, is stable in grabbing process, and improves the working efficiency.

Description

Technical Field

[0001] The present application relates to the technical field of loading and unloading devices, and in particular to a gripping device and a method for gripping materials. Background Art

[0002] The grabbing device involved in this application is used to grab materials and move them to a designated location. For example, in water conservancy construction, a grabbing device is used to move stones on a construction site into a vehicle or to the construction site.

[0003] In the prior art, two grab buckets that can approach each other are used for grabbing. The lower ends of the two grab buckets are close to each other and clamped on both sides of the material to achieve clamping of the material. This clamping method makes the clamping force requirements particularly high and requires the handling process to be smooth, otherwise the material is likely to fall. Such a structure leads to reduced handling efficiency, greater holding force, and high cost. Summary of the Invention

[0004] In view of this, an embodiment of the present application provides a gripping device that can quickly grab materials, avoiding the existing method of simply using brute force to clamp the materials. It has low clamping force and low manufacturing cost, and significantly improves work efficiency due to the smooth handling process.

[0005] 14. The repairing kit for automotive dents, according to claim 13, wherein a bottom of the foot stand comprises a through-hole, and the two foot pieces comprise two bosses, wherein the bosses comprise a through-hole, a screw bolt, and a nut. The through-hole comprises a through-hole, wherein the bosses comprise a through-hole, a screw bolt, and a nut. The through-hole comprises a through-hole, wherein the bosses comprise a through-hole, a screw bolt, and a nut. The through-hole comprises a through-hole, a screw bolt and a nut. The outer surface of the wall body of the bucket box is rotatably connected; the clamping seat and the grab bucket are further flip-connected by a connecting rod assembly, and the connecting rod assembly includes a second telescopic rod respectively arranged at two outer ends of the clamping seat and an extension arm arranged between the clamping seat and the second telescopic rod; the second telescopic rod arranged at two outer ends of the clamping seat is symmetrical with respect to the center line of the grabbing device, and the fixed end of the second telescopic rod is rotatably connected to one end of the extension arm, and the telescopic end of the second telescopic rod is rotatably connected to the wall body of the bucket box on the side away from the open end, and the other end of the extension arm is fixedly connected to the clamping seat; during the grabbing process of the grabbing device, after the scooping part approaches the material near the open end of the bucket box, the first telescopic rod is extended, so that the pry plate tilts a gap between the material and the surface where it is located, and the second telescopic rod is extended to drive the bucket box to rotate, so that the scooping part extends into the gap, so that the grab bucket can catch the material.

[0006] Optionally, the drive control unit includes a rotation drive control unit arranged between the base and the clamping seat, and a telescopic drive control unit arranged on the clamping seat; the rotation drive control unit controls the rotation movement of the clamping seat relative to the base, and the driving end of the telescopic drive control unit controls the telescopic movement of the telescopic ends of the first telescopic rod and the second telescopic rod respectively.

[0007] Optionally, the telescopic drive control unit is a hydraulic drive control unit, including: a hydraulic pump, a hydraulic cylinder or a hydraulic motor, a hydraulic control pipeline with a control valve and a sensor, the hydraulic pump outputs power, and under the control of the hydraulic control pipeline, controls and drives the first telescopic rod and the second telescopic rod to perform telescopic action; the fixed ends of the first telescopic rod and the second telescopic rod include the hydraulic cylinder or hydraulic motor, and the telescopic ends include hydraulic rods.

[0008] Optionally, the rotation drive control unit includes: a steering unit fixedly arranged at a center position of the clamping seat away from the grab bucket side, a rotating hole is provided on a side of the steering unit away from the clamping seat, the cross-section of the rotating hole in the vertical direction is an inverted T-shape, a rotating block matching the shape of the rotating hole is rotatably arranged in the rotating hole, a base is fixed on the rotating block, and a power unit for driving the steering unit to rotate is provided on the base.

[0009] Optionally, the power unit includes a motor, a gear and a ring gear, the motor is arranged in the base, the output shaft of the motor is fixedly connected to the gear, the gear is engaged with the ring gear, and the ring gear is fixedly sleeved on the outer periphery of the steering unit; a baffle is fixedly provided at one end of the output shaft of the motor away from the base, and a baffle ring is fixedly provided on the output shaft of the motor, and the baffle and the baffle ring are respectively located on both sides of the gear.

[0010] Optionally, there are two power units, and the two power units are symmetrically arranged on both sides of the base relative to the center line of the grasping device, and the two drive control units share the same gear ring.

[0011] Optionally, the angle A between the plane where the scooping portion is located and the wall of the bucket box on the side away from the open end is an obtuse angle, and its value range can be 100° to 145°, preferably 120°.

[0012] Optionally, the edges of the open ends of the bucket box are provided with anti-slip teeth, and the edges of the scooping portion are provided with scooping teeth.

[0013] In a second aspect, an embodiment of the present application provides a method for grabbing a material, using any one of the grabbing devices in the above embodiments of the present application, the method comprising:

[0014] Controlling the grab bucket to approach and surround the material so that the scooping portion approaches the material near the open end of the bucket box;

[0015] Controlling the extension of the first telescopic rod to drive the pry plate close to the open end of the bucket box to extend out of the bucket box, so that the pry plate tilts up a gap between the material and the surface where it is located;

[0016] The second telescopic rod is controlled to extend to drive the bucket box to rotate so that the scooping part extends into the gap. At the same time, the first telescopic rod is controlled to shorten to reset the pry plate so that the grab bucket can hold the material.

[0017] Compared with the prior art, the beneficial effect of the present application is that before clamping the material, the present grabbing device can control the extension of the first telescopic rod to make the pry plate lift the material to a gap, and then extend the second telescopic rod again to make the scooping part extend into the gap, so that the material can be quickly grabbed, and the material at this time is caught by the bucket box, which can avoid the problem of material falling due to rapid transportation. The present application does not require the transportation method of simply using brute force to clamp the material in the prior art. The clamping force is small, the manufacturing cost is low, and the work efficiency is significantly improved due to the smooth transportation process. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings in the embodiments of the present application.

[0019] Figure 1 A cross-sectional view of a gripping device provided in an embodiment of the present application;

[0020] Figure 2 This is a schematic diagram of the action of the grab bucket in an embodiment of the present application;

[0021] Figure 3 for Figure 1 A partial enlarged view of point B in the middle;

[0022] Figure 4 A schematic diagram of the gripping state of the gripping device provided in an embodiment of the present application;

[0023] Figure 5 This is a schematic diagram of the hydraulic control of the first and second telescopic rods in the embodiment of the present application;

[0024] Figure 6 A schematic flow chart of a method for grabbing materials provided in an embodiment of the present application. DETAILED DESCRIPTION

[0025] The principles and spirit of the present application will be described below with reference to several exemplary embodiments. It should be understood that the purpose of providing these embodiments is to make the principles and spirit of the present application clearer and more thorough, so that those skilled in the art can better understand and implement the principles and spirit of the present application. The exemplary embodiments provided herein are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments herein, all other embodiments obtained by those of ordinary skill in the art without creative work are within the scope of protection of this application.

[0026] In the detailed description that follows, reference may be made to the various specification drawings that are part of this application and are used to illustrate specific embodiments of the present application. In the accompanying drawings, similar figure numerals describe substantially similar components in different figures. The various specific embodiments of the present application are described below in sufficient detail so that a person of ordinary skill in the art with relevant knowledge and skills in the art can implement the technical solutions of the present application. It should be understood that other embodiments may also be utilized or structural, logical or electrical changes may be made to the embodiments of the present application. In addition, similar terms including first, second, and third in this application are only used to distinguish one entity (or operation) from another entity (or operation), and do not require or imply any order or association between these entities (or operations).

[0027] To make the purpose, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions of the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the described embodiments of the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0028] Unless otherwise defined, the technical or scientific terms used herein shall have the ordinary meaning understood by persons of ordinary skill in the field to which this application belongs. The words "first", "second" and similar terms used in the patent application specification and claims of this application do not indicate any order, quantity or importance, but are only used to distinguish different components. Words such as "include" or "comprise" mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Inside", "outside", "up", "down", "far", "near", "front", "back" and the like are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0029] The drawings in this disclosure are not drawn strictly to scale, and the specific size and quantity of each structure can be determined according to actual needs. The drawings described in this disclosure are only schematic diagrams of the structures.

[0030] Figure 1 A cross-sectional view of a gripping device provided in an embodiment of the present application, Figure 2 This is a schematic diagram of the action of the grab bucket in the embodiment of the present application. Figure 1 、 Figure 2As shown, the present application provides a gripping device, including a base 14 and a clamping seat 9 rotatably arranged on the base 14 by a driving control unit 24, wherein a plurality of grab buckets 1 are provided on the clamping seat 9, and the number of grab buckets 1 is at least two, and the grab bucket 1 includes a bucket box 2, the wall of the bucket box 2 is surrounded by a accommodating space, and the sides of the bucket boxes 2 of the plurality of grab buckets 1 facing each other are open ends to form an operating space for grabbing materials 8, and the lower bottom surface of the bucket box 2 is a scooping part 3, and the scooping part 3 can be a part of the bucket box 2 itself, that is, a bottom integrally formed with the wall of the bucket box 2, or an independent component fixed to the lower bottom surface of the wall of the bucket box 2. Those skilled in the art can select a suitable processing or assembly method as needed and set it flexibly, and the present application has no special restrictions on this. To ensure quick and powerful movement of the grab bucket 1, the bucket box 2 further includes a lever assembly comprising a pry plate 4, a lever 5, and a first telescopic rod 6. The pry plate 4 is partially housed in the accommodating space and abuts against the upper surface of the scooping portion 3. The bucket box 2 is provided with a through-hole 7, typically located at the junction of the end of the bucket box 2 wall and the scooping portion 3. One end of the pry plate 4 extends through the through-hole 7 and is fixedly connected to one end of the lever 5. The through-hole 7 has sufficient clearance to accommodate the free movement of the lever 5 and pry plate 4 within the clearance when the first telescopic rod 10 is extended and retracted. The other end of the lever 5 is rotatably connected to one end of the first telescopic rod 6, and the other end of the first telescopic rod 6 is rotatably connected to the wall of the bucket box 2.

[0031] Combine Figure 2 As shown in the grabbing process, after the scooping portion 3 approaches the open end of the bucket box 2 and approaches the material 8, the driving control unit 24 controls the first telescopic rod 6 to extend, so that the pry plate 4 lifts the material 8 and forms a gap 20 between it and the surface where it is located. Figure 2 The dotted line position of the material 8 is the original position, and the solid line position is the pried position after being pried and forming a gap 20 with the position surface. The scooping portion 3 extends into the gap and quickly grabs the material 8 into the working space for grabbing the material formed by the open end on the opposite side between the two buckets 2.

[0032] According to a gripping device provided in an embodiment of the present application, materials can be quickly grabbed, avoiding the conventional method of simply using brute force to clamp the materials. The gripping force is small, the manufacturing cost is low, and the work efficiency is significantly improved due to the smooth handling process.

[0033] Continue as Figure 1 、 Figure 2As shown, in some embodiments, a connecting rod assembly is provided between the clamping seat 9 and the bucket 2. The connecting rod assembly includes a second telescopic rod 10 and an extension arm 11. The second telescopic rod 10 is disposed outside the clamping seat 9, and the extension arm 11 is disposed between the clamping seat 9 and the second telescopic rod 10. Typically, the number of connecting rod assemblies is equal to the number of buckets 2. The connecting rod assembly not only effectively connects the bucket to the bottom of the clamping seat, but also enables the bucket to move and grasp materials through the extension and retraction of the second telescopic rod. The extension arm increases the lever arm, reducing the force applied by the grasping device when grasping materials.

[0034] In some embodiments, the drive control unit 24 includes a rotation drive control unit 25 and a telescopic drive control unit 26. The rotation drive control unit 25 controls the rotation of the clamping seat 9 relative to the base 14 to facilitate adjustment of the clamping angle of the grab 1. The telescopic drive control unit 26 is used to control the telescopic action of the first telescopic rod 6 and the second telescopic rod 10.

[0035] In some embodiments, the telescopic drive control unit 26 can be set on the grasping device or other locations outside the grasping device. Those skilled in the art can set it according to actual conditions, and this application has no special restrictions on this. The driving end of the telescopic drive control unit 26 can be connected to the telescopic ends of the first telescopic rod 6 and the second telescopic rod 10, and can control the driving of the first telescopic rod 6 and the second telescopic rod 10 respectively. The first telescopic rod 6 and the second telescopic rod 10 can be any one of a hydraulic rod, a pneumatic rod, an electric push rod, etc. Hydraulic rods are preferred for heavy operations such as carrying heavy stones. If the first telescopic rod 6 and the second telescopic rod 10 are hydraulic rods, the telescopic drive control unit 26 is a hydraulic drive control unit, which usually includes a hydraulic pump, a hydraulic cylinder or a hydraulic motor, a hydraulic control pipeline with a control valve (such as a proportional valve or a servo valve) and a sensor. The sensor can be used to monitor the pressure in the entire hydraulic control system and cooperate with the control work of the control valve according to the monitoring results. High-pressure hydraulic oil can be provided by the hydraulic pump, and the control valve is used to adjust the flow of hydraulic oil, thereby accurately controlling the extension and retraction of the rod. If the first and second telescopic rods 6 and 10 are electric push rods, the telescopic drive control unit 26 typically includes a stepper motor or servo motor, which adjusts the length of the telescopic rods via control signals. The control system can program the sequence of telescopic rod movements to ensure that when prying material, one rod is extended first, followed by the other, achieving efficient gripping.

[0036] In some embodiments, as Figure 1As shown, the rotation drive control unit 25 includes a steering unit 12 fixedly positioned at the center of the side of the clamping seat 9 away from the grab bucket 1. The steering unit 12 has a rotation hole on the side away from the clamping seat 9. The rotation hole has an inverted T-shaped cross-section in the vertical direction. A rotation block 13 matching the shape of the rotation hole is rotatably mounted within the rotation hole. A base 14 is fixed to the rotation block 13, and a power unit 15 for driving the steering unit 12 is mounted on the base 14. This arrangement enables the rotation of the grab bucket to be controlled, making it easier to adjust the grab bucket's clamping angle.

[0037] Figure 3 for Figure 1 A partial enlarged view of point B in the middle. Figure 1 、 Figure 3 As shown, in some embodiments, the power unit 15 includes a motor (not shown), a gear 16, and a gear ring 17. The motor is disposed within the base 14, and the motor output shaft 21 is fixedly connected to the gear 16. The gear 16 meshes with the gear ring 17, and the gear ring 17 is fixedly sleeved on the outer circumference of the steering unit 12. The motor drives the gear 16 to rotate, and the gear 16 meshes with the gear ring 17, thereby controlling the steering unit 12 to rotate relative to the base 14, thereby driving the grab bucket 1 to rotate.

[0038] Furthermore, in some embodiments, there may be multiple power units 15, for example two, and the multiple power units 15 may be symmetrically arranged on the edge of the bottom surface of the base 14. In this case, the power units 15 share the same gear ring 17. Multiple power units 15 can make the rotation of the clamping base 9 more efficient and stable.

[0039] Furthermore, in some embodiments, a baffle 18 is fixedly provided at one end of the motor output shaft 21 away from the base 14, and a baffle ring 19 is fixedly provided on the motor output shaft 21. The baffle 18 and the baffle ring 19 are respectively located on both sides of the gear 16. The baffle 18 and the baffle ring 19 can prevent the gear 16 from falling off.

[0040] In some embodiments, as Figure 1 As shown, the angle A between the scooping portion 3 and the side of the bucket 2 away from the open end is an obtuse angle. In some embodiments, the angle A can range from 100° to 145°, preferably 120°. This configuration optimizes the functionality and practicality of the grab bucket. For example, it provides a larger storage space for the bucket, allowing for more material to be accommodated during each operation, improving work efficiency. Furthermore, when the grab bucket is closed, this angle helps to more tightly wrap the material, reducing the risk of it slipping or spilling during handling and enhancing the stability of the material being grabbed.

[0041] In some embodiments, as Figure 1 As shown, the outer edge of the open end of the bucket box 2 is provided with anti-slip teeth 22, and the outer edge of the scooping portion 3 is provided with scooping teeth 23. Such an arrangement can increase the friction between the bucket box and the scooping portion when they come into contact with the material, making it easier to grab the material.

[0042] Figure 4 A schematic diagram of the gripping state of the gripping device provided in an embodiment of the present application; Figure 5 Schematic diagram of hydraulic control of the first and second telescopic rods in the embodiment of the present application. Figure 2 、 Figure 4 and Figure 5 As shown, in some embodiments, taking the case where the number of grab buckets 1 in the grabbing device is two as an example, the specific control and operation process of the grabbing device is as follows: taking the case where the first telescopic rod 6 and the second telescopic rod 10 are both hydraulic rods, the telescopic drive control unit 26 includes a hydraulic pump 27, which is connected to the oil tank 28 through an oil pipe 31, and then connected to the first proportional valve 29 and the second proportional valve 30 respectively through the oil pipe 31. The first proportional valve 29 and the second proportional valve 30 are then connected to the first telescopic rod 6 and the second telescopic rod 10 respectively through the oil pipe 31. If the second hydraulic rod 10 needs to be extended, the hydraulic pump 27 starts working, extracts hydraulic oil from the oil tank 28, and delivers it to the second proportional valve 30 through the oil pipe 31. The second proportional valve 30 adjusts the position of its internal valve according to the control signal to control the flow direction and flow rate of the oil. When the oil enters one side of the second telescopic rod 10 through the second proportional valve 30, the piston of the hydraulic cylinder in the second telescopic rod 10 will be under pressure to push the second telescopic rod 10 outward. At the same time, the oil on the other side of the second telescopic rod 10 will be squeezed out and then returned to the oil tank through the oil pipe (not shown in the figure). At this time, the flow direction of the oil is as follows Figure 5 If the second telescopic rod 10 needs to be shortened, after the operation of the hydraulic pump 27 and the second proportional valve 30, the oil in the opposite direction will be introduced into the second telescopic rod 10, pushing the piston in the second telescopic rod 10 to retract inward. At this time, the flow direction of the oil is as shown in FIG. Figure 5 As shown in the direction B in FIG. The control and operation process of the first telescopic rod 6 is consistent with that of the second telescopic rod 10. Through this arrangement, before the grab bucket 1 clamps the material 8, the first telescopic rod 6 on either side can be controlled to extend, causing the pry plate 4 to lift the material 8 and form a gap 20 between the pry plate 4 and the surface on which it is located. The telescopic drive control unit 26 controls the second telescopic rod 10 to continue extending while simultaneously controlling the first telescopic rod 6 to shorten and reset, ultimately allowing the scooping portion 3 to extend into the gap. Controlling the first telescopic rod 6 on the other side in the same manner can achieve rapid grabbing of the material 8, and at this time, the material 8 is held by both grab buckets 1, preventing the material 8 from falling due to rapid handling.

[0043] It should be noted that, in addition to the hydraulic control mechanism in the above embodiment, the telescopic drive control unit may also be implemented by a mechanical control mechanism like the rotation drive control unit, and the choice is made according to actual needs.

[0044] To sum up, the grabbing device provided by the present application can, before clamping the material, control the extension of the first telescopic rod so that the pry plate lifts the material to a gap, and then the second telescopic rod is extended so that the scooping part can be extended into the gap, so that the material can be quickly grabbed, and the material is caught by the bucket box at this time, which can avoid the problem of the material falling due to rapid transportation. The present application does not require the transportation method of simply using brute force to clamp the material in the prior art. The clamping force is small, which saves manufacturing costs, and significantly improves work efficiency due to the smooth transportation process.

[0045] Figure 6 This is a flow chart of a method for grabbing materials provided in an embodiment of the present application. Figure 5 As shown, the embodiment of the present application uses a grabbing device provided by the present application to grab materials, and the method includes:

[0046] Step S10, controlling the grab bucket to approach and surround the material, so that the scooping portion is close to the open end of the bucket box and close to the material;

[0047] Step S20, controlling the first telescopic rod to extend, driving the pry plate near the open end of the bucket box to extend out of the bucket box, so that the pry plate tilts up a gap between the material and the surface where it is located;

[0048] Step S30: controlling the second telescopic rod to extend, driving the bucket box to rotate, so that the scooping part extends into the gap, and controlling the first telescopic rod to shorten so that the pry plate is reset, so that the grab bucket can hold the material.

[0049] By using the method provided in the embodiment of the present application, materials can be quickly grasped and prevented from falling due to rapid transportation, and the clamping force is small, which saves manufacturing costs and significantly improves work efficiency due to the smooth transportation process.

[0050] In some embodiments, in step S20, only the first telescopic rod provided on the first bucket is controlled to extend, causing the pry plate connected thereto to lift the material slightly. In step S30, only the second telescopic rod provided on the first bucket is controlled to extend, causing the first bucket to hold the material. Furthermore, step S40 is included, in which the second bucket is controlled to repeat the same operation as the first bucket, causing the second bucket to hold the material. These steps can increase the gap created by the pry plate lifting the material, making it easier for the grab bucket to hold the material more tightly.

[0051] The above description is only a specific embodiment of the present application. Those skilled in the art will clearly understand that for the convenience and brevity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the scope of protection of the present application.

Claims

1. A gripping device, characterized in that: The grabbing device comprises a base and a clamping seat rotatably arranged on the base by a driving control unit, wherein a plurality of grabbing buckets are flipably connected to the clamping seat, wherein the grabbing buckets comprise a bucket box, wherein the wall of the bucket box is surrounded by a receiving space, and the bucket boxes of the plurality of grabbing buckets have an open end on the side opposite to each other to form an operating space for grabbing materials, and the bottom surface of the bucket box is a scooping portion; The bucket box further includes a lever assembly, the lever assembly including a pry plate, a lever and a first telescopic rod, the pry plate being partially accommodated in the accommodating space and resting against the upper surface of the scooping portion, the wall body being provided with a through-hole, one end of the pry plate passing through the through-hole and being fixedly connected to one end of the lever, the through-hole having sufficient space for accommodating the first telescopic rod to move telescopically, thereby driving the lever and the pry plate to move freely within the space; the other end of the lever is rotatably connected to the telescopic end of the first telescopic rod, and the fixed end of the first telescopic rod is rotatably connected to the outer surface of the wall body of the bucket box; The clamping seat and the grab bucket are further flipably connected via a connecting rod assembly, the connecting rod assembly comprising second telescopic rods respectively provided at both ends of the outer side of the clamping seat and an extension arm provided between the clamping seat and the second telescopic rod; the second telescopic rods provided at both ends of the outer side of the clamping seat are bilaterally symmetrical with respect to the center line of the grabbing device, the fixed end of the second telescopic rod is rotatably connected to one end of the extension arm, the telescopic end of the second telescopic rod is rotatably connected to the wall of the bucket box away from the open end, and the other end of the extension arm is fixedly connected to the clamping seat; During the grabbing process, after the scooping portion approaches the material near the open end of the bucket box, the first telescopic rod extends, causing the pry plate to tilt a gap between the material and the surface where it is located. The second telescopic rod extends, driving the bucket box to rotate, causing the scooping portion to extend into the gap, and allowing the grab bucket to scoop up the material.

2. The gripping device according to claim 1, characterized in that The drive control unit includes a rotation drive control unit provided between the base and the clamping seat and a telescopic drive control unit provided on the clamping seat; The rotation drive control unit controls the rotation of the clamping seat relative to the base, and the driving end of the telescopic drive control unit controls the telescopic movement of the telescopic ends of the first telescopic rod and the second telescopic rod respectively.

3. The gripping device according to claim 2, characterized in that The telescopic drive control unit is a hydraulic drive control unit, comprising: a hydraulic pump, a hydraulic cylinder or a hydraulic motor, and a hydraulic control pipeline with a control valve and a sensor. The hydraulic pump outputs power, and under the control of the hydraulic control pipeline, controls and drives the first telescopic rod and the second telescopic rod to perform telescopic actions; The fixed ends of the first telescopic rod and the second telescopic rod include the hydraulic cylinder or hydraulic motor, and the telescopic ends include hydraulic rods.

4. The gripping device according to claim 2, characterized in that The rotation drive control unit includes: a steering unit fixedly arranged at the center position of the clamping seat away from the grab bucket side, a rotating hole is opened on the side of the steering unit away from the clamping seat, the cross-section of the rotating hole in the vertical direction is an inverted T-shape, a rotating block matching the shape of the rotating hole is rotatably arranged in the rotating hole, a base is fixed on the rotating block, and a power unit for driving the steering unit to rotate is arranged on the base.

5. The gripping device according to claim 4, characterized in that The power unit includes a motor, a gear and a gear ring, the motor is arranged in the base, the output shaft of the motor is fixedly connected to the gear, the gear is meshed with the gear ring, and the gear ring is fixedly sleeved on the outer periphery of the steering unit; A baffle is fixedly provided on one end of the output shaft of the motor away from the base, and a baffle ring is fixedly provided on the output shaft of the motor. The baffle and the baffle ring are respectively located on both sides of the gear.

6. The gripping device according to claim 5, characterized in that There are two power units, which are symmetrically arranged on both sides of the base relative to the center line of the grasping device, and the two drive control units share the same gear ring.

7. The gripping device according to claim 1, characterized in that An included angle A between the plane where the scooping portion is located and the wall of the bucket box away from the open end is an obtuse angle of 100° to 145°.

8. The gripping device according to claim 7, characterized in that An angle A between the plane where the scooping portion is located and the wall of the bucket box away from the open end is 120°.

9. The gripping device according to claim 1, characterized in that: The edges of the open ends of the bucket box are all provided with anti-slip teeth, and the edges of the scooping portion are provided with scooping teeth.

10. A method for grabbing materials, characterized in that: Using the gripping device according to any one of claims 1 to 9, the method comprises: Controlling the grab bucket to approach and surround the material so that the scooping portion approaches the material near the open end of the bucket box; Controlling the extension of the first telescopic rod to drive the pry plate close to the open end of the bucket box to extend out of the bucket box, so that the pry plate tilts up a gap between the material and the surface where it is located; The second telescopic rod is controlled to extend to drive the bucket box to rotate so that the scooping part extends into the gap. At the same time, the first telescopic rod is controlled to shorten to reset the pry plate so that the grab bucket can hold the material.

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