Double-claw manipulator

Abstract

The utility model relates to a double-claw manipulator. A driving mechanism and a double-claw mounting piece are mounted at the tail end of a machine body; a pair of main claws is further included, and the main claws are movably installed on the double-claw installation piece through the first connecting assembly; the output end of the driving mechanism is connected with the tail ends of the two first connecting assemblies at the same time, the moving track of the output end of the driving mechanism is a straight line, the driving mechanism is used for driving the two main claws to swing face to face or away from each other, and a grabbing space for containing a to-be-grabbed object is formed between the two main claws. Each main claw is movably provided with a width adjusting plate, the width adjusting plates are located in the grabbing space, elastic pieces are installed between the width adjusting plates and the main claws and used for elastically supporting the width adjusting plates, and the width adjusting plates move towards the main claws connected with the width adjusting plates under the action of external force so as to compress the elastic pieces. And the distance between the two width adjusting plates in the width direction of the grabbing space is changed. Therefore, the mechanical arm is prevented from damaging the object during grabbing, and meanwhile the stability of the clamping action is guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of industrial robots, in particular to a two-claw manipulator. Background Art

[0002] A two-claw manipulator is a common industrial robot with wide applications. It can replace manual labor to complete repetitive, tedious or dangerous tasks, improve production efficiency, reduce costs, and play an irreplaceable role in some specific fields, such as applications in the fields of assembly, transportation, and packaging.

[0003] However, due to the mechanical properties of the manipulator, it may cause damage to the object during grasping or there may be mistakes in unstable clamping. Summary of the Utility Model

[0004] The applicant of the present utility model aims at the above-mentioned shortcomings in the existing production technology and provides a two-claw manipulator, thereby avoiding damage to the object by the manipulator during grasping and ensuring the stability of the clamping action at the same time.

[0005] The technical solution adopted by the present utility model is as follows:

[0006] A two-claw manipulator includes a fuselage, and a driving mechanism and a two-claw mounting member are installed at the end of the fuselage;

[0007] It further includes a pair of main claws and a pair of first connection components. A single first connection component is simultaneously connected to the two-claw mounting member and a main claw, and the main claw is movably installed on the two-claw mounting member;

[0008] The output end of the driving mechanism is simultaneously connected to the ends of the two first connection components. The movement trajectory of the output end of the driving mechanism is a straight line, which is used to drive the two main claws to swing towards or away from each other, forming a grasping space for accommodating the object to be grasped between the two main claws. The movement directions of the two main claws are the width direction of the grasping space;

[0009] A width adjustment plate is movably installed on each main claw. The width adjustment plate is located in the grasping space. An elastic member is installed between the width adjustment plate and the main claw. The elastic member is used to elastically support the width adjustment plate. The width adjustment plate moves towards the main claw connected to the width adjustment plate under the action of an external force, thereby compressing the elastic member and changing the distance between the two width adjustment plates along the width direction of the grasping space.

[0010] As a further improvement of the above technical solution:

[0011] The structure of the driving mechanism is:

[0012] It includes a motor installed on the fuselage, and a screw rod drivingly connected to the output end of the motor. A driving block threadedly connected to the screw rod is installed on the screw rod, and the driving block is the output end of the driving mechanism.

[0013] The double-claw mounting member is plate-shaped, and the number of the double-claw mounting members is two and they are parallel to each other. They are respectively arranged on both sides of the driving mechanism and fixedly connected to the fuselage, and the two double-claw mounting members are simultaneously connected to a single first connection assembly.

[0014] An installation shaft is arranged on the surface of the width adjustment plate facing away from the grasping space. An installation hole matching the installation shaft is arranged on the main claw. The elastic member is a spring in a compressed state. The elastic member is sleeved outside the installation shaft. One end of the elastic member is connected to the installation hole, and the other end of the elastic member is connected to the installation shaft.

[0015] The structure of a single first connection assembly is:

[0016] It includes a driving rod. The middle part of the driving rod is hinged to the double-claw mounting member. One end of the driving rod is hinged to the main claw, and the other end of the driving rod is connected to the output end of the driving mechanism through a connecting block.

[0017] It further includes two parallel first auxiliary rods. The two first auxiliary rods are respectively located on both sides of the main claw. One end of the first auxiliary rod is hinged to the main claw, and the other end of the first auxiliary rod is hinged to the double-claw mounting member.

[0018] It further includes a sub-claw assembly. The structure of the sub-claw assembly is:

[0019] It includes a fixed shaft. A left connecting rod and a right connecting rod are respectively fixedly connected to both ends of the fixed shaft. A left sub-claw is arranged at the end of the left connecting rod, and a right sub-claw is arranged at the end of the right connecting rod. The left sub-claw and the right sub-claw are respectively located on both sides of the main claw. The fixed shaft is rotatably installed on the main claw. The axis of the fixed shaft is perpendicular to the width direction of the grasping space. Flexible pads are arranged on the left sub-claw and the right sub-claw.

[0020] It further includes a second connection assembly. One end of the second connection assembly is connected to the middle part of the left connecting rod, and the other end of the second connection assembly is connected to the first connection assembly. The second connection assembly is used to link the sub-claw assembly and the main claw. The swinging directions of the left sub-claw and the right sub-claw are the same as the swinging direction of the main claw.

[0021] The structure of the second connection assembly is:

[0022] It includes a first connecting rod and a second connecting rod. One end of the first connecting rod is hinged to the first connecting component, the other end of the first connecting rod is hinged to one end of the second connecting rod, and the other end of the second connecting rod is hinged to the middle of the left connecting rod.

[0023] The hinged part of the first connecting rod and the first connecting component is the first hinge point, the hinged part of the first connecting rod and the second connecting rod is the second hinge point, the hinged part of the second connecting rod and the left connecting rod is the third hinge point, and the distance between the first hinge point and the second hinge point is greater than the distance between the third hinge point and the axis center of the fixed shaft;

[0024] A limiting structure matching with the first connecting rod is arranged on the first connecting component. When the two main claws swing away from each other, the limiting structure pushes the first connecting rod to make the left sub-claw and the right sub-claw swing towards the outside of the grasping space;

[0025] During the swinging process of the main claw, the distance between the first hinge point and the axis center of the fixed shaft changes.

[0026] The flexible pad includes a plurality of flexible blocks arranged in an array.

[0027] The material of the flexible pad is sponge or rubber.

[0028] The beneficial effects of the present utility model are as follows:

[0029] The structure of the present utility model is compact and reasonable, and the operation is convenient. By arranging a width adjustment plate on the main claw that can move along the width direction of the grasping space and elastically supporting and installing the width adjustment plate on the main claw with an elastic member, when the stroke of the output end of the driving mechanism of the manipulator is fixed, it can adapt to different sizes of items to be grasped within a certain range, realize flexible grasping, avoid damaging the items by the manipulator during grasping, and ensure the stability of the clamping action at the same time.

[0030] The present utility model also has the following advantages:

[0031] (1) A sub-claw assembly linked with the main claw is arranged on the main claw, which is in flexible contact with the item to be grasped, plays a protective role, and at the same time contacts the item to be grasped from both sides of the grasping space, plays a role in wrapping the item to be grasped to a certain extent, prevents the item to be grasped from slipping, and improves the grasping efficiency.

[0032] (2) The activities of the first connection component and the main claw are linked to the sub-claw component through the first connecting rod and the second connecting rod. At the same time, the sub-claw component is in a flexible connection state with the first connection component and the main claw in a certain fixed state, that is, the sub-claw component can swing relative to the main claw at this time, realizing the flexible contact between the left sub-claw and the right sub-claw and the object to be grasped, adapting to the structural size of the object to be grasped, improving the grasping efficiency, and further enhancing the flexible protection effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a schematic structural diagram of the present utility model.

[0034] Figure 2 It is a schematic structural diagram of the present utility model (hiding a double-claw mounting part).

[0035] Figure 3 It is an assembled structural schematic diagram of the first connection component, the second connection component, the sub-claw component and the driving mechanism of the present utility model.

[0036] Figure 4 It is Figure 3 another perspective of

[0037] Figure 5 It is an assembled structural schematic diagram of the main claw and the width adjustment plate of the present utility model.

[0038] Figure 6 It is an assembled structural schematic diagram of the main claw and the width adjustment plate of the present utility model (two states).

[0039] Figure 7 It is a schematic structural diagram of the sub-claw component of the present utility model.

[0040] Figure 8 It is a schematic diagram of the working state of the present utility model (two states).

[0041] Wherein:

[0042] 1. Body; 2. Double-claw mounting part; 3. Driving mechanism; 31. Screw rod; 32. Driving block;

[0043] 4. Second connection component; 41. First connecting rod; 4101. First hinge point; 4102. Second hinge point; 42. Second connecting rod; 4201. Third hinge point;

[0044] 5. Sub-claw component; 51. Left connecting rod; 511. Left sub-claw; 52. Fixed shaft; 53. Flexible pad; 54. Right connecting rod; 541. Right sub-claw;

[0045] 6. First connection component; 61. Driving rod; 6101. Driving end; 6102. Driven end; 62. First auxiliary rod; 63. Connecting block;

[0046] 7. Main claw; 71. Mounting hole;

[0047] 8. Width adjustment plate; 81. Mounting shaft; 82. Elastic member;

[0048] 9. Limit structure. Detailed implementation manners

[0049] The following combines with the drawings to illustrate the detailed implementation manners of the present utility model.

[0050] Embodiment 1:

[0051] As Figures 1-4 shown, the double-claw manipulator of this embodiment includes a fuselage 1, and a driving mechanism 3 and a double-claw mounting member 2 are installed at the end of the fuselage 1;

[0052] It further includes a pair of main claws 7 and a pair of first connection components 6. A single first connection component 6 is simultaneously connected to the double-claw mounting member 2 and a main claw 7, and the main claw 7 is movably installed on the double-claw mounting member 2;

[0053] The output end of the driving mechanism 3 is simultaneously connected to the ends of the two first connection components 6. The movement trajectory of the output end of the driving mechanism 3 is a straight line, which is used to drive the two main claws 7 to swing towards or away from each other, forming a grasping space for accommodating the object to be grasped between the two main claws 7. The movement directions of the two main claws 7 are the width direction of the grasping space;

[0054] A width adjustment plate 8 is movably installed on each main claw 7. The width adjustment plate 8 is located in the grasping space. An elastic member 82 is installed between the width adjustment plate 8 and the main claw 7. The elastic member 82 is used to elastically support the width adjustment plate 8. The width adjustment plate 8 moves towards the main claw 7 connected to the width adjustment plate 8 under an external force, thereby compressing the elastic member 82 and changing the distance between the two width adjustment plates 8 along the width direction of the grasping space.

[0055] Specifically, the fuselage 1 is the arm part of the manipulator, which can be a box structure. The double-claw mounting member 2 is installed at the end of the fuselage 1 and two main claws 7 are installed to form a double-claw manipulator; the driving mechanism 3 can be installed on the fuselage 1, and the output end of the driving mechanism 3 extends out of the fuselage 1; the size of the width adjustment plate 8 is adapted to the size of the main claw 7 to ensure that the contact area with the object to be grasped remains unchanged compared with the main claw 7 after the width adjustment plate 8 is set.

[0056] During the operation of the double-claw manipulator of this embodiment, the two main claws 7 swing toward or away from each other to realize the closing and opening movements of the manipulator. When the two main claws 7 swing toward each other, the two width adjustment plates 8 approach each other as the positions of the main claws 7 change. The width adjustment plates 8 first contact the object to be grasped. After the output end of the driving mechanism 3 stops, the relative position between the two main claws 7 is fixed. After the width adjustment plates 8 are squeezed by the object to be grasped, the elastic member 82 is compressed, thereby changing the distance between the two width adjustment plates 8 to adapt to the size of the object to be grasped, thereby realizing flexible grasping.

[0057] By providing a width adjustment plate 8 on the main claw 7 that can move along the width direction of the grasping space, and elastically supporting the width adjustment plate 8 on the main claw 7 with an elastic member 82, the output end stroke of the driving mechanism 3 of the manipulator can be fixed, and it can adapt to objects to be grasped of different sizes within a certain range, thereby achieving flexible grasping, avoiding damage to the objects by the manipulator during grasping, and ensuring the stability of the clamping action.

[0058] Further, if Figure 3 As shown, the structure of the driving mechanism 3 is:

[0059] It includes a motor installed on the body 1 and a screw rod 31 drivingly connected to the output end of the motor. A driving block 32 threadedly connected to the screw rod 31 is installed on the screw rod 31 . The driving block 32 is the output end of the driving mechanism 3 .

[0060] Specifically, the driving block 32 is hinged to the end of the first connecting assembly 6 .

[0061] Further, if Figures 1-3 As shown, the double-claw mounting member 2 is plate-shaped, there are two double-claw mounting members 2 which are parallel to each other, respectively arranged on both sides of the driving mechanism 3 and fixedly connected to the fuselage 1 , and the two double-claw mounting members 2 are simultaneously connected to a single first connecting component 6 .

[0062] Specifically, the two double-claw mounting members 2 are fixedly connected by multiple shafts, one of which serves as a hinged portion between the first connecting component 6 and the double-claw mounting member 2; the end of the screw rod 31 is connected to a bearing seat provided on the double-claw mounting member 2 to play a supporting role.

[0063] Further, if Figures 5-6 As shown, a mounting shaft 81 is provided on the surface of the width adjustment plate 8 facing away from the gripping space, a mounting hole 71 matching with the mounting shaft 81 is provided on the main claw 7, the elastic member 82 is a spring in a compressed state, and the elastic member 82 is arranged outside the mounting shaft 81, one end of the elastic member 82 is connected to the mounting hole 71, and the other end of the elastic member 82 is connected to the mounting shaft 81.

[0064] Specifically, the mounting shaft 81 is slidably connected to the mounting hole 71. A boss is provided in the middle of the mounting shaft 81, which plays a limiting role to prevent the mounting shaft 81 from detaching from the mounting hole 71. The elastic member 82 is restricted between the bottom of the mounting hole 71 and the boss and is in a compressed state, which can provide the clamping force between the two width adjustment plates 8, as Figure 6 shown in (a) state in which represents the state when the width adjustment plate 8 is not squeezed by the object to be grasped, as Figure 6 shown in (b) state in which represents the state after the width adjustment plate 8 is squeezed by the object to be grasped and moves towards the main claw 7 connected to the width adjustment plate 8.

[0065] Furthermore, as Figures 3-4 shown, the structure of a single first connection assembly 6 is as follows:

[0066] It includes a driving rod 61. The middle of the driving rod 61 is hinged to the double-claw mounting member 2. One end of the driving rod 61 is hinged to the main claw 7, and the other end of the driving rod 61 is connected to the output end of the driving mechanism 3 through a connecting block 63;

[0067] It also includes two mutually parallel first auxiliary rods 62. The two first auxiliary rods 62 are respectively located on both sides of the main claw 7. One end of the first auxiliary rod 62 is hinged to the main claw 7, and the other end of the first auxiliary rod 62 is hinged to the double-claw mounting member 2.

[0068] Specifically, the middle of the driving rod 61 is hinged to a shaft rod on the double-claw mounting member 2. One end of the driving rod 61 is a driven end 6102, and the driven end 6102 is Y-shaped and is hinged to the main claw 7 from both sides of the main claw 7. The other end of the driving rod 61 is a driving end 6101, and the driving end 6101 is also Y-shaped and is hinged to one end of the connecting block 63 from both sides of the connecting block 63. The other end of the connecting block 63 is hinged to the driving block 32 on the driving mechanism 3.

[0069] Embodiment 2:

[0070] As Figures 1-4 、 Figure 7 shown, on the basis of Embodiment 1, the double-claw manipulator of this embodiment further includes a sub-claw assembly 5, and the structure of the sub-claw assembly 5 is as follows:

[0071] It includes a fixed shaft 52. The two ends of the fixed shaft 52 are respectively fixedly connected with a left connecting rod 51 and a right connecting rod 54. A left sub-claw 511 is provided at the end of the left connecting rod 51, and a right sub-claw 541 is provided at the end of the right connecting rod 54. The left sub-claw 511 and the right sub-claw 541 are respectively located on both sides of the main claw 7. The fixed shaft 52 is rotatably installed on the main claw 7. The axis of the fixed shaft 52 is perpendicular to the width direction of the grasping space. Flexible pads 53 are provided on the left sub-claw 511 and the right sub-claw 541;

[0072] It further includes a second connection component 4. One end of the second connection component 4 is connected to the middle of the left connecting rod 51, and the other end of the second connection component 4 is connected to the first connection component 6. The second connection component 4 is used to link the secondary claw assembly 5 and the main claw 7, and the swinging directions of the left secondary claw 511 and the right secondary claw 541 are the same as that of the main claw 7.

[0073] Specifically, the fixed shaft 52 and the left connecting rod 51 and the right connecting rod 54 form a portal structure. The left secondary claw 511 and the right secondary claw 541 move synchronously through the right connecting rod 54. The left secondary claw 511 and the right secondary claw 541 are used to assist in grasping the object to be grasped. The axis of the fixed shaft 52 is perpendicular to the width direction of the grasping space and can rotate relative to the main claw 7. The left secondary claw 511 and the right secondary claw 541 are respectively located on both sides of the main claw 7, that is, also on both sides of the width adjustment plate 8. The left secondary claw 511 and the right secondary claw 541 increase the depth of the grasping space, that is, increase the contact area with the object to be grasped. The end of the second connection component 4 is hinged to the middle of the first auxiliary rod 62. The second connection component 4 is used to link the secondary claw assembly 5 and the main claw 7. When the main claw 7 opens, the two secondary claw assemblies 5 also open relatively. When the main claw 7 closes, the two secondary claw assemblies 5 also close relatively. By setting the flexible pad 53, when the left secondary claw 511 and the right secondary claw 541 act on the object to be grasped, the flexible pad 53 is in flexible contact with the object to be grasped, playing a protective role. At the same time, it contacts the object to be grasped from both sides of the grasping space, playing a role in wrapping the object to be grasped to a certain extent, preventing the slipping of the object to be grasped, and improving the grasping efficiency.

[0074] Furthermore, as Figure 3 shown, the structure of the second connection component 4 is:

[0075] It includes a first connecting rod 41 and a second connecting rod 42. One end of the first connecting rod 41 is hinged to the first connection component 6, the other end of the first connecting rod 41 is hinged to one end of the second connecting rod 42, and the other end of the second connecting rod 42 is hinged to the middle of the left connecting rod 51.

[0076] Specifically, one end of the first connecting rod 41 is hinged to the middle of the first auxiliary rod 62 of the first connection component 6, and the second connection component 4 is integrally L-shaped. The second connection component 4 can be a set and is located on one side of the main claw 7.

[0077] The activities of the first connection component 6 and the main claw 7 are linked to the secondary claw assembly 5 through the first connecting rod 41 and the second connecting rod 42. At the same time, the secondary claw assembly 5 is in a flexible connection state with the first connection component 6 and the main claw 7 in a certain fixed state, that is, the secondary claw assembly 5 can swing relative to the main claw 7 at this time, realizing the flexible contact between the left secondary claw 511 and the right secondary claw 541 and the object to be grasped, adapting to the structural dimensions of the object to be grasped, improving the grasping efficiency, and further improving the flexible protection effect.

[0078] Furthermore, asFigure 3 , Figure 8 As shown in Figure 8 , the hinged joint between the first connecting rod 41 and the first connecting component 6 is the first hinge point 4101, the hinged joint between the first connecting rod 41 and the second connecting rod 42 is the second hinge point 4102, and the hinged joint between the second connecting rod 42 and the left connecting rod 51 is the third hinge point 4201. The distance between the first hinge point 4101 and the second hinge point 4102 is greater than the distance between the third hinge point 4201 and the axis center of the fixed shaft 52;

[0079] A limiting structure 9 cooperating with the first connecting rod 41 is provided on the first connecting component 6. When the two main claws 7 swing away from each other, the limiting structure 9 pushes the first connecting rod 41 to swing the left sub-claw 511 and the right sub-claw 541 towards the outside of the grasping space;

[0080] During the swinging process of the main claw 7, the distance between the first hinge point 4101 and the axis center of the fixed shaft 52 changes.

[0081] Specifically, the first hinge point 4101, the second hinge point 4102, the third hinge point 4201 and the axis center of the fixed shaft 52 form a quadrilateral, and the included angle between the first connecting rod 41 and the second connecting rod 42 is an acute angle, effectively converting the swing of the first connecting component 6 into the swing of the sub-claw component 5; the limiting structure 9 is the end of a shaft rod on the double-claw mounting member 2, and the end of the first auxiliary rod 62 is hinged to this shaft rod.

[0082] When the double-claw manipulator of this embodiment is opened, as shown in state (c) in Figure 8 , when the two main claws 7 swing away from each other, the included angle between the main claw 7 and the first auxiliary rod 62 becomes smaller, and the distance between the first hinge point 4101 and the axis center of the fixed shaft 52 becomes smaller. When the first connecting rod 41 touches the limiting structure 9, the limiting structure 9 pushes the first connecting rod 41 to rotate around the first hinge point 4101, and then drives the second connecting rod 42 and the left connecting rod 51 to change their postures, so that the two flexible pads 53 are in an eight-shaped state with the large mouths facing the outside of the grasping space, facilitating the grasping of items. Figure 8

[0083] When the double-claw manipulator of this embodiment is closed, as shown in state (d) in Figure 8 , when the two main claws 7 swing towards each other, the two width adjustment plates 8 approach each other as the positions of the main claws 7 change. The width adjustment plates 8 contact the object to be grasped. The two flexible pads 53 contact the object to be grasped from both sides of the width adjustment plates 8, and the sub-claw component 5 swings relative to the main claws 7 adaptively according to the external dimension of the object to be grasped. The two width adjustment plates 8 clamp the object to be grasped, and the two sub-claw components 5 perform auxiliary grasping from both sides of the object to be grasped, realizing the protection of the item. Figure 8

[0084] Furthermore, as shown in Figure 7 Figure 7 ​​As shown, the flexible pad 53 includes a plurality of flexible blocks arranged in an array. The material of the flexible pad 53 is sponge or rubber. When the flexible pad 53 made of a continuous block of soft material acts on the object to be grasped by the secondary claw assembly 5, the plurality of flexible blocks are deformed, and the frictional force on the contact surface is larger and the wrapping property is better.

[0085] The above description is an explanation of the present utility model, not a limitation thereof. The scope defined by the present utility model is referred to the claims. Any form of modification may be made within the protection scope of the present utility model.

Claims

1. A double-claw manipulator, characterized in that: It comprises a body (1), a driving mechanism (3) and a double-claw mounting member (2) being mounted at the end of the body (1); It also comprises a pair of main claws (7) and a pair of first connecting components (6), wherein a single first connecting component (6) is simultaneously connected to the double-claw mounting member (2) and a main claw (7), so that the main claw (7) is movably mounted on the double-claw mounting member (2); The output end of the driving mechanism (3) is simultaneously connected to the ends of the two first connecting components (6); the moving trajectory of the output end of the driving mechanism (3) is a straight line, and is used to drive the two main claws (7) to swing towards or away from each other, so that a grasping space for accommodating objects to be grasped is formed between the two main claws (7); the movement direction of the two main claws (7) is the width direction of the grasping space; A width adjustment plate (8) is movably mounted on each main claw (7), the width adjustment plate (8) being located in the grasping space, an elastic member (82) being mounted between the width adjustment plate (8) and the main claw (7), the elastic member (82) being used to elastically support the width adjustment plate (8), the width adjustment plate (8) moving toward the main claw (7) connected to the width adjustment plate (8) under the action of an external force, thereby compressing the elastic member (82), and changing the distance between the two width adjustment plates (8) along the width direction of the grasping space.

2. The dual-jaw manipulator according to claim 1, characterized in that: The structure of the driving mechanism (3) is: It comprises a motor mounted on the body (1), and a screw rod (31) drivingly connected to the output end of the motor, a driving block (32) threadedly connected to the screw rod (31) mounted on the screw rod (31), and the driving block (32) is the output end of the driving mechanism (3).

3. The dual-jaw manipulator according to claim 1, characterized in that: The double-claw mounting member (2) is plate-shaped. There are two double-claw mounting members (2) which are parallel to each other and are respectively arranged on both sides of the driving mechanism (3) and fixedly connected to the body (1). The two double-claw mounting members (2) are simultaneously connected to a single first connecting component (6).

4. A double-claw manipulator according to claim 1, characterized in that: A mounting shaft (81) is arranged on the surface of the width adjustment plate (8) facing away from the grasping space, a mounting hole (71) matching with the mounting shaft (81) is arranged on the main claw (7), the elastic member (82) is a spring in a compressed state, the elastic member (82) is arranged outside the mounting shaft (81), one end of the elastic member (82) is connected to the mounting hole (71), and the other end of the elastic member (82) is connected to the mounting shaft (81).

5. A double-claw manipulator according to claim 1, characterized in that: The structure of a single first connecting component (6) is: It comprises a driving rod (61), the middle part of which is hinged to the double-claw mounting member (2), one end of which is hinged to the main claw (7), and the other end of which is connected to the output end of the driving mechanism (3) via a connecting block (63); It also comprises two mutually parallel first auxiliary rods (62), the two first auxiliary rods (62) are respectively located on both sides of the main claw (7), one end of the first auxiliary rod (62) is hinged to the main claw (7), and the other end of the first auxiliary rod (62) is hinged to the double-claw mounting member (2).

6. A double-claw manipulator according to any one of claims 1-5, characterized in that: It further includes a sub-claw assembly (5), and the structure of the sub-claw assembly (5) is as follows: It includes a fixed shaft (52). Both ends of the fixed shaft (52) are fixedly connected with a left connecting rod (51) and a right connecting rod (54) respectively. A left sub-claw (511) is arranged at the end of the left connecting rod (51), and a right sub-claw (541) is arranged at the end of the right connecting rod (54). The left sub-claw (511) and the right sub-claw (541) are respectively located on both sides of the main claw (7). The fixed shaft (52) is rotatably installed on the main claw (7). The axis of the fixed shaft (52) is perpendicular to the width direction of the grasping space. Flexible pads (53) are arranged on the left sub-claw (511) and the right sub-claw (541); It further includes a second connecting assembly (4). One end of the second connecting assembly (4) is connected to the middle of the left connecting rod (51), and the other end of the second connecting assembly (4) is connected to the first connecting assembly (6). The second connecting assembly (4) is used to link the sub-claw assembly (5) and the main claw (7). The swinging directions of the left sub-claw (511) and the right sub-claw (541) are the same as the swinging direction of the main claw (7).

7. A double-claw manipulator according to claim 6, characterized in that: The structure of the second connecting assembly (4) is as follows: It includes a first connecting rod (41) and a second connecting rod (42). One end of the first connecting rod (41) is hinged to the first connecting assembly (6), the other end of the first connecting rod (41) is hinged to one end of the second connecting rod (42), and the other end of the second connecting rod (42) is hinged to the middle of the left connecting rod (51).

8. A double-claw manipulator according to claim 7, characterized in that: The hinged point between the first connecting rod (41) and the first connecting assembly (6) is the first hinged point (4101), the hinged point between the first connecting rod (41) and the second connecting rod (42) is the second hinged point (4102), the hinged point between the second connecting rod (42) and the left connecting rod (51) is the third hinged point (4201). The distance between the first hinged point (4101) and the second hinged point (4102) is greater than the distance between the third hinged point (4201) and the axis of the fixed shaft (52); A limiting structure (9) matching with the first connecting rod (41) is arranged on the first connecting assembly (6). When the two main claws (7) swing away from each other, the limiting structure (9) pushes the first connecting rod (41) to make the left sub-claw (511) and the right sub-claw (541) swing towards the outside of the grasping space; During the swinging process of the main claw (7), the distance between the first hinged point (4101) and the axis of the fixed shaft (52) changes.

9. The dual-jaw manipulator according to claim 6, characterized in that: The flexible pad (53) includes a plurality of flexible blocks arranged in an array.

10. A double-claw manipulator according to claim 6, characterized in that: The material of the flexible pad (53) is sponge or rubber.

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