A gripping device

Abstract

The application relates to a grabbing device, which comprises a base, a driving control unit and a clamping seat, a plurality of grab buckets are reversibly connected to the clamping seat, the grab bucket comprises a bucket box, a wall body of the bucket box surrounds a containing space, the bucket box of the plurality of grab buckets comprises an open end to form a working space for grabbing materials, and the lower bottom surface of the bucket box is a shoveling part; the bucket box further comprises a lever assembly, the lever assembly comprises a pry plate, a lever and a first telescopic rod, the pry plate is partially accommodated in the containing space and abuts against the upper surface of the shoveling part, a through hole is formed in the wall body, one end of the pry plate passes through the through hole 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. The grabbing device can quickly grab materials, has small clamping force, is low in manufacturing cost, avoids the carrying mode of simply using brute force to clamp the materials in the prior art, and significantly improves the work efficiency due to the stable carrying process.

Description

Technical Field

[0001] This application relates to the field of loading and unloading device technology, specifically to a gripping device. Background Technology

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

[0003] In existing technology, two grabs that can approach each other are used to grab the material. The lower ends of the two grabs approach each other and clamp the material on both sides to achieve clamping. This clamping method requires particularly high clamping force and a smooth handling process, otherwise the material is easy to fall. This structure leads to reduced handling efficiency, large clamping force, and high cost. Utility Model Content

[0004] In view of this, the present application provides a gripping device that can quickly grip materials, avoiding the material handling method in the prior art that simply uses brute force to clamp the materials. It has low clamping force, low manufacturing cost, and significantly improves work efficiency due to the smooth handling process.

[0005] This application provides a gripping device, including a base and a clamping seat rotatably mounted on the base via a drive control unit. The clamping seat can be flipped to connect multiple grippers. Each gripper includes a bucket box, the walls of which enclose an accommodating space. The sides of the bucket boxes of the multiple grippers that are opposite to each other are open ends to form a working space for gripping materials. The bottom surface of the bucket box is a scooping part.

[0006] The bucket also includes a lever assembly, which includes a pry bar, a lever, and a first telescopic rod. The pry bar is partially housed in the accommodating space and abuts against the upper surface of the scooping part. A perforation is provided in the wall. One end of the pry bar protrudes through the perforation and is fixedly connected to one end of the lever. The perforation has sufficient clearance to allow the lever and pry bar to move freely within the clearance when the first telescopic rod extends or retracts. 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 bucket wall.

[0007] Optionally, the clamping seat and the grab bucket are further rotatably connected by a linkage assembly, the linkage assembly including a second telescopic rod respectively disposed at both outer ends of the clamping seat and an extension arm disposed between the clamping seat and the second telescopic rod; the second telescopic rods disposed at both outer ends of the clamping seat are symmetrical about left and right 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 on the side away from the open end, and the other end of the extension arm is fixedly connected to the clamping seat.

[0008] Optionally, the drive control unit includes a rotation drive control unit disposed between the base and the clamping seat and a telescopic drive control unit disposed on the clamping seat; the rotation drive control unit controls the rotation of the clamping seat relative to the base, and the drive 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.

[0009] Optionally, the telescopic drive control unit is a hydraulic drive control unit, including: a hydraulic pump, a hydraulic cylinder or a hydraulic motor, and a hydraulic control line with control valves and sensors. The hydraulic pump outputs power and, under the control of the hydraulic control line, controls and drives the first telescopic rod and the second telescopic rod to perform telescopic actions. The fixed end of the first telescopic rod and the second telescopic rod includes the hydraulic cylinder or hydraulic motor, and the telescopic end includes a hydraulic rod.

[0010] Optionally, the rotary drive control unit includes: a steering unit fixedly disposed at the center position of the side of the clamping seat away from the grab bucket; the steering unit having a rotating hole on the side away from the clamping seat; the rotating hole having an inverted T-shaped cross-section in the vertical direction; a rotating block rotatably disposed in the rotating hole and matching the shape of the rotating hole; a base fixedly disposed on the rotating block; and a power unit for driving the steering unit to rotate disposed on the base.

[0011] Optionally, the power unit includes a motor, a gear, and a gear ring. The motor is disposed within the base, and the output shaft of the motor is fixedly connected to the gear. The gear meshes with the gear ring, and the gear ring is fixedly sleeved on the outer periphery of the steering unit. A baffle is fixedly disposed at one end of the motor's output shaft away from the base, and a retaining ring is fixedly disposed on the motor's output shaft. The baffle and the retaining ring are respectively located on both sides of the gear.

[0012] Optionally, the number of power units is two, and the two power units are symmetrically arranged on both sides of the base with respect to the center line of the gripping device. The two drive control units share the same gear ring.

[0013] Optionally, the angle A between the plane of the shovel 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°.

[0014] Optionally, the outer edge of the open end of the bucket box is provided with anti-slip teeth, and the outer edge of the shovel part is provided with shovel teeth.

[0015] Compared with the prior art, the beneficial effects of this application are: before gripping the material, the first telescopic rod can be extended by controlling the pry bar to pry the material up through a gap, and the second telescopic rod can be extended to allow the shovel to extend into the gap, thus enabling the material to be quickly gripped. At this time, the material is held in the hopper, which can prevent the material from falling due to rapid handling. This application does not require the material handling 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 handling process. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings of the embodiments of this application will be briefly described below.

[0017] Figure 1 A cross-sectional view of the gripping device provided in the embodiments of this application;

[0018] Figure 2 This is a schematic diagram of the operation of the grab bucket according to an embodiment of this application;

[0019] Figure 3 for Figure 1 A magnified view of a section at point B in the middle;

[0020] Figure 4 This is a schematic diagram of the grasping state of the grasping device provided in the embodiments of this application;

[0021] Figure 5 This is a schematic diagram of the hydraulic control of the first and second telescopic rods in the embodiments of this application.

[0022] Explanation of reference numerals in the attached figures:

[0023] 1. Grab bucket, 2. Bucket box, 3. Hoisting section, 4. Skid plate, 5. Lever, 6. First telescopic rod, 7. Perforation, 8. Material, 9. Clamping seat, 10. Second telescopic rod, 11. Extension arm, 12. Steering unit, 13. Rotating block, 14. Base, 15. Power unit, 16. Gear, 17. Gear ring, 18. Baffle, 19. Retaining ring, 20. Gap, 21. Motor output shaft, 22. Anti-slip teeth, 23. Hoe teeth, 24. Drive control unit, 25. Rotary drive control unit, 26. Telescopic drive control unit, 27. Hydraulic pump, 28. Oil tank, 29. First proportional valve, 30. Second proportional valve, 31. Oil supply pipe Detailed Implementation

[0024] The principles and spirit of this application will be described below with reference to several exemplary embodiments. It should be understood that these embodiments are provided to make the principles and spirit of this application clearer and more thorough, enabling those skilled in the art to better understand and implement the principles and spirit of this application. The exemplary embodiments provided herein are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments described herein without inventive effort are within the scope of protection of this application.

[0025] In the following detailed description, reference can be made to the accompanying drawings, which form part of this application and illustrate specific embodiments of the application. In the drawings, similar reference numerals describe substantially similar components in different figures. Specific embodiments of the application are described in sufficient detail below to enable those skilled in the art to implement the technical solutions of this application. It should be understood that other embodiments may be utilized or structural, logical, or electrical changes may be made to the embodiments of this application. Furthermore, similar terms including "first," "second," and "third" in this application are used only to distinguish one entity (or operation) from another, and are not intended to require or imply any order or association between these entities (or operations).

[0026] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. Based on the described embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0027] Unless otherwise defined, the technical or scientific terms used herein shall have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms “first,” “second,” and similar terms used in this patent application specification and claims do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as “comprising” or “including” mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as “inner,” “outer,” “upper,” “lower,” “far,” “near,” “front,” and “back” are used only to indicate relative positional relationships; these relative positional relationships may change accordingly when the absolute position of the described object changes.

[0028] The accompanying drawings in this disclosure are not drawn to scale, and the specific dimensions and quantity of each structure can be determined according to actual needs. The drawings described in this disclosure are only structural schematic diagrams.

[0029] Figure 1 This is a cross-sectional view of the gripping device provided in the embodiments of this application. Figure 2 This is a schematic diagram illustrating the movement of the grab bucket according to an embodiment of this application. (In conjunction with...) Figure 1 , Figure 2 As shown, the gripping device provided in this application includes a base 14 and a clamping seat 9 rotatably mounted on the base 14 via a drive control unit 24. The clamping seat 9 is provided with a plurality of grippers 1, the number of grippers 1 being at least two. Each gripper 1 includes a bucket box 2, the wall of which surrounds an accommodating space. The sides of the bucket boxes 2 of the plurality of grippers 1 that are opposite to each other are open ends to form a working space for gripping materials 8. The bottom surface of the bucket box 2 is a scooping part 3. The scooping part 3 can be a part of the bucket box 2 itself, that is, the bottom integrally formed with the wall of the bucket box 2, or it can be an independent component fixed to the bottom surface of the wall of the bucket box 2. Those skilled in the art can choose a suitable processing or assembly method as needed and flexibly set it up. This application does not have any particular limitations in this regard. To enable the grab bucket 1 to move quickly and powerfully, the bucket box 2 also includes a lever assembly, which includes a pry bar 4, a lever 5, and a first telescopic rod 6. The pry bar 4 is partially accommodated in the receiving space and abuts against the upper surface of the scooping part 3. The bucket box 2 has a through hole 7, which is usually located at the junction of the end of the bucket box 2 wall and the scooping part 3. One end of the pry bar 4 protrudes from the through hole 7 and is fixedly connected to one end of the lever 5. The through hole 7 has sufficient clearance to allow the lever 5 and the pry bar 4 to move freely within the clearance when the first telescopic rod 10 extends or retracts. 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.

[0030] Combination Figure 2 As shown, during the grabbing process, after the shovel part 3 approaches the material 8 near the open end of the bucket box 2, the drive control unit 24 controls the first telescopic rod 6 to extend, so that the pry bar 4 pries up the material 8 and forms a gap 20 between it and the surface where it is located. Figure 2 The dotted line represents the original position of material 8, while the solid line represents the prying position after it has been pried open and a gap 20 has formed between it and the surface where it was located. The shovel 3 extends into the gap and quickly grabs material 8 into the working space formed by the open end on the opposite side between the two buckets 2 for grabbing material.

[0031] According to the embodiments of this application, a gripping device can quickly grip materials, avoiding the material handling method of simply using brute force to clamp materials in the prior art. It has low clamping force, low manufacturing cost, and significantly improves work efficiency due to the smooth handling process.

[0032] Continue as Figure 1 , Figure 2 As shown, in some embodiments, a linkage assembly is provided between the clamping seat 9 and the bucket 2. The linkage assembly includes a second telescopic rod 10 and an extension arm 11. The second telescopic rod 10 is disposed on the outside of 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 linkage assemblies is equal to the number of buckets 2. The linkage assembly effectively and stably connects the buckets to the bottom of the clamping seat, and the extension and retraction of the second telescopic rod drives the buckets to move, thereby gripping materials. The extension arm increases the lever arm, reducing the force applied by the gripping device when gripping materials.

[0033] 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 is used to control the rotation of the grab bucket 1 to facilitate adjustment of the clamping angle of the grab bucket 1. The telescopic drive control unit 26 is used to control the extension and retraction of the first telescopic rod 6 and the second telescopic rod 10.

[0034] In some embodiments, the telescopic drive control unit 26 can be located on the gripping device or in other locations outside the gripping device. Those skilled in the art can configure it according to actual conditions, and this application does not impose any particular limitations. The drive 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 drive 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 of hydraulic rods, pneumatic rods, electric push rods, etc. Hydraulic rods are preferred for heavy-duty operations such as moving 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, typically including a hydraulic pump, a hydraulic cylinder or a hydraulic motor, and hydraulic control lines with control valves (such as proportional valves or servo valves) and sensors. The sensors can be used to monitor the pressure in the entire hydraulic control system and coordinate with the control valves based on the monitoring results. High-pressure hydraulic oil can be provided by the hydraulic pump, and the flow of hydraulic oil can be regulated by the control valves to precisely control the extension and retraction of the rods. If the first telescopic rod 6 and the second telescopic rod 10 are electric push rods, the telescopic drive control unit 26 typically includes a stepper motor or a servo motor, which adjusts the length of the telescopic rods via control signals. The control system can be programmed to set the action sequence of the telescopic rods to ensure that when prying up materials, one side of the rod extends first, and then the other side extends, achieving efficient gripping.

[0035] In some embodiments, such as Figure 1 As shown, the rotary drive control unit 25 includes: a steering unit 12 fixedly disposed at the center position of the side of the clamping seat 9 away from the grab bucket 1; the steering unit 12 has a rotating hole on the side away from the clamping seat 9; the rotating hole has an inverted T-shaped cross-section in the vertical direction; a rotating block 13 matching the shape of the rotating hole is rotatably disposed in the rotating hole; a base 14 is fixedly disposed on the rotating block 13; and a power unit 15 for driving the steering unit 12 to rotate is disposed on the base 14. This arrangement allows for control of the grab bucket's rotation and facilitates adjustment of the grab bucket's clamping angle.

[0036] Figure 3 for Figure 1 A magnified view of a section at point B. (Combined with...) 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 periphery 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 rotation of the steering unit 12 relative to the base 14, which in turn drives the grab bucket 1 to rotate.

[0037] Furthermore, in some embodiments, there can be multiple power units 15, such as two. These multiple power units 15 can be symmetrically arranged along the edge of the bottom surface of the base 14, in which case the power units 15 share the same gear ring 17. Multiple power units 15 enable the clamping seat 9 to rotate more efficiently and stably.

[0038] Furthermore, in some embodiments, a baffle 18 is fixedly provided at the end of the motor output shaft 21 away from the base 14, and a retaining ring 19 is fixedly provided on the motor output shaft 21. The baffle 18 and the retaining ring 19 are respectively located on both sides of the gear 16. The baffle 18 and the retaining ring 19 can prevent the gear 16 from falling off.

[0039] In some embodiments, such as Figure 1 As shown, the included angle A between the shovel portion 3 and the side of the bucket 2 away from the open end is an obtuse angle. In some embodiments, the included angle A can range from 100° to 145°, preferably 120°. This design optimizes the functionality and practicality of the grab bucket. For example, it allows for a larger bucket capacity, enabling more material to be held in each operation, thus improving work efficiency. Additionally, when the grab bucket is closed, this angle helps to more tightly enclose the material, reducing slippage or spillage during transport and enhancing the stability of the material gripping process.

[0040] In some embodiments, such as Figure 1 As shown, the outer edge of the open end of the hopper 2 is provided with anti-slip teeth 22, and the outer edge of the shovel 3 is provided with shovel teeth 23. This arrangement can increase the friction between the hopper, the shovel, and the material, making it easier to grasp the material.

[0041] Figure 4 This is a schematic diagram of the grasping state of the grasping device provided in the embodiments of this application; Figure 5 This is a schematic diagram of the hydraulic control of the first and second telescopic rods in an embodiment of this application. (In conjunction with...) Figure 2 , Figure 4 and Figure 5As shown, in some embodiments, taking the number of grabs 1 in the grabbing device as an example, the specific control and operation process of the grabbing device is as follows: taking the first telescopic rod 6 and the second telescopic rod 10 as hydraulic rods, the telescopic drive control unit 26 includes a hydraulic pump 27, which is connected to the oil tank 28 through an oil supply pipe 31, and then connected to the first proportional valve 29 and the second proportional valve 30 through the oil supply pipe 31 respectively. 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 through the oil supply pipe 31 respectively. If the second hydraulic rod 10 needs to extend, the hydraulic pump 27 starts working, drawing hydraulic oil from the oil tank 28 and delivering it to the second proportional valve 30 through the oil delivery pipe 31. The second proportional valve 30 adjusts the position of its internal valves according to the control signal, controlling 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 pressured 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 delivery pipe (not shown in the figure). At this time, the flow direction of the oil is as follows: Figure 5 As shown in direction A; if the second telescopic rod 10 needs to be shortened, after the operation of the hydraulic pump 27 and the second proportional valve 30, oil in the opposite direction will be introduced into the second telescopic rod 10, pushing the piston in the second telescopic rod 10 to contract inward. At this time, the flow direction of the oil is as follows: Figure 5 As shown in direction B. The control and operation process of the first telescopic rod 6 is the same as that of the second telescopic rod 10. With this setting, before the grab bucket 1 clamps the material 8, by controlling the extension of the first telescopic rod 6 on either side, the pry bar 4 can pry up the material 8 and form a gap 20 between it and its position surface. The telescopic drive control unit 26 controls the second telescopic rod 10 to continue to extend, while controlling the first telescopic rod 6 to shorten and reset, so that the shovel part 3 can finally extend into the gap. By controlling the first telescopic rod 6 on the other side in the same way, the material 8 can be quickly grabbed, and at this time the material 8 is held by the two grab buckets 1, which can prevent the material 8 from falling due to rapid handling.

[0042] It should be noted that, in addition to using the hydraulic control mechanism described in the above embodiments, the telescopic drive control unit can also use a mechanical control mechanism, just like the rotary drive control unit, depending on actual needs.

[0043] In summary, the gripping device provided in this application can quickly grab the material by controlling the extension of the first telescopic rod before clamping the material, so that the pry bar can pry the material up through a gap, and then the second telescopic rod can extend so that the shovel can reach into the gap. At this time, the material is held in the hopper, which can prevent the material from falling due to rapid handling. This application does not require the material handling method of simply using brute force to clamp the material in the prior art. The clamping force is small, which saves manufacturing costs. The smooth handling process significantly improves work efficiency.

[0044] The above description is merely a specific implementation of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A gripping device, characterized in that, It includes a base and a clamping seat rotatably mounted on the base via a drive control unit. Multiple grabs are rotatably connected to the clamping seat. Each grab includes a bucket box, and the walls of the bucket box enclose an accommodating space. The sides of the bucket boxes of the multiple grabs that are opposite each other are open to form a working space for grabbing materials. The bottom surface of the bucket box is a scooping part. The bucket also includes a lever assembly, which includes a pry bar, a lever, and a first telescopic rod. The pry bar is partially housed in the accommodating space and abuts against the upper surface of the scooping part. A perforation is provided in the wall. One end of the pry bar protrudes through the perforation and is fixedly connected to one end of the lever. The perforation has sufficient clearance to allow the lever and pry bar to move freely within the clearance when the first telescopic rod extends or retracts. 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 bucket wall.

2. The gripping device according to claim 1, characterized in that, The clamping seat and the grab bucket are further rotatably connected by a linkage assembly, the linkage assembly including a second telescopic rod respectively disposed at both ends of the outer side of the clamping seat and an extension arm disposed between the clamping seat and the second telescopic rod; The second telescopic rods, located at both ends of the outer side of the clamping seat, are symmetrical about the center line of the gripping device. 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 of the bucket box on the side away from the open end. The other end of the extension arm is fixedly connected to the clamping seat.

3. The gripping device according to claim 2, characterized in that, The drive control unit includes a rotary drive control unit disposed between the base and the clamping seat, and a telescopic drive control unit disposed on the clamping seat; The rotary drive control unit controls the rotation of the clamping seat relative to the base, and the drive end of the telescopic drive control unit controls the telescopic ends of the first telescopic rod and the second telescopic rod to extend and retract.

4. The gripping device according to claim 3, characterized in that, The telescopic drive control unit is a hydraulic drive control unit, including: a hydraulic pump, a hydraulic cylinder or a hydraulic motor, and a hydraulic control line with control valves and sensors. The hydraulic pump outputs power and, under the control of the hydraulic control line, 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.

5. The gripping device according to claim 3, characterized in that, The rotary drive control unit includes: a steering unit fixedly disposed at the center position of the side of the clamping seat away from the grab bucket; a rotating hole is provided on the side of the steering unit away from the clamping seat; the rotating hole has an inverted T-shaped cross section in the vertical direction; a rotating block matching the shape of the rotating hole is rotatably disposed in the rotating hole; a base is fixedly disposed on the rotating block; and a power unit for driving the steering unit to rotate is disposed on the base.

6. The gripping device according to claim 5, characterized in that, The power unit includes a motor, a gear, and a gear ring. The motor is disposed in the base. The output shaft of the motor is fixedly connected to the gear. The gear meshes with the gear ring. The gear ring is fixedly sleeved on the outer periphery of the steering unit. A baffle is fixedly installed at the end of the motor's output shaft away from the base, and a retaining ring is fixedly installed on the motor's output shaft. The baffle and the retaining ring are respectively located on both sides of the gear.

7. The gripping device according to claim 6, characterized in that, The power unit is provided in two units, which are symmetrically arranged on both sides of the base with respect to the center line of the gripping device. The two drive control units share the same gear ring.

8. The gripping device according to claim 1, characterized in that, The angle A between the plane where the shovel is located and the wall of the bucket box on the side away from the open end is an obtuse angle of 100° to 145°.

9. The gripping device according to claim 8, characterized in that, The angle A between the plane where the shovel is located and the wall of the bucket box on the side away from the open end is 120°.

10. The gripping device according to claim 1, characterized in that, The outer edge of the open end of the bucket box is provided with anti-slip teeth, and the outer edge of the shovel part is provided with shovel teeth.

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