Connecting joint, adaptive gripper mechanism and grasping device

Abstract

The present invention discloses a connecting joint, an adaptive jaw mechanism and a grasping device. Among them, the connecting joint includes a first element, a second element and a third element. The second element is rotatably connected to the first element around a first reference axis X, and the third element is rotatably connected to the second element around a second reference axis Y. Wherein, the first element and the third element are spaced apart, and in the direction of the line connecting the first element and the third element, the projection coincidence point of the first reference axis X and the second reference axis Y is located in the projection area of the first element or the third element. By the above method, the present invention can enable two objects connected by the connecting joint to swing relative to each other, thereby achieving the purpose of flexible connection.

Description

Technical Field

[0001] The present invention belongs to the technical field of automation equipment, and particularly relates to a connection joint, an adaptive gripper mechanism and a grasping device. Background Art

[0002] Currently, the grasping component is rigidly connected to the driving end of the driver. When grasping a product with an irregular shape, such as an ellipsoidal shape, due to inaccurate product positioning, the existing grasping component cannot accurately align with the area to be clamped of the product, resulting in a low grasping success rate. Summary of the Invention

[0003] The main technical problem to be solved by the present invention is to provide a connection joint, an adaptive gripper mechanism and a grasping device, which can achieve the purpose of flexible connection.

[0004] To solve the above technical problem, one technical solution adopted by the present invention is:

[0005] Provide a connection joint, comprising:

[0006] A first element;

[0007] A second element, which is rotatably connected to the first element around a first reference axis X;

[0008] A third element, which is rotatably connected to the second element around a second reference axis Y;

[0009] Wherein, the first element and the third element are spaced apart, and in the direction of the line connecting the first element and the third element, the projection coincidence point of the first reference axis X and the second reference axis Y is located in the projection area of the first element or the third element.

[0010] Further, a groove is formed on the side of the first element facing the third element;

[0011] The second element is accommodated in the groove;

[0012] A fourth element is fixed on the third element, and the fourth element is inserted into the groove and is rotatably connected to the second element around the second reference axis Y.

[0013] Further, it comprises:

[0014] Two first rotating shafts, which are respectively arranged on both sides of the second element. One end of each first rotating shaft is rotatably inserted into one of the first element and the second element around its own axis, and the other end is fixed to or rotatably inserted into the other of the first element and the second element;

[0015] Wherein, the axis of each first rotating shaft is the first reference axis X.

[0016] Furthermore, the connection end of the fourth component and the second component is in a "concave" shape, having two spaced side plates, and the two side plates are respectively arranged on both sides of the second component;

[0017] The connection joint includes:

[0018] Two second rotating shafts, the two second rotating shafts correspond to the two side plates one by one. One end of each second rotating shaft is rotatably inserted around its own axis into one of the second component and the corresponding side plate, and the other end is fixed to or rotatably inserted into the other of the second component and the corresponding side plate;

[0019] Wherein, the axis of each second rotating shaft is the second reference axis Y.

[0020] Furthermore, it includes:

[0021] A first elastic member, and the first elastic member elastically supports between the first component and the third component around the fourth component.

[0022] Furthermore, it includes:

[0023] A limiting rod, and the limiting rod is arranged on the side surface of the third component facing the first component, extends towards the first component, and protrudes from the first component.

[0024] Furthermore, the first reference axis X and the second reference axis Y are in the same plane.

[0025] Furthermore, the first reference axis X is perpendicular to the second reference axis Y.

[0026] To solve the above technical problems, another technical solution adopted by the present invention is:

[0027] Provide an adaptive gripper mechanism, including:

[0028] A first driving assembly, the first driving assembly includes a first driving body and a moving unit, and the moving unit can move relative to the first driving body;

[0029] The above-mentioned connection joint, and the first component in the connection joint is connected to the moving unit;

[0030] A grasping assembly, the grasping assembly is fixed to the third component in the connection joint and is used for grasping products.

[0031] Furthermore, it includes:

[0032] A fifth component, and the fifth component is movably connected to the moving unit in a reference direction;

[0033] A second driving assembly, and the second driving assembly is used to drive the fifth component to move;

[0034] Among them, the first element in the connecting joint is fixedly connected to the fifth element and is located between the moving unit and the third element in the reference direction.

[0035] Furthermore, the second driving assembly includes:

[0036] A second driving body, which is fixed to the moving unit;

[0037] A second movable part, which can move relative to the second driving body along the reference direction and is spaced from the fifth element in the reference direction;

[0038] A connecting unit, which is connected between the second movable part and the fifth element so that the second movable part and the fifth element can be elastically folded together.

[0039] Furthermore, the connecting unit includes:

[0040] A guide rod, which is fixed to the second movable part and extends in the reference direction, penetrates at least a part of the fifth element, and is movable relative to the fifth element;

[0041] A limiting block, which is fixed to one end of the guide rod facing away from the second movable part and is used to abut against the penetrated part of the fifth element;

[0042] A second elastic member, which is clamped between the second movable part and the fifth element.

[0043] To solve the above technical problems, another technical solution adopted by the present invention is:

[0044] Provide a grasping device, including:

[0045] A third driving assembly, which includes a third driving body and a third movable part, and the third movable part can move relative to the third driving body;

[0046] At least one of the above-mentioned adaptive jaw mechanisms, and the first driving body in each adaptive jaw mechanism is fixed to the third movable part;

[0047] A detection element, which is fixed to the third movable part and is used to detect the position of the product to be clamped.

[0048] The beneficial effects of the present invention are:

[0049] Different from the prior art, in the present invention, the connecting joint includes a first element, a second element and a third element. The second element is rotatably connected to the first element around the first reference axis X, and the third element is rotatably connected to the second element around the second reference axis Y. The first element and the third element can swing relative to each other, so that two objects connected by the connecting joint can swing relative to each other, thereby achieving the purpose of flexible connection.

[0050] In the adaptive gripper mechanism, the grasping component is connected to the driving end of the driver through a connecting joint, and can adaptively align with the area to be gripped of the product when grasping the product, thereby improving the success rate of grasping the product. Brief Description of the Drawings

[0051] Figure 1 is a schematic structural diagram of the adaptive gripper mechanism in the first embodiment of the present application;

[0052] Figure 2 is the front view of the connecting joint in the first embodiment of the present application;

[0053] Figure 3 is Figure 2 the A-A cross-sectional view in

[0054] Figure 4 is Figure 2 the B-B cross-sectional view in

[0055] Figure 5 is a schematic structural diagram of the grasping device in the first embodiment of the present application;

[0056] Figure 6 is a schematic structural diagram of the adaptive gripper mechanism in the second embodiment of the present application;

[0057] Figure 7 is a schematic cross-sectional structure diagram of the connecting joint in the second embodiment of the present application;

[0058] Figure 8 is Figure 7 the top view of

[0059] Figure 9 is Figure 7 the C-C cross-sectional view in

[0060] Figure 10 is Figure 7 the D-D cross-sectional view in

[0061] In the figure, 1000. Adaptive gripper mechanism;

[0062] 100. First driving component, 110. First driving body, 120. Moving unit, 121. First moving part, 122. Sixth element, 123. Seventh element;

[0063] 200. Grasping component, 210. Jaw cylinder, 220. Jaw;

[0064] 300. Connecting joint, 310. First element, 311. Groove, 312. First hole, 320. Second element, 321. Second hole, 330. Third element, 331. Mounting hole, 340. Fourth element, 341. Side plate, 350. First elastic member, 360. First rotating shaft, 370. Second rotating shaft, 380. Limiting rod;

[0065] 400. Second driving assembly, 410. Second driving body, 420. Second movable member, 430. Connecting unit, 431. Guide rod, 432. Second elastic member, 433. Limiting block;

[0066] 500. Fifth element;

[0067] 10000. Gripping device, 2000. Detection element, 3000. Third driving assembly, 3100. Third driving

[0068] body, 3200. Third movable member;

[0069] 600. Connecting joint, 610. First element, 611. Groove, 620. Second element, 630. Third element, 631. Groove, 640. First rotating shaft, 650. Second rotating shaft, 660. First elastic member, 670. Limiting rod;

[0070] 700. Second driving assembly, 710. Second driving body, 720. Second movable member, 730. Connecting unit, 731. Guide rod, 732. Second elastic member, 733. Limiting block. Detailed implementation manner

[0071] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0072] This application provides a connecting joint, including a first element, a second element and a third element. The second element is rotatably connected to the first element around a first reference axis X, and the third element is rotatably connected to the second element around a second reference axis Y. Among them, the first element and the third element are arranged at intervals. In the direction of the connection line between the first element and the third element, the projection coincidence point of the first reference axis X and the second reference axis Y is located in the projection area of the first element or the third element.

[0073] The present application also provides an adaptive gripper mechanism, comprising a first drive component, the above-mentioned connecting joint and a grasping component, wherein the first drive component comprises a first drive body and a moving unit, the moving unit can move relative to the first drive body, the first element in the connecting joint is connected to the moving unit, and the grasping component is fixed to the third element in the connecting joint for grasping the product.

[0074] The present application also provides a gripping device, including a third drive component, at least one of the above-mentioned adaptive clamping mechanisms and a detection element. The third drive component includes: a third drive body and a third movable part. The third movable part can move relative to the third drive body. The first drive body in each adaptive clamping mechanism is fixed to the third movable part. The detection element is fixed to the third movable part for detecting the position of the product to be clamped.

[0075] The connecting joint, adaptive clamping mechanism and grasping device provided by the present application are described in detail below in conjunction with the embodiments.

[0076] Embodiment 1:

[0077] See also Figure 1 , Figure 1 It is a structural schematic diagram of the adaptive clamping mechanism in Example 1 of the present application.

[0078] like Figure 1 As shown, an adaptive gripper mechanism 1000 includes a first driving assembly 100 , a connecting joint 300 and a gripping assembly 200 .

[0079] The first driving assembly 100 includes a first driving body 110 and a moving unit 120, and the moving unit 120 can move relative to the first driving body 110. The grabbing assembly 200 is connected to the moving unit 120 via a connecting joint 300 (a fifth element 500 is connected between the connecting joint 300 and the moving unit 120, see below for details), and is used to grab products.

[0080] When the moving unit 120 moves relative to the first driving body 110, the grabbing assembly 200 is driven to move, thereby approaching or moving away from the product to be grabbed. The connecting joint 300 can change its shape so that the grabbing assembly 200 can swing relative to the moving unit 120, so that the grabbing assembly 200 can adaptively align with the clamping area of ​​the product to be grabbed, thereby improving the success rate of grabbing.

[0081] The gripping assembly 200 may include a gripping cylinder 210 and a plurality of gripping claws 220. The gripping cylinder 210 is fixed to the connection joint 300, and the plurality of gripping claws 220 are connected to the output end of the gripping cylinder 210, and are contracted or expanded under the drive of the gripping cylinder 210 to grip the product. The gripping assembly 200 is prior art and will not be described in detail herein.

[0082] The specific structure of the connection joint 300 will be introduced in detail below.

[0083] Please refer to Figures 2 to 4 , Figure 2 which is the front view of the connection joint in the first embodiment of the present application, Figure 3 and Figure 2 is the A-A cross-sectional view in Figure 4 and Figure 2 is the B-B cross-sectional view in

[0084] As Figures 2 to 4 shown, the connection joint 300 includes a first element 310, a second element 320, and a third element 330. The second element 320 is rotatably connected to the first element 310 about a first reference axis X, and the third element 330 is rotatably connected to the second element 320 about a second reference axis Y. Among them, the first element 310 and the third element 330 are spaced apart. In the direction of the line connecting the first element 310 and the third element 330 ( Figure 3 vertically in

[0085] ), the projection coincidence point of the first reference axis X and the second reference axis Y is located in the projection area of the first element 310 or the third element 330. The first element 310 is connected to the moving unit 120, and the third element 330 is fixedly connected to the grasping assembly 200.

[0086] The relative rotation between the first element 310 and the third element 330 about the first reference axis X and / or the second reference axis Y is realized through the second element 320, so that the grasping assembly 200 can rotate relative to the moving unit 120 about the first reference axis X and / or the second reference axis Y.

[0087] In this embodiment, when the first element 310 and the third element 330 rotate relative to each other, the rotation range (angle) is limited by the gap between them. By limiting each other, the relative rotation range between them is defined.

[0088] The larger the gap between the first element 310 and the third element 330, the larger the rotatable range. By adjusting the size of the gap, the relative rotation range between them can be adjusted. Specifically, a plurality of gaskets can be provided between the first element 310 and the third element 330. The plurality of gaskets are stacked in the direction of the line connecting the first element 310 and the third element 330. By increasing or decreasing the number of gaskets, the size of the gap between the first element 310 and the third element 330 can be adjusted. In this embodiment, there is no need to separately provide a limiting structure to define the relative rotation range between the first element 310 and the third element 330, which simplifies the structure of the connection joint 300.

[0089] The second element 320 has a certain volume. If it is clamped between the first element 310 and the third element 330, the minimum gap between the first element 310 and the third element 330 will be limited. For this reason, a groove 311 is formed on the side of the first element 310 facing the third element 330. The second element 320 is received in the groove 311. A fourth element 340 is fixedly provided on the third element 330. The fourth element 340 is inserted into the groove 311 and is rotatably connected to the second element 320 about the second reference axis Y.

[0090] Specifically, the groove 311 penetrates through the first element 310 so that the volume of the groove 311 is maximized.

[0091] By receiving the second element 320 in the groove 311, the influence of the second element 320 on the minimum gap between the first element 310 and the third element 330 is avoided. At the same time, the structure of the connection joint 300 is made more compact.

[0092] In other embodiments, a groove may also be formed on the surface of the third element 330 facing the first element 310 to receive the second element 320. Or, a groove is formed on the side of the first element 310 facing the third element 330 and a groove is also formed on the surface of the third element 330 facing the first element 310 to receive the second element 320 (see Embodiment 2).

[0093] Specifically, the connection manner between the third element 330 and the fourth element 340 is as follows:

[0094] The third element 330 is provided with a through mounting hole 331. The fourth element 340 is embedded in the third element 330 through the mounting hole 331, and a part thereof abuts against the side of the third element 330 facing away from the first element 310. By this means, the protrusion on the outer periphery of the fourth element 340 on the side of the third element 330 facing the first element 310 is avoided due to the fixing structure of the fourth element 340, thereby avoiding affecting the gap between the first element 310 and the third element 330. At the same time, this fixing manner also facilitates the machining and assembly of the third element 330 and the fourth element 340.

[0095] In this embodiment, the specific manner in which the second element 320 is rotatably connected to the first element 310 about the first reference axis X is as follows:

[0096] The connection joint 300 further includes two first rotating shafts 360. The two first rotating shafts 360 are respectively arranged on both sides of the second element 320. One end of each first rotating shaft 360 is rotatably inserted into one of the second element 320 and the first element 310 about its own axis, and the other end is fixed to or rotatably inserted into the other of the second element 320 and the first element 310. Wherein, the axis of each first rotating shaft 360 is the first reference axis X.

[0097] The above connection methods include the following situations:

[0098] One end of the first rotating shaft 360 is rotatably inserted into the second element 320 around its own axis, and the other end is fixed to the first element 310; or

[0099] One end of the first rotating shaft 360 is rotatably inserted into the first element 310 around its own axis, and the other end is fixed to the second element 320; or

[0100] One end of the first rotating shaft 360 is rotatably inserted into the second element 320 around its own axis, and the other end is rotatably inserted into the first element 310.

[0101] The two first rotating shafts 360 can be regarded as two independent parts, or can be regarded as two parts in a whole. In this embodiment, the two first rotating shafts 360 are two independent parts.

[0102] For the convenience of assembling the first rotating shaft 360, more specifically, a first hole 312 is formed on the first element 310. The axis of the first hole 312 is the first reference axis X. The first hole 312 communicates with the groove 311 and the outside. A second hole 321 is formed on the second element 320. The axis of the second hole is the first reference axis X, corresponding to the first hole 312. One end of the first rotating shaft 360 is accommodated in the first hole 312, and the other end is accommodated in the second hole 321. During assembly, first place the second element 320 in the groove 311 and make the second hole 321 correspond to the first hole 312, and then insert the first rotating shaft 360 into the first hole 312 and the second hole 321 successively from the outside of the first element 310.

[0103] To prevent the first rotating shaft 360 from moving in the first hole 312, it can be fixed to the first element 310. For example, an external thread is provided on the first rotating shaft 360, and a corresponding internal thread is provided in the first hole 312, and the first rotating shaft 360 is threadedly connected to the first element 310.

[0104] In this embodiment, the specific method for the fourth element 340 to be rotatably connected to the second element 320 around the second reference axis Y is as follows:

[0105] The connection end of the fourth element 340 and the second element 320 is in a "concave" shape, having two spaced side plates 341, and the two side plates 341 are respectively disposed on both sides of the second element 320. The connection joint 300 further includes two second rotating shafts 370, and the two second rotating shafts 370 correspond to the two side plates 341 one by one. One end of each second rotating shaft 370 is rotatably inserted around its own axis into one of the second element 320 and the corresponding side plate 341, and the other end is fixed to or rotatably inserted into the other of the second element 320 and the corresponding side plate 341. Wherein, the axis of each second rotating shaft 370 is the second reference axis Y.

[0106] For the remaining part, reference can be made to the specific manner of connecting the second element 320 and the first element 310 as described above, and details will not be repeated here.

[0107] In order to add a certain damping to the grasping assembly 200, the connection joint 300 further includes a first elastic member 350, and the first elastic member 350 is elastically supported between the first element 310 and the third element 330 around the fourth element 340. In this way, the grasping assembly 200 will not swing significantly in the state of not grasping the product, and the grasping assembly 200 can be made to more easily align with the product to be clamped.

[0108] In this embodiment, a plurality of first elastic members 350 are provided. The plurality of first elastic members 350 are arranged around the fourth element 340 at intervals, and the first elastic member 350 is a spring.

[0109] To make the structure of the connection joint 300 more compact, the first reference axis X and the second reference axis Y are located in the same plane.

[0110] To maximize the relative rotation range between the first element 310 and the third element 330, the first reference axis X is perpendicular to the second reference axis Y.

[0111] Please refer to Figure 1 , in order to enable the grasping assembly 200 and the moving unit 120 to switch between two connection states of flexible connection and rigid connection, the adaptive gripper mechanism 1000 further includes a fifth element 500 and a second driving assembly 400. The connection joint 300 further includes a limiting rod 380. Among them, when in flexible connection, the grasping assembly 200 can swing relative to the moving unit 120, and when in rigid connection, it cannot swing.

[0112] The fifth element 500 is in a reference direction ( Figure 1vertically) is movably connected to the moving unit 120, and the second driving component 400 is used to drive the fifth element 500 to move. Among them, the first element 310 in the connecting joint 300 is fixedly connected to the fifth element 500 and is located between the moving unit 120 and the third element 330 in the reference direction. The limiting rod 380 is arranged on the side surface of the third element 330 facing the first element 310, extends toward the first element 310, and protrudes from the first element 310.

[0113] When the end of the limiting rod 380 ( Figure 1 the top in) is spaced from the moving unit 120, the grasping component 200 and the moving unit 120 are in a flexible connection state. When the second driving component 400 drives the fifth element 500 to move, driving the connecting joint 300 to approach the moving unit 120 until the end of the limiting rod 380 abuts against the moving unit 120, the grasping component 200 and the moving unit 120 are in a rigid connection state.

[0114] Before grasping the product, the grasping component 200 and the moving unit 120 are in a flexible connection state. After grasping the product, the second driving component 400 acts, so that the grasping component 200 and the moving unit 120 are in a rigid connection state, facilitating subsequent processing of the product.

[0115] In this embodiment, the moving unit 120 includes a first movable member 121, a sixth element 122, and a seventh element 123.

[0116] The first movable member 121 can move relative to the first driving body 110. The first movable member 121 and the first driving body 110 as a whole can form a cylinder or a motor lead screw nut group. When forming a cylinder, the first movable member 121 is the piston rod and the first driving body 110 is the cylinder block.

[0117] The sixth element 122 is fixed on the first movable member 121 to facilitate the installation of the fifth element 500. The fifth element 500 and the sixth element 122 can be slidably connected through a linear guide slider structure.

[0118] The seventh element 123 is fixed on the first movable member 121 and can be in a flat plate shape for abutting against the limiting rod 380. Before grasping the product, the limiting rod 380 and the seventh element 123 are spaced apart, and the grasping component 200 can swing relative to the first movable member 121; after grasping the product, the second driving component 400 acts, so that the limiting rod 380 abuts against the seventh element 123, and the grasping component 200 is fixed relative to the first movable member 121, so that the grasping component 200 is in a predetermined orientation, and further the product grasped by the grasping component 200 is in a predetermined orientation, facilitating subsequent processing of the product.

[0119] In this embodiment, a plurality of limiting rods 380 are provided in the connecting joint 300. The plurality of limiting rods 380 are detachably arranged on the third element 330 and are arranged at intervals, and some of the limiting rods 380 penetrate through the first element 310. When the plurality of limiting rods 380 abut against the seventh element 123, the grasping assembly 200 and the moving unit 120 are in a rigid connection state.

[0120] To prevent the grasping assembly 200 from making hard contact with the product or the carrier for loading the product during the movement towards the product, the grasping assembly 200 can also float.

[0121] Specifically, the second driving assembly 400 includes a second driving body 410, a second moving part 420, and a connecting unit 430. The second driving body 410 is fixed to the moving unit 120 (the first moving part 121). The second moving part 420 can move relative to the second driving body 410 along a reference direction and is spaced from the fifth element 500 in the reference direction. The connecting unit 430 is connected between the second moving part 420 and the fifth element 500 so that the second moving part 420 and the fifth element 500 can be elastically closed.

[0122] The second driving body 410 and the second moving part 420 can form a cylinder as a whole. The second moving part 420 is a piston rod, and the second driving body 410 is a cylinder block.

[0123] Since the second moving part 420 and the fifth element 500 can be elastically closed, when the grasping assembly 200 encounters an obstacle, the grasping assembly 200 can move towards the moving unit 120 side, so that it can float.

[0124] Specifically, the connecting unit 430 includes a guide rod 431, a limiting block 433, and a second elastic member 432. The guide rod 431 is fixed to the second moving part 420 and extends in the reference direction, penetrates at least a part of the fifth element 500, and is movable relative to the fifth element 500. The limiting block 433 is fixed to one end of the guide rod 431 facing away from the second moving part 420 and is used to abut against the penetrated part of the fifth element 500. The second elastic member 432 is clamped between the second moving part 420 and the fifth element 500. The second elastic member 432 can be a spring.

[0125] Please refer to Figure 5 , Figure 5 which is a schematic structural diagram of the grasping device in the first embodiment of the present application.

[0126] As Figure 5As shown in the figure, the present application provides a grasping device 10000, which includes a third driving component 3000, at least one of the above-mentioned adaptive jaw mechanisms 1000, and a detection element 2000. The third driving component 3000 includes a third driving body 3100 and a third moving member 3200. The third moving member 3200 can move relative to the third driving body 3100. The first driving body 110 in each adaptive jaw mechanism 1000 is fixed to the third moving member 3200, and the detection element 2000 is fixed to the third moving member 3200 for detecting the position of the product to be grasped.

[0127] The third driving component 3000 can be a manipulator, and the detection element 2000 can be a vision detection system. Both the manipulator and the vision detection system are prior arts.

[0128] After the detection element 2000 detects the position of the product, the third driving component 3000 adjusts the position of the adaptive jaw mechanism 1000 and makes it grasp the product successively. Setting multiple adaptive jaw mechanisms 1000 can improve the efficiency of grasping the product.

[0129] Embodiment Two:

[0130] This embodiment mainly introduces the differences from Embodiment One. For the rest, please refer to Embodiment One. In addition, the same structural components as those in Embodiment One are labeled with the same reference numerals.

[0131] Please refer to Figure 6 , Figure 6 which is a schematic structural diagram of the adaptive jaw mechanism in the second embodiment of the present application.

[0132] As Figure 6 shown, an adaptive jaw mechanism 1000 includes a first driving component 100, a connecting joint 600, and a grasping component 200.

[0133] The first driving component 100 includes a first driving body 110 and a moving unit 120. The moving unit 120 can move relative to the first driving body 110. The grasping component 200 is connected to the moving unit 120 through the connecting joint 600 for grasping the product.

[0134] Please refer to Figures 7 to 10 , Figure 7 which is a schematic cross-sectional structure diagram of the connecting joint in the second embodiment of the present application, Figure 8 is Figure 7 the top view of Figure 9 is Figure 7 the C-C cross-sectional view of Figure 10 is Figure 7 the D-D cross-sectional view of

[0135] As Figures 7 to 10As shown, the connecting joint 600 includes a first element 610, a second element 620, and a third element 630.

[0136] The first element 610 and the third element 630 are spaced apart. A groove 611 is formed on the side surface of the first element 610 facing the third element 630, and a groove 631 is formed on the side surface of the third element 630 facing the first element 610. One end of the second element 620 is received in the groove 611, and the other end is received in the groove 631.

[0137] The portion of the second element 620 located in the groove 611 is rotatably connected to the first element 610 about a first reference axis X, and the portion of the second element 620 located in the groove 631 is rotatably connected to the third element 630 about a second reference axis Y.

[0138] Wherein, in the direction of the line connecting the first element 610 and the third element 630 ( Figure 7 vertically in the figure), the projection coincidence point of the first reference axis X and the second reference axis Y is located in the projection area of the first element 610 or the third element 630. The first element 610 is connected to the moving unit 120, and the third element 630 is fixedly connected to the grasping assembly 200.

[0139] Compared with the first embodiment, the second embodiment provides a connecting joint with another structure, so that the grasping assembly 200 can swing relative to the moving unit 120.

[0140] In this embodiment, the groove 611 penetrates the first element 610, and the groove 631 penetrates the third element 630. In other embodiments, it may not penetrate.

[0141] Specifically, the connection manner between the second element 620 and the first element 610 is as follows:

[0142] The connecting joint 600 further includes a first rotating shaft 640. The first rotating shaft 640 penetrates the portion of the second element 620 located in the groove 611 and is rotatable relative to the second element 620 about the axis of the first rotating shaft 640. Both ends of the first rotating shaft 640 are inserted into the first element 610. The axis of the first rotating shaft 640 is the first reference axis X.

[0143] Specifically, the connection manner between the second element 620 and the third element 630 is as follows:

[0144] The connecting joint 600 further includes a second rotating shaft 650. The second rotating shaft 650 penetrates the portion of the second element 620 located in the groove 631 and is rotatable relative to the second element 620 about the axis of the second rotating shaft 650. Both ends of the second rotating shaft 650 are inserted into the third element 630. The axis of the second rotating shaft 650 is the second reference axis Y.

[0145] To add a certain amount of damping to the grasping assembly 200, the connecting joint 600 further includes a first elastic member 660. The first elastic member 660 is an annular rubber member with elasticity. It is sleeved outside the second element 620 and clamped between the first element 610 and the third element 630.

[0146] Please refer to Figure 6 again. To enable the grasping assembly 200 and the moving unit 120 to switch between two connection states of flexible connection and rigid connection, the adaptive gripper mechanism 1000 further includes a fifth element 500 and a second driving assembly 700. The connecting joint 600 further includes a limiting rod 670.

[0147] The fifth element 500 is movably connected to the moving unit 120 in a reference direction ( Figure 6 the vertical direction in

[0148] ), and the second driving assembly 700 is used to drive the fifth element 500 to move. The second driving assembly 700 includes a second driving body 710, a second movable member 720, and a connecting unit 730. The second driving body 710 is fixed to the moving unit 120. The second movable member 720 can move relative to the second driving body 710 in the reference direction and is spaced from the fifth element 500 in the reference direction. The connecting unit 730 is connected between the second movable member 720 and the fifth element 500 so that the second movable member 720 and the fifth element 500 can be elastically closed.

[0149] The connecting unit 730 specifically includes a guide rod 731, a limiting block 733, and a second elastic member 732. The guide rod 731 is fixedly connected to the fifth element 500 and extends in the reference direction, penetrating at least a part of the second movable member 720 and being relatively movable with the second movable member 720. The limiting block 733 is fixed to one end of the guide rod 731 facing away from the fifth element 500 and is used to abut against the penetrated part of the second movable member 720. The second elastic member 732 is clamped between the second movable member 720 and the fifth element 500. The second elastic member 732 can be a spring.

[0150] Compared with the first embodiment, the second embodiment gives another implementation manner of the connecting unit.

[0151] This embodiment further provides a grasping device, and the grasping device includes at least one of the above-mentioned adaptive gripper mechanisms 1000.

[0152] In summary, those skilled in the art can easily understand that the present application has at least the following advantages:

[0153] The first element and the third element in the connecting joint can swing relative to each other, so that two objects connected by the connecting joint (the two objects are respectively fixed to the first element and the third element) swing relative to each other, thereby achieving the purpose of flexible connection.

[0154] In the adaptive gripper mechanism, the grasping component is connected to the driving end of the driver through a connecting joint, and can adaptively align with the area to be gripped of the product when grasping the product, thereby improving the success rate of grasping the product.

[0155] The above is only the implementation mode of this application, and does not limit the patent scope of this application. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of this application, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present invention.

Claims

1. An adaptive gripper mechanism, characterized in that, comprising: A first driving component, the first driving component includes a first driving body and a moving unit, and the moving unit can move relative to the first driving body; A connecting joint, including: A first element; A second element, the second element is rotatably connected to the first element about a first reference axis X; A third element, the third element is rotatably connected to the second element about a second reference axis Y; Wherein, the first element and the third element are arranged at intervals, and in the direction of the connection line between the first element and the third element, the projection coincidence point of the first reference axis X and the second reference axis Y is located in the projection area of the first element or the third element; The first element in the connecting joint is connected to the moving unit; A grasping component, the grasping component is fixed to the third element in the connecting joint for grasping products; The connecting joint further includes a limiting rod, the limiting rod is arranged on the side surface of the third element facing the first element, extends toward the first element side, and protrudes from the first element, and a plurality of limiting rods are provided; The adaptive gripper mechanism further includes: A fifth element, the fifth element is movably connected to the moving unit in a reference direction; A second driving component, the second driving component is used to drive the fifth element to move; Wherein, the first element in the connecting joint is fixedly connected to the fifth element and is located between the moving unit and the third element in the reference direction.

2. The adaptive gripper mechanism according to claim 1, characterized in that, A groove is formed on the side of the first element facing the third element; The second element is accommodated in the groove; A fourth element is fixedly provided on the third element, the fourth element is inserted into the groove, and is rotatably connected to the second element about the second reference axis Y.

3. The adaptive gripper mechanism according to claim 2, characterized in that, The connecting joint includes: Two first rotating shafts, the two first rotating shafts are respectively arranged on both sides of the second element, and one end of each first rotating shaft is rotatably inserted into one of the first element and the second element around its own axis, and the other end is fixed to or rotatably inserted into the other of the first element and the second element; Wherein, the axis of each first rotating shaft is the first reference axis X.

4. The adaptive gripper mechanism according to claim 2, characterized in that, The connection end of the fourth element and the second element is in a "concave" shape, having two spaced side plates, and the two side plates are respectively arranged on both sides of the second element; The connecting joint includes: Two second rotating shafts, the two second rotating shafts correspond to the two side plates one by one, and one end of each second rotating shaft is rotatably inserted into one of the second element and the corresponding side plate around its own axis, and the other end is fixed to or rotatably inserted into the other of the second element and the corresponding side plate; Wherein, the axis of each second rotating shaft is the second reference axis Y.

5. The adaptive gripper mechanism according to claim 2, wherein, the connection joint includes: a first elastic member, which is elastically supported between the first element and the third element around the fourth element.

6. The adaptive gripper mechanism according to claim 1, wherein, the first reference axis X and the second reference axis Y are in the same plane.

7. The adaptive gripper mechanism according to claim 1, wherein, the first reference axis X is perpendicular to the second reference axis Y.

8. The adaptive gripper mechanism according to claim 1, wherein, the second driving assembly includes: a second driving body, which is fixed to the moving unit; a second movable member, which can move relative to the second driving body along the reference direction and is spaced from the fifth element in the reference direction; a connecting unit, which is connected between the second movable member and the fifth element so that the second movable member and the fifth element can be elastically closed.

9. The adaptive gripper mechanism according to claim 8, wherein, the connecting unit includes: a guide rod, which is fixed to the second movable member and extends in the reference direction, penetrates at least a part of the fifth element, and is movable relative to the fifth element; a limit block, which is fixed to the end of the guide rod facing away from the second movable member and is used to abut against the penetrated part of the fifth element; a second elastic member, which is clamped between the second movable member and the fifth element.

10. A grasping device, wherein, it includes: a third driving assembly, which includes a third driving body and a third movable member, and the third movable member can move relative to the third driving body; at least one adaptive gripper mechanism according to any one of claims 1 to 9, and the first driving body in each adaptive gripper mechanism is fixed to the third movable member; a detection element, which is fixed to the third movable member and is used to detect the position of the product to be gripped.

Images