Gripper device and robot

Abstract

The present application relates to the technical field of automation equipment, and in particular to a gripper device and a robot, wherein the gripper device includes a mounting seat component and a finger component, wherein the finger component includes a plurality of finger joint components and a shell component connected to the mounting seat component, and a first drive component, a plurality of finger transmission components and a plurality of drive transmission components respectively arranged on the shell component. The drive transmission component and the finger transmission component are connected by a connecting mechanism. When the corresponding finger joint component is subjected to an external force, the connecting mechanism is switched from a first state to a second state, so that the drive transmission component and the finger transmission component are switched from a connected state to a sliding fit state, and the other finger joint components continue to move to grasp objects. In the second state, since the drive transmission component and the finger transmission component adopt a rolling fit, the power loss of rolling friction is smaller than that of sliding friction, which effectively improves the transmission efficiency and has the advantages of simple structure, stable transmission ratio and low production cost.

Description

Technical Field

[0001] The present application relates to the technical field of automation equipment, and in particular to a gripper device and a robot. Background Art

[0002] Currently, robotic grippers on the market are generally either fully driven or underdriven transmission structures such as friction plates and rope drives. In fully driven grippers, each joint is driven by a reduction motor (consisting of a motor and a reducer) to achieve the rotary grasping function of the knuckles. Multiple reduction motors are required for each joint. This type of gripper is complex to control, difficult to manufacture, and expensive to produce. Power is transmitted through friction plates and rope drives to achieve movement of the gripper knuckles. This method has low drive efficiency, unstable transmission, and requires adjustment of the friction plates and drive ropes after a period of use, which is cumbersome and inconvenient to operate.

[0003] Application Contents

[0004] The present application aims to solve at least one of the technical problems existing in the related art. To this end, the present application proposes a clamping device that effectively simplifies the structure of the clamping device, reduces production costs, and improves transmission efficiency.

[0005] This application also proposes a robot.

[0006] The clamping device according to the first embodiment of the present application includes:

[0007] Mounting seat components;

[0008] The finger component includes a shell component and multiple finger joint components connected to the mounting seat component, and a first drive component, multiple finger transmission components and multiple drive transmission components respectively arranged on the shell component; the finger transmission component is connected to the corresponding finger joint component and the drive transmission component, and at least one drive transmission component is connected to the corresponding finger transmission component through a connecting mechanism, at least one drive transmission component or at least one finger transmission component is provided with a connecting mechanism, and the first drive component is connected to the drive transmission component; the connecting mechanism is suitable for switching between a first state and a second state, in the first state, the drive transmission component is connected to the corresponding finger transmission component through the connecting mechanism; in the second state, the drive transmission component drives the connecting mechanism and the corresponding finger transmission component to roll and cooperate.

[0009] According to the gripper device of the present application, a connecting mechanism connects the drive transmission assembly and the finger transmission assembly. When the corresponding finger joint assembly is subjected to an external force, the connecting mechanism switches from a first state to a second state, causing the drive transmission assembly and the finger transmission assembly to switch from a connected state to a sliding engagement state, while the other finger joint assemblies continue to move to grasp objects. In the second state, because the drive transmission assembly and the finger transmission assembly adopt a rolling engagement, the power loss caused by rolling friction is smaller than that caused by sliding friction, effectively improving transmission efficiency. This has the advantages of a simple structure, a stable transmission ratio, and low production costs.

[0010] According to one embodiment of the present application, the clamping device includes:

[0011] A first finger joint assembly includes a floating rocker arm, wherein a first end of the floating rocker arm is connected to the corresponding finger transmission assembly;

[0012] The second finger joint assembly is connected to the second end of the floating rocker arm and the corresponding finger transmission assembly.

[0013] According to one embodiment of the present application, the second finger joint assembly includes:

[0014] a first rocker arm, wherein a first end of the first rocker arm is connected to the corresponding finger transmission assembly;

[0015] a first connecting rod, wherein a first end of the first connecting rod is rotatably engaged with a second end of the first rocker arm;

[0016] The finger mechanism is respectively rotatably matched with the second end of the floating rocker arm and the second end of the first connecting rod.

[0017] According to one embodiment of the present application, the finger component includes:

[0018] a first finger transmission assembly, comprising a first rotating shaft, a first bevel gear, a fixed bevel gear, and a transmission shaft, wherein the first rotating shaft is rotationally engaged with the housing assembly and connected to the first bevel gear and the corresponding drive transmission assembly; the transmission shaft is rotationally engaged with the housing assembly, a first end of the transmission shaft is connected to the fixed bevel gear, a middle portion of the transmission shaft is connected to the first end of the first rocker arm, and the fixed bevel gear is meshed with the first bevel gear;

[0019] The second finger transmission assembly is spaced apart from the first finger transmission assembly, and the second finger transmission assembly is rotationally engaged with the second end of the transmission shaft.

[0020] According to one embodiment of the present application, the second finger transmission assembly includes:

[0021] a second rotating shaft, rotatably engaged with the housing assembly and the corresponding drive transmission assembly, wherein a rotating disk is formed on the outer periphery of the second rotating shaft;

[0022] a second bevel gear connected to the second rotating shaft;

[0023] The floating bevel gear is rotatably sleeved on the second end of the transmission shaft and meshes with the second bevel gear. The first end of the floating rocker arm is connected to the floating bevel gear.

[0024] According to one embodiment of the present application, the finger component includes:

[0025] A first drive transmission assembly includes a first gear connected to the first rotating shaft;

[0026] The second drive transmission assembly includes a second gear, which is rotatably mounted on the outer periphery of the second rotating shaft, and is engaged with the first gear. The connecting mechanism is arranged on the second gear; in the first state, the connecting mechanism is connected to the turntable; in the second state, the connecting mechanism and the turntable are in rolling engagement.

[0027] According to one embodiment of the present application, the connecting mechanism includes:

[0028] The ball plunger is connected to the second gear, and a groove is provided on the side of the turntable facing the second gear. In the first state, the ball head of the ball plunger is embedded in the groove; in the second state, the ball head of the ball plunger is in rolling engagement with the turntable.

[0029] According to one embodiment of the present application, the connecting mechanism includes two ball plungers, the second gear is provided with two mounting holes, the two mounting holes are symmetrical about the rotation axis of the second gear, and the two ball plungers are embedded in the mounting holes one by one.

[0030] According to one embodiment of the present application, the first driving assembly includes:

[0031] The first driving motor is connected to the housing assembly. The rotating shaft of the first driving motor is provided with a first driving gear, and the first driving gear is meshed with the second gear.

[0032] According to one embodiment of the present application, the finger component further includes:

[0033] An angle rotation detection component is connected to at least one of the fixed bevel gear and / or the floating bevel gear, and the angle rotation detection component is suitable for detecting the rotation angle of the fixed bevel gear and / or the floating bevel gear.

[0034] According to one embodiment of the present application, the clamping device includes:

[0035] a first finger component, the housing assembly of the first finger component being connected to the mounting seat assembly;

[0036] a second finger component, wherein the housing assembly of the second finger component is rotatably engaged with the mounting seat component;

[0037] a third finger component, wherein the housing assembly of the third finger component is rotatably engaged with the mounting seat component;

[0038] a transmission component, connected to the housing components of the second finger component and the third finger component respectively, and rotatably engaged with the mounting seat component;

[0039] The finger driving component is connected to the mounting seat component and the transmission component respectively, and the finger driving component is suitable for driving the second finger component and the third finger component to rotate.

[0040] According to one embodiment of the present application, the transmission component includes:

[0041] a second driving gear connected to the finger driving component;

[0042] a first rotational axis connected to the housing assembly of the second finger component and rotatably engaged with the mounting seat component;

[0043] a second rotation axis connected to the housing assembly of the third finger component and rotatably engaged with the mounting seat component;

[0044] a first driven gear connected to the first rotating shaft and meshing with the second driving gear;

[0045] The second driven gear is connected to the second rotating shaft and meshes with the second driving gear.

[0046] A robot according to an embodiment of the second aspect of the present application comprises a robot body and the gripping device described in any one of the above items, wherein the robot body is connected to the mounting seat component.

[0047] The above one or more technical solutions in the embodiments of the present application have at least one of the following technical effects:

[0048] According to the gripper device of the present application, a connecting mechanism connects the drive transmission assembly and the finger transmission assembly. When the corresponding finger joint assembly is subjected to an external force, the connecting mechanism switches from a first state to a second state, causing the drive transmission assembly and the finger transmission assembly to switch from a connected state to a sliding engagement state, while the other finger joint assemblies continue to move to grasp objects. In the second state, because the drive transmission assembly and the finger transmission assembly adopt a rolling engagement, the power loss caused by rolling friction is smaller than that caused by sliding friction, effectively improving transmission efficiency. This has the advantages of a simple structure, a stable transmission ratio, and low production costs.

[0049] Furthermore, by using the above-mentioned gripper device, the structure of the robot is simplified, maintenance is facilitated, the energy consumption and production cost of the robot are reduced, and the product competitiveness of the robot is enhanced.

[0050] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0052] Figure 1 is a schematic diagram of the three-dimensional structure of the clamping device provided in an embodiment of the present application;

[0053] Figure 2 is a side structural schematic diagram of the clamping device provided in an embodiment of the present application;

[0054] Figure 3 is a schematic diagram of the three-dimensional structure of the finger component provided in an embodiment of the present application;

[0055] Figure 4 is a schematic cross-sectional structural diagram of a finger component provided in an embodiment of the present application;

[0056] Figure 5 1 is a schematic cross-sectional structural diagram of a first drive transmission assembly, a second drive transmission assembly, a first finger transmission assembly, and a second finger transmission assembly provided in an embodiment of the present application;

[0057] Figure 6 It is a schematic diagram of the main cross-sectional structure of the clamping device provided in an embodiment of the present application.

[0058] Reference numerals:

[0059] 100, mounting seat component; 110, first mounting seat assembly; 120, second mounting seat assembly; 121, bearing; 200, finger component; 210, finger assembly; 211, floating rocker; 212, first rocker; 213, first connecting rod; 214, connecting member; 215, finger body; 220, housing assembly; 221, first housing; 222, second housing; 223, third housing; 224, fourth housing; 230, first drive assembly; 231, first drive motor; 232, first driving gear; 233, motor fixing hoop; 234, motor mounting plate; 240, first finger transmission assembly; 241, first rotating shaft; 242, first bevel gear; 243, fixed bevel gear; 244, transmission shaft; 250, second finger transmission assembly; 25 1. Second rotating shaft; 252. Second bevel gear; 253. Floating bevel gear; 254. Turntable; 255. Groove; 260. First drive transmission assembly; 261. First gear; 270. Second drive transmission assembly; 271. Second gear; 280. Connecting mechanism; 281. Ball plunger; 290. Third bevel gear; 291. First rotary encoder; 292. Fourth bevel gear; 293. Second rotary encoder; 300. First finger component; 400. Second finger component; 500. Third finger component; 600. Transmission component; 610. Second driving gear; 620. First rotating shaft; 630. Second rotating shaft; 631. Connecting ring; 640. First driven gear; 650. Second driven gear; 700. Finger driving component; 710. Driving circuit board. DETAILED DESCRIPTION

[0060] The following embodiments of the present invention are described in further detail with reference to the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0061] In the description of the embodiments of the present application, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the embodiments of the present application. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0062] In the description of the embodiments of this application, it should be noted that, unless otherwise specified or limited, the terms "connected" and "connection" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium. Those skilled in the art will understand the specific meanings of the above terms in the embodiments of this application based on the specific circumstances.

[0063] In the embodiments of the present application, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, a first feature being "above," "above," and "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0064] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiments of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples, unless they are contradictory.

[0065] Figure 1 The three-dimensional structural diagram of the clamping device provided in the embodiment of the present application is illustrated. Figure 2 The side view of the clamping device provided in the embodiment of the present application is illustrated. Figure 3 The three-dimensional structure diagram of the finger component provided in the embodiment of the present application is illustrated as follows: Figure 1 、 Figure 2 and Figure 3As shown, the gripper device includes a mounting base component 100 and a finger component 200. The mounting base component 100 is used to provide a mounting base for the finger component 200, thereby integrating the multiple finger components 200. The finger component 200 includes a housing component 220 connected to the mounting base component 100 and multiple finger joint components, as well as a first drive component 230, multiple finger transmission components, and multiple drive transmission components respectively provided on the housing component 220. The finger transmission components are connected to the corresponding finger joint components and drive transmission components. At least one drive transmission component or at least one finger transmission component is provided with a connecting mechanism 280, and the first drive component 230 is connected to the drive transmission component. The connecting mechanism 280 is adapted to switch between a first state and a second state. In the first state, the drive transmission component is connected to the corresponding finger transmission component via the connecting mechanism 280. In the second state, the drive transmission component drives the connecting mechanism 280 to roll with the corresponding finger transmission component.

[0066] According to the gripper device of the present application, a connecting mechanism 280 connects the drive transmission assembly and the finger transmission assembly. When the corresponding finger joint assembly is subjected to an external force, the connecting mechanism 280 switches from a first state to a second state, causing the drive transmission assembly and the finger transmission assembly to switch from a connected state to a sliding engagement state, while the other finger joint assemblies continue to move to grasp objects. In the second state, because the drive transmission assembly and the finger transmission assembly adopt a rolling engagement, the power loss caused by rolling friction is smaller than that caused by sliding friction, effectively improving transmission efficiency. This has the advantages of a simple structure, a stable transmission ratio, and low production costs.

[0067] It is also understandable that if Figure 1 As shown, the mounting seat component 100 includes a first mounting seat assembly 110 and a second mounting seat assembly 120. The first mounting seat assembly 110 and the second mounting seat assembly 120 are spaced apart from each other. The gap between the first mounting seat assembly 110 and the second mounting seat assembly 120 provides installation space for the finger component 200. Of course, the specific structure of the mounting seat component 100 is not limited to a structure with two mounting seat assemblies. Only one mounting seat assembly can also be provided. The specific structure is determined by the structure and number of the finger components 200.

[0068] It is also understandable that if Figure 1As shown, a first cavity is formed within the first mounting base assembly 110 to provide mounting space for the driver circuit board 710 of the second drive motor. To facilitate maintenance of the driver circuit board 710, the first mounting base assembly 110 is removable. The first mounting base assembly 110 includes a first main housing and a first cover. The first cavity is located within the first main housing. A first opening is formed on the side of the first main housing facing the second mounting base assembly 120. The first cover is engaged with the first opening and is removably connected to the first main housing.

[0069] In this embodiment, the first cover plate is connected to the first main housing via screws. However, the first cover plate and the first main housing may also be connected using snap fasteners or other removable connection methods. In this embodiment, since some finger components 200 need to rotate, the first cover plate is a flat plate to avoid affecting the rotating finger components 200. The specific structure of the first cover plate is not limited to this and is determined by the configuration of the finger components 200.

[0070] It is also understandable that if Figure 1 As shown, the second mounting base assembly 120 has a second cavity within it, which is suitable for providing installation space for the transmission component 600 and the finger-actuating component 700. To facilitate maintenance of the transmission component 600 and the finger-actuating component 700, the second mounting base assembly 120 adopts a removable structure. The second mounting base assembly 120 includes a second main housing and a second cover. The second cavity is located within the second main housing. A second opening is formed on the side of the second main housing facing away from the first mounting base assembly 110. The second cover covers the second opening and is removably connected to the second main housing.

[0071] In this embodiment, the second cover is connected to the second main housing via screws. Of course, the first cover can also be connected to the first main housing using snaps or other detachable connection methods. The second opening is located on the side of the second main housing facing away from the first mounting seat assembly 110. When maintaining the transmission component 600 and the finger drive component 700, there is no need to remove the finger component 200. Simply opening the second cover allows direct access to the transmission component 600 and the finger drive component 700, further simplifying maintenance of the transmission component 600 and the finger drive component 700. The second cover is a flat plate, with the side of the second cover facing away from the first mounting seat assembly 110 being flat. This facilitates cooperating with the finger body 215 to clamp objects, improving the stability of the gripping mechanism.

[0072] It is also understood that finger assembly 210 includes a first finger joint assembly and a second finger joint assembly. The first finger joint assembly includes a floating rocker 211. The first end of the floating rocker 211 is connected to the corresponding finger transmission assembly, that is, the first end of the floating rocker 211 is connected to the second finger transmission assembly 250, that is, the first end of the floating rocker 211 is connected to the floating bevel gear 253. The second finger joint assembly is connected to the second end of the floating rocker 211 and the corresponding finger transmission assembly. In this embodiment, two floating rockers 211 are provided, and the two floating rockers 211 are arranged parallel and spaced apart. The gap between the two floating rockers 211 provides installation space for the first rocker 212, thereby improving the compactness of the finger assembly 210.

[0073] It should be noted here that the number of knuckle assemblies of the finger assembly 210 is not limited to two, but can also be three, four or more. The number of knuckle assemblies is the same as the number of finger transmission assemblies and the number of drive transmission assemblies to ensure that each knuckle assembly can be controlled individually.

[0074] It is also understandable that Figure 4 The cross-sectional structure diagram of the finger component provided in the embodiment of the present application is illustrated as follows: Figure 3 and Figure 4 As shown, the second finger joint assembly includes a first rocker arm 212, a first connecting rod 213, and a finger mechanism. The first end of the first rocker arm 212 is connected to the corresponding finger transmission assembly, that is, the first end of the first rocker arm 212 is connected to the first finger transmission assembly 240, that is, the first end of the first rocker arm 212 is connected to the middle portion of the transmission shaft 244. The first end of the first connecting rod 213 is rotatably engaged with the second end of the first rocker arm 212. Specifically, the first end of the first connecting rod 213 and the second end of the first rocker arm 212 are both provided with connecting holes. The first end of the first connecting rod 213 is rotatably engaged with the second end of the first rocker arm 212 via the first rotating shaft. To reduce friction, a bearing 121 is provided in the connecting hole of the first rocker arm 212, and the bearing 121 is sleeved on the outer circumference of the first rotating shaft.

[0075] In this embodiment, two first connecting rods 213 are provided. These two first connecting rods 213 are arranged parallel and spaced apart, one on each side of the first rocker arm 212. The provision of two first connecting rods 213 not only enhances the structural strength of the second finger joint assembly but also ensures a more balanced force on the second end of the first rocker arm 212, reducing wear and tear during use and extending the service life of the first rocker arm 212. The use of a connecting rod structure to drive the finger mechanism improves transmission efficiency, stabilizes the transmission ratio, and simplifies operation and maintenance.

[0076] The finger mechanism includes a connecting member 214 and a finger body 215. The connecting member 214 is rotatably engaged with the second end of the floating rocker arm 211 and the second end of the first connecting rod 213, respectively. The finger body 215 is connected to the connecting member 214. Specifically, the connecting member 214 is provided with two connecting holes, which are spaced a certain distance apart to prevent the floating rocker arm 211 and the first connecting rod 213 from interfering with each other during rotation. The second end of the floating rocker arm 211 and the second end of the first connecting rod 213 are both provided with connecting holes. The second end of the floating rocker arm 211 is rotatably connected to one connecting hole of the connecting member 214 via a second rotating shaft, and the second end of the first connecting rod 213 is rotatably connected to the other connecting hole of the connecting member 214 via a third rotating shaft. To reduce friction, bearings 121 are provided in the two connecting holes of the connecting member 214, respectively. The two bearings 121 are rotatably engaged with the second rotating shaft and the third rotating shaft, respectively.

[0077] It is also understandable that Figure 5 The cross-sectional structural diagram of the first drive transmission assembly, the second drive transmission assembly, the first finger transmission assembly and the second finger transmission assembly provided in the embodiment of the present application is illustrated as follows: Figure 4 and Figure 5 As shown, the finger assembly 200 includes a first finger transmission assembly 240 and a second finger transmission assembly 250, which are arranged side by side along a first direction. The first finger transmission assembly 240 is adapted to convert rotational drive force into swinging drive force when the first drive transmission assembly 260 rotates, thereby driving the first rocker arm 212 to swing. The first finger transmission assembly 240 includes a first rotating shaft 241, a first bevel gear 242, a fixed bevel gear 243, and a transmission shaft 244. The first rotating shaft 241 is rotatably engaged with the housing assembly 220. To facilitate installation, a motor mounting plate 234 is provided within the housing assembly 220. The first end of the first rotating shaft 241 is rotatably engaged with the motor mounting plate 234. The first rotating shaft 241 is arranged along a second direction, which is perpendicular to the first direction. The second end of the first rotating shaft 241 is connected to the first bevel gear 242. To simplify the structure, the first rotating shaft 241 and the first bevel gear 242 can be integrally formed. The middle part of the first rotating shaft 241 is connected to the corresponding drive transmission assembly, that is, the middle part of the first rotating shaft 241 is connected to the first drive transmission assembly 260, that is, the middle part of the first rotating shaft 241 is connected to the first gear 261. In order to simplify the structure, the first rotating shaft 241 and the first gear 261 are formed as one piece.

[0078] The transmission shaft 244 is rotatably coupled to the housing assembly 220. Specifically, the housing assembly 220 is internally provided with a fixed member, to which the transmission shaft 244 is rotatably mounted. The transmission shaft 244 is arranged along a first direction. The first end of the transmission shaft 244 is fixedly connected to the fixed bevel gear 243, and the middle portion of the transmission shaft 244 is fixedly connected to the first end of the first rocker arm 212. To simplify the structure, the transmission shaft 244 can be integrally formed with the first rocker arm 212. To enhance the stability of the first finger joint assembly during swinging, the first ends of both floating rocker arms 211 are rotatably coupled to the transmission shaft 244. The fixed bevel gear 243 meshes with the first bevel gear 242. In this embodiment, the fixed bevel gear 243 is a helical bevel gear, but a straight bevel gear may also be employed. When the first drive transmission assembly 260 drives the first bevel gear 242 to rotate, the first bevel gear 242 drives the fixed bevel gear 243 to rotate, which in turn drives the transmission shaft 244 to rotate, thereby causing the first rocker arm 212 to swing.

[0079] The second finger transmission assembly 250 is spaced apart from the first finger transmission assembly 240. The second finger transmission assembly 250 is adapted to convert the rotational driving force into the swinging driving force when the second drive transmission assembly 270 rotates, thereby driving the floating rocker arm 211 to swing. The second finger transmission assembly 250 is rotationally engaged with the second end of the transmission shaft 244, i.e., the floating bevel gear 253 is rotationally engaged with the second end of the transmission shaft 244.

[0080] It is also understandable that if Figure 4 and Figure 5 As shown, the second finger transmission assembly 250 includes a second rotating shaft 251, a second bevel gear 252, and a floating bevel gear 253. The second rotating shaft 251 is rotatably engaged with the housing assembly 220. Specifically, the first end of the second rotating shaft 251 is rotatably engaged with the motor mounting plate 234, and the second rotating shaft 251 is arranged along the second direction. The second rotating shaft 251 is rotatably engaged with the corresponding drive transmission assembly, that is, the second rotating shaft 251 is rotatably engaged with the second gear 271. A rotating disk 254 is formed on the outer periphery of the second rotating shaft 251. The rotating disk 254 is circular and is integrally formed with the second rotating shaft 251. The second bevel gear 252 is connected to the second end of the second rotating shaft 251. To simplify the structure, the second bevel gear 252 is integrally formed with the second rotating shaft 251.

[0081] The floating bevel gear 253 is rotatably mounted on the second end of the transmission shaft 244. The floating bevel gear 253 is loosely fitted with the second end of the transmission shaft 244, and the floating bevel gear 253 meshes with the second bevel gear 252. In this embodiment, the floating bevel gear 253 is a helical bevel gear. Of course, the floating bevel gear 253 can also be a straight bevel gear. The first end of the floating rocker arm 211 is connected to the floating bevel gear 253. Specifically, the first end of the floating rocker arm 211 is connected to the floating bevel gear 253 by a screw, and the screw can be a countersunk bolt. When the second drive transmission assembly 270 drives the second bevel gear 252 to rotate, the second bevel gear 252 drives the floating bevel gear 253 to rotate, and the floating bevel gear 253 drives the floating rocker arm 211 to swing.

[0082] It should be noted that the number of finger transmission components in each finger component 200 is not limited to two, and can also be three, four or more, depending on the number of finger joint components.

[0083] It is also understandable that if Figure 4 and Figure 5 As shown, the finger component 200 includes a first drive transmission assembly 260 and a second drive transmission assembly 270. The first drive transmission assembly 260 is suitable for transmitting the rotational driving force output by the first drive assembly 230 to the first finger transmission assembly 240. The first drive transmission assembly 260 includes a first gear 261. The first gear 261 is fixed to the middle part of the first rotating shaft 241. The first gear 261 has an interference fit with the first rotating shaft 241, and can also be integrally formed with the first rotating shaft 241. The first gear 261 rotates synchronously with the first rotating shaft 241.

[0084] The second drive transmission assembly 270 is suitable for transmitting the rotational driving force output by the first drive assembly 230 to the second finger transmission assembly 250. The second drive transmission assembly 270 includes a second gear 271, which is rotatably mounted on the outer periphery of the second rotating shaft 251. The second gear 271 is located in the middle of the second rotating shaft 251. In the second state, the second gear 271 can rotate relative to the second rotating shaft 251, and the second rotating shaft 251 is in a stationary state.

[0085] The second gear 271 is connected to the first driving assembly 230, that is, the second gear 271 meshes with the first driving gear 232, and the second gear 271 meshes with the first gear 261. When the first driving assembly 230 drives the first driving gear 232 to rotate, the first driving gear 232 drives the second gear 271 to rotate, and the second gear 271 drives the first gear 261 to rotate, thereby achieving the rotation of the first finger transmission assembly 240 and the second finger transmission assembly 250.

[0086] It should be noted here that there can be multiple ways to connect the first drive component 230 with the first gear 261 and the second gear 271. The second driving gear 610 can be meshed with the second gear 271, or the first driving gear 232 can be meshed with the first gear 261 and the second gear 271 at the same time, or two first drive components 230 can be provided, and the two first drive components 230 are connected to the first gear 261 and the second gear 271 in a one-to-one correspondence.

[0087] The connecting mechanism 280 is mounted on the second gear 271. In a first state, the connecting mechanism 280 is connected to the rotating disk 254. When the second gear 271 rotates, the second gear 271 drives the second rotating shaft 251 to rotate synchronously via the connecting mechanism 280. In a second state, the connecting mechanism 280 and the rotating disk 254 engage in rolling engagement. When the second gear 271 rotates, the knuckle assembly corresponding to the second rotating shaft 251 is subjected to external force, preventing the second rotating shaft 251 from rotating. The connecting mechanism 280 and the rotating disk 254 engage in rolling engagement, effectively improving transmission efficiency and reducing energy loss in the first drive assembly 230.

[0088] It is also understandable that if Figure 4 and Figure 5 As shown, the connecting mechanism 280 includes a ball plunger 281, which is connected to the second gear 271. The axis of the ball plunger 281 is parallel to the rotation axis of the second gear 271. A groove 255 is provided on the side of the turntable 254 facing the second gear 271. To reduce wear on the ball head, the edges of the groove 255 are rounded. The ball plunger 281 is a load-adjustable ball plunger 281. By adjusting the compression of the ball head of the ball plunger 281, the external force threshold applied to the corresponding finger joint assembly when the ball head of the ball plunger 281 slides out of the groove 255 can be precisely controlled. When the external force applied to the floating rocker 211 is greater than the external force threshold, the ball head of the ball plunger 281 slides out of the groove 255. When the external force applied to the floating rocker 211 is less than the external force threshold, the ball head of the ball plunger 281 will not slide out of the groove 255. The ball plunger 281 is used to connect the second rotating shaft 251 and the second gear 271 , which simplifies the structure of the connecting mechanism 280 and has the advantages of small size and low production cost.

[0089] In the first state, the ball of ball plunger 281 is embedded in groove 255. Due to the action of ball plunger 281, second gear 271 and second rotating shaft 251 are stably connected. Second gear 271 can drive second rotating shaft 251 to rotate via connecting mechanism 280, maintaining a stable transmission ratio. In the second state, the ball of ball plunger 281 and rotating disk 254 engage in rolling friction. Compared to sliding friction, rolling friction results in less power loss, effectively improving transmission efficiency and reducing energy consumption of the clamping device.

[0090] It is also understandable that if Figure 4 and Figure 5 As shown, the connecting mechanism 280 includes two ball plungers 281, and the second gear 271 is provided with two mounting holes. The inner walls of the mounting holes are provided with internal threads, and the outer shell of the ball plunger 281 is provided with external threads. The two mounting holes are symmetrical about the rotation axis of the second gear 271, and the two ball plungers 281 are installed in the mounting holes in a one-to-one correspondence. The ball plungers 281 are engaged with the mounting hole threads. By providing two ball plungers 281 and symmetrically arranging the two ball plungers 281, the force applied to the second gear 271 during rotation can be more uniform, thereby improving the stability of the gear during rotation. Of course, the number of ball plungers 281 is not limited to two, and can also be one, three, or more.

[0091] It is also understandable that if Figure 4 As shown, the first drive assembly 230 includes a first drive motor 231, which is adapted to drive the first gear 261 to rotate via a first driving gear 232. The first drive motor 231 is disposed within the housing assembly 220 and is connected to the housing assembly 220. Specifically, the housing of the first drive motor 231 is connected to the housing assembly 220 via a motor fixing clamp 233. The rotating shaft of the first drive motor 231 passes through the motor mounting plate 234 and is connected to the first driving gear 232. The first driving gear 232 meshes with the second gear 271. To reduce the number of components, the first end of the second rotating shaft 251 can be connected to the first end of the second rotating shaft 251 via a coupling after the first end of the second rotating shaft 251 passes through the motor mounting plate 234. Alternatively, the rotating shaft of the first drive motor 231 can be connected to the first end of the first rotating shaft 241 via a coupling after the first end of the second rotating shaft 251 passes through the motor mounting plate 234.

[0092] It is also understandable that if Figure 4 and Figure 5As shown, the finger component 200 also includes a first angle rotation detection component, which includes a third bevel gear 290 and a first rotary encoder 291. The first rotary encoder 291 is connected to the housing component 220. Specifically, a fixed seat is provided inside the housing component 220, and the first rotary encoder 291 is mounted on the fixed seat. The rotating shaft of the first rotary encoder 291 is connected to the third bevel gear 290, and the third bevel gear 290 is engaged with the fixed bevel gear 243. When the fixed bevel gear 243 rotates, the fixed bevel gear 243 drives the third bevel gear 290 to rotate. The third bevel gear 290 drives the rotating shaft of the first rotary encoder 291 to rotate. The first rotary encoder 291 detects the rotation angle of the first rocker arm 212 and sends the angle information of the first rocker arm 212 to the control system. The control system accurately controls the rotation angle of the first rocker arm 212 based on the angle information of the first rocker arm 212, thereby achieving accurate control of the posture of the gripper device.

[0093] It is also understandable that if Figure 4 and Figure 5 As shown, the finger component 200 also includes a second angle rotation detection assembly, which includes a fourth bevel gear 292 and a second rotary encoder 293. The second rotary encoder 293 is connected to the housing assembly 220. Specifically, a fixed seat is provided within the housing assembly 220, and the second rotary encoder 293 is mounted on the fixed seat. The rotating shaft of the second rotary encoder 293 is connected to the fourth bevel gear 292, and the fourth bevel gear 292 engages with the floating bevel gear 253. When the floating bevel gear 253 rotates, the floating bevel gear 253 drives the fourth bevel gear 292 to rotate. The fourth bevel gear 292 drives the rotating shaft of the second rotary encoder 293 to rotate. The second rotary encoder 293 detects the rotation angle of the floating rocker 211 and sends the angle information of the floating rocker 211 to the control system. The control system accurately controls the rotation angle of the floating rocker 211 based on the angle information of the floating rocker 211, thereby achieving precise control of the posture of the gripper device.

[0094] It is also understandable that if Figure 3 and Figure 4As shown, the housing assembly 220 includes multiple housings. The interior of the housing assembly 220 is hollow, and the first drive assembly 230, the finger transmission assembly, and the drive transmission assembly are all installed inside the housing assembly 220. Screws are used to connect two adjacent housings, and of course, snap-on connection can also be used. The splicing method can facilitate the maintenance of any one of the first drive assembly 230, the finger transmission assembly, and the drive transmission assembly separately without opening the entire housing assembly 220. In this embodiment, the housing assembly 220 includes a first housing 221, a second housing 222, a third housing 223, and a fourth housing 224, wherein the first housing 221 and the second housing 222 are located at one end of the housing assembly 220, and the first housing 221 and the second housing 222 are connected to the motor mounting plate 234 by screws. The third housing 223 and the fourth housing 224 are located at the other end of the housing assembly 220, and the third housing 223 and the fourth housing 224 are connected to the motor mounting plate 234 by screws.

[0095] It is also understandable that if Figure 1 As shown, the gripper assembly includes a first finger member 300, a second finger member 400, and a third finger member 500. The housing assembly 220 of the first finger member 300 is connected to the mounting base member 100 via screws. The housing assembly 220 of the second finger member 400 is rotatably coupled to the mounting base member 100. Specifically, in this embodiment, the first housing 221 of the second finger member 400 is provided with a positioning post. The positioning post is located on the side of the first housing 221 facing away from the second housing 222. The positioning post is rotatably mounted in a positioning hole of the first cover plate via a bearing 121, allowing the second finger member 400 to rotate around the positioning post. The housing assembly 220 of the third finger member 500 is rotatably coupled to the mounting base member 100. Specifically, in this embodiment, the first housing 221 of the third finger member 500 is provided with a positioning post. The positioning post is located on the side of the first housing 221 facing away from the second housing 222. The positioning post is rotatably mounted in the positioning hole of the first cover plate via a bearing 121, allowing the third finger member 500 to rotate around the positioning post.

[0096] The transmission component 600 is connected to the housing assembly 220 of the second finger component 400 and the third finger component 500 respectively, and the transmission component 600 is rotatably matched with the mounting seat component 100. The transmission component 600 is suitable for transmitting the rotational driving force output by the finger driving component 700 to the second finger component 400 and the third finger component 500, so as to drive the second finger component 400 and the third finger component 500 to rotate, so that the clamping device can flexibly grasp objects, thereby improving the flexibility of the clamping device.

[0097] The finger driving component 700 is located in the second cavity of the second mounting seat assembly 120 . The finger driving component 700 is connected to the mounting seat component 100 and the transmission component 600 , respectively. The finger driving component 700 is adapted to drive the second finger component 400 and the third finger component 500 to rotate.

[0098] It should be noted here that there are multiple ways for the finger driving component 700 to drive the second finger component 400 and the third finger component 500 to rotate, for example, the finger driving component 700 drives the second finger component 400 and the third finger component 500 to rotate simultaneously, or the finger driving component 700 drives the second finger component 400 and the third finger component 500 to rotate alone.

[0099] It is also understandable that Figure 6 The schematic diagram of the main cross-sectional structure of the clamping device provided in the embodiment of the present application is illustrated as follows: Figure 6 As shown, the transmission component 600 includes a second driving gear 610, a first rotating shaft 620, a second rotating shaft 630, a first driven gear 640, and a second driven gear 650. The second driving gear 610, the first driven gear 640, and the second driven gear 650 are all located in the second cavity of the second mounting seat assembly 120. The second driving gear 610 is connected to the finger driving component 700. In this embodiment, the finger driving component 700 includes a second driving motor. The housing of the second driving motor is connected to the second mounting seat assembly 120, and the rotating shaft of the second driving motor is connected to the second driving gear 610.

[0100] The housing assembly 220 of the second finger member 400 is provided with a positioning hole. In this embodiment, the positioning hole is located on the side of the second housing 222 facing away from the first housing 221. The first end of the first rotational shaft 620 is inserted into the positioning hole. To facilitate connection, a connecting ring 631 is formed on the outer circumference of the first rotational shaft 620, which is connected to the second housing 222 via screws. The second main housing is provided with a through hole on the side facing away from the second cover plate. The second end of the first rotational shaft 620 is inserted into the second cavity of the second mounting base assembly 120 through the corresponding through hole, and the first rotational shaft 620 rotates in conjunction with the second main housing.

[0101] The housing assembly 220 of the third finger component 500 is provided with a positioning hole. In this embodiment, the positioning hole is located on the side of the second housing 222 facing away from the first housing 221. The first end of the second rotational shaft 630 is inserted into the positioning hole. To facilitate connection, a connecting ring 631 is formed on the outer circumference of the second rotational shaft 630, which is connected to the second housing 222 via screws. The second end of the second rotational shaft 630 is inserted into the second cavity of the second mounting base assembly 120 through a corresponding through-hole. The second rotational shaft 630 rotates in conjunction with the second main housing.

[0102] The first driven gear 640 is connected to the second end of the first rotating shaft 620 and meshes with the second driving gear 610 . The second driven gear 650 is connected to the second end of the second rotating shaft 630 and meshes with the second driving gear 610 .

[0103] Working principle of the gripper device:

[0104] When the first drive motor 231 rotates, the first drive motor 231 drives the first driving gear 232 to rotate, which in turn drives the second gear 271 to rotate. The second gear 271 drives the second rotating shaft 251 to rotate via the ball plunger 281. The second rotating shaft 251 drives the floating bevel gear 253 to rotate via the second bevel gear 252. The floating bevel gear 253 drives the floating rocker arm 211 to swing, thereby achieving movement of the first knuckle assembly. The rotation of the second gear 271 also drives the first gear 261 to rotate. The first gear 261 drives the first bevel gear 242 to rotate via the first rotating shaft 241. The first bevel gear 242 drives the fixed bevel gear 243 to rotate. The fixed bevel gear 243 drives the first rocker arm 212 to swing via the transmission shaft 244. The first rocker arm 212 drives the finger mechanism to move via the first connecting rod 213, thereby achieving movement of the second knuckle assembly.

[0105] When the first finger joint assembly encounters the force of an object during its movement, the floating rocker arm 211 stops moving. Since the second rotating shaft 251 cannot rotate, the ball head of the ball plunger 281 slides out of the groove 255, and the ball head of the ball plunger 281 rolls with the turntable 254. The ball plunger 281 loses its locking effect, the second rotating shaft 251 does not rotate, the second gear 271 continues to drive the first gear 261 to rotate, and the second finger joint assembly continues to move to grab the object.

[0106] When the second drive motor rotates, the second drive motor drives the second driving gear 610 to rotate, and then drives the first driven gear 640 and the second driven gear 650 to rotate. The first driven gear 640 drives the second finger component 400 to rotate, and the second driven gear 650 drives the third finger component 500 to rotate. Through the rotation of the second finger component 400 and the third finger component 500, objects can be better grasped, thereby improving the flexibility of the clamping device.

[0107] The present application also provides a robot, comprising a robot body and a gripper device according to any one of the above embodiments, wherein the robot body is connected to a mounting base component 100. By using the gripper device according to the above embodiments, the structure of the robot is simplified, maintenance is facilitated, the energy consumption and production cost of the robot are reduced, and the product competitiveness of the robot is enhanced.

[0108] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A clamping device, characterized in that: include: Mounting seat components; The finger component includes a shell component and multiple finger joint components connected to the mounting seat component, and a first drive component, multiple finger transmission components and multiple drive transmission components respectively arranged on the shell component; the finger transmission component is connected to the corresponding finger joint component and the drive transmission component, at least one of the drive transmission components or at least one of the finger transmission components is provided with a connecting mechanism, and the first drive component is connected to the drive transmission component; the connecting mechanism is suitable for switching between a first state and a second state, in the first state, the drive transmission component is connected to the corresponding finger transmission component through the connecting mechanism; in the second state, the drive transmission component drives the connecting mechanism to roll with the corresponding finger transmission component.

2. The clamping device according to claim 1, characterized in that The clamping device comprises: A first finger joint assembly includes a floating rocker arm, wherein a first end of the floating rocker arm is connected to the corresponding finger transmission assembly; The second finger joint assembly is connected to the second end of the floating rocker arm and the corresponding finger transmission assembly.

3. The clamping device according to claim 2, characterized in that The second knuckle assembly comprises: a first rocker arm, wherein a first end of the first rocker arm is connected to the corresponding finger transmission assembly; a first connecting rod, wherein a first end of the first connecting rod is rotatably engaged with a second end of the first rocker arm; The finger mechanism is respectively rotatably matched with the second end of the floating rocker arm and the second end of the first connecting rod.

4. The clamping device according to claim 3, characterized in that The finger component comprises: a first finger transmission assembly, comprising a first rotating shaft, a first bevel gear, a fixed bevel gear, and a transmission shaft, wherein the first rotating shaft is rotationally engaged with the housing assembly and connected to the first bevel gear and the corresponding drive transmission assembly; the transmission shaft is rotationally engaged with the housing assembly, a first end of the transmission shaft is connected to the fixed bevel gear, a middle portion of the transmission shaft is connected to the first end of the first rocker arm, and the fixed bevel gear is meshed with the first bevel gear; The second finger transmission assembly is spaced apart from the first finger transmission assembly, and the second finger transmission assembly is rotationally engaged with the second end of the transmission shaft.

5. The clamping device according to claim 4, characterized in that: The second finger transmission assembly includes: a second rotating shaft, rotatably engaged with the housing assembly and the corresponding drive transmission assembly, wherein a rotating disk is formed on the outer periphery of the second rotating shaft; a second bevel gear connected to the second rotating shaft; The floating bevel gear is rotatably sleeved on the second end of the transmission shaft and meshes with the second bevel gear. The first end of the floating rocker arm is connected to the floating bevel gear.

6. The clamping device according to claim 5, characterized in that The finger component comprises: A first drive transmission assembly includes a first gear connected to the first rotating shaft; The second drive transmission assembly includes a second gear, which is rotatably mounted on the outer periphery of the second rotating shaft, and is engaged with the first gear. The connecting mechanism is arranged on the second gear; in the first state, the connecting mechanism is connected to the turntable; in the second state, the connecting mechanism and the turntable are in rolling engagement.

7. The clamping device according to claim 6, characterized in that The connecting mechanism comprises: The ball plunger is connected to the second gear, and a groove is provided on the side of the turntable facing the second gear. In the first state, the ball head of the ball plunger is embedded in the groove; in the second state, the ball head of the ball plunger is in rolling engagement with the turntable.

8. The clamping device according to claim 7, characterized in that: The connecting mechanism includes two ball plungers, the second gear is provided with two mounting holes, the two mounting holes are symmetrical about the rotation axis of the second gear, and the two ball plungers are embedded in the mounting holes in a one-to-one correspondence.

9. The clamping device according to claim 6, characterized in that: The first drive assembly comprises: The first driving motor is connected to the housing assembly. The rotating shaft of the first driving motor is provided with a first driving gear, and the first driving gear is meshed with the second gear.

10. The clamping device according to claim 5, characterized in that: The finger component further comprises: An angle rotation detection component is connected to at least one of the fixed bevel gear and / or the floating bevel gear, and the angle rotation detection component is suitable for detecting the rotation angle of the fixed bevel gear and / or the floating bevel gear.

11. The clamping jaw device according to any one of claims 1 to 5, characterized in that The clamping device comprises: a first finger component, the housing assembly of the first finger component being connected to the mounting seat assembly; a second finger component, wherein the housing assembly of the second finger component is rotatably engaged with the mounting seat component; a third finger component, wherein the housing assembly of the third finger component is rotatably engaged with the mounting seat component; a transmission component, connected to the housing components of the second finger component and the third finger component respectively, and rotatably engaged with the mounting seat component; The finger driving component is connected to the mounting seat component and the transmission component respectively, and the finger driving component is suitable for driving the second finger component and the third finger component to rotate.

12. The clamping device according to claim 11, characterized in that The transmission components include: a second driving gear connected to the finger driving component; a first rotational axis connected to the housing assembly of the second finger component and rotatably engaged with the mounting seat component; a second rotation axis connected to the housing assembly of the third finger component and rotatably engaged with the mounting seat component; a first driven gear connected to the first rotating shaft and meshing with the second driving gear; The second driven gear is connected to the second rotating shaft and meshes with the second driving gear.

13. A robot, characterized in that: The invention comprises a robot body and the gripper device according to any one of claims 1 to 12, wherein the robot body is connected to the mounting seat component.

Images