Composite motion mechanism and mechanical gripper

Abstract

The present application relates to a composite motion mechanism and a mechanical claw. The composite motion mechanism includes a base, a rotating assembly and a telescopic assembly. The rotating assembly includes a rotating drum, which is rotatably connected to the base. The telescopic assembly includes a telescopic shaft, which is movably connected to the rotating drum along the axial direction of the rotating drum, and the telescopic shaft rotates by following the rotation of the rotating drum, and telescopically moves relative to the rotating drum. The above-mentioned composite motion mechanism and mechanical claw can output rotational motion during the rotation process by rotatably connecting the rotating drum to the base; in addition, by movably connecting the telescopic shaft to the rotating drum along the axial direction, telescopic motion can be achieved through the telescopic shaft, thereby achieving rotational motion and telescopic motion at the same time, and there is no need to set up two motion drive mechanisms at the same time, thereby reducing the cost and occupied space of the mechanical claw.

Description

Technical Field

[0001] The present disclosure relates to the field of robotic arms, and in particular to a composite motion mechanism and a robotic claw. Background Art

[0002] A robotic gripper is an automated device that mimics certain movements of the human hand and arm, allowing it to grasp, move objects, or manipulate tools according to a fixed program. During operation, the gripper often requires rotation and grasping movements, which require both rotational and linear telescopic motion. Existing grippers typically require both linear and rotational motion mechanisms to achieve this, resulting in high costs and a significant amount of space required. Summary of the Invention

[0003] In view of the above, it is necessary to provide a composite motion mechanism and a mechanical claw for realizing rotational motion and telescopic motion simultaneously.

[0004] To this end, the present disclosure first provides a composite motion mechanism, comprising:

[0005] matrix;

[0006] A rotating assembly including a rotating drum rotatably connected to the base;

[0007] The telescopic assembly comprises a telescopic shaft, wherein the telescopic shaft is connected to the rotating drum in a movably manner along the axial direction of the rotating drum, the telescopic shaft rotates by following the rotation of the rotating drum, and telescopically moves relative to the rotating drum.

[0008] According to the compound motion mechanism, the rotating assembly further comprises a driving component, wherein the driving component is connected to the rotating drum and is used to drive the rotating drum to rotate relative to the base.

[0009] According to the compound motion mechanism, the driving component includes a driving machine and a gear, and the driving machine is connected to the rotating drum through the gear, and is used to drive the rotating drum to rotate through the gear.

[0010] According to the compound motion mechanism, the driving machine is a hydraulic motor.

[0011] According to the compound motion mechanism, the telescopic assembly also includes a piston, a piston chamber is provided in the rotating cylinder, the piston is movably arranged in the piston chamber to divide the piston chamber into a first chamber and a second chamber, and the piston is connected to the telescopic shaft; and the rotating cylinder includes a first connecting hole and a second connecting hole, the first connecting hole is connected to the first chamber, and the second connecting hole is connected to the second chamber, which is used to conduct fluid through the first connecting hole and the second connecting hole to push the telescopic shaft to move through the piston.

[0012] According to the composite motion mechanism, a sealed first fluid cavity and a sealed second fluid cavity are formed between the rotating drum and the base body, the first connecting hole is located in the first fluid cavity, and the second connecting hole is located in the second fluid cavity.

[0013] According to the compound motion mechanism, the circumferential surface of the rotating drum is provided with a first groove body and a second groove body, the first connecting hole is located in the first groove body, the second connecting hole is located in the second groove body, the first groove body and the base form a sealed first fluid cavity, the second groove body and the base form the first fluid cavity, and the second groove body and the base form the second fluid cavity.

[0014] According to the composite motion mechanism, the rotating drum includes a guide cavity extending along the axial direction of the rotating drum, the telescopic shaft movably extends from the piston cavity, and the other end is movably located in the guide cavity.

[0015] According to the composite motion mechanism, a locking mechanism is further provided between the guide cavity and the telescopic shaft for driving the telescopic shaft to rotate along with the rotating drum.

[0016] In addition, the present disclosure also provides a mechanical claw, including a claw seat, a pair of claw arms and the above-mentioned compound motion mechanism, the pair of claw arms are rotatably connected to the claw seat, the rotating cylinder of the compound motion mechanism is connected to the claw seat, and is used to drive the pair of claw arms to rotate through the claw seat; the telescopic shaft of the compound motion mechanism is rotatably connected to the claw arms, and is used to pull the claw arms to open or close relative to the claw seat.

[0017] Compared with the existing technology, the above-mentioned composite motion mechanism and mechanical claw connect the rotating drum to the base by rotation, and the rotating drum outputs rotational motion during the rotation process; in addition, by connecting the rotating drum by moving the telescopic shaft along the axial direction, the telescopic motion can be achieved through the telescopic shaft, thereby achieving rotational motion and telescopic motion at the same time, and there is no need to set up two motion driving mechanisms at the same time, which reduces the cost and occupied space of the mechanical claw. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the specific implementation methods, the following will briefly introduce the drawings required for use in the description of the implementation methods. Obviously, the drawings described below are some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0019] Figure 1 It is a structural diagram of the mechanical claw.

[0020] Figure 2 It is a schematic diagram of the cross-sectional structure of the mechanical rotor.

[0021] Figure 3 Schematic diagram of the structure of the claw base and claw arm in the exploded state.

[0022] Figure 4 It is a structural diagram of a compound motion mechanism.

[0023] Figure 5 It is a structural diagram of the rotating component.

[0024] Figure 6 It is a schematic diagram of the cross-sectional structure of the telescopic shaft and the rotating drum.

[0025] Figure 7 It is a structural diagram of the drum.

[0026] Description of main component symbols

[0027]

[0028]

[0029] The following specific embodiments will further illustrate the present disclosure in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0030] In order to more clearly understand the above-mentioned purposes, features and advantages of the present disclosure, the present disclosure is described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, in the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other. In the following description, many specific details are set forth in order to fully understand the present disclosure. The embodiments described are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present disclosure.

[0031] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art in the art of the present disclosure. The terms used in the specification herein are only for the purpose of describing specific embodiments and are not intended to limit the present disclosure.

[0032] In various embodiments, for ease of description and not to limit the present disclosure, the term "connection" used in the patent specification and claims of the present disclosure is not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "below," "left," and "right" are used solely to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship also changes accordingly.

[0033] Figure 1This is a schematic diagram of the structure of the mechanical claw. Figure 2 This is a cross-sectional structural diagram of a mechanical rotor. Figure 1 and Figure 2 As shown, the mechanical claw includes a claw seat 11, a pair of claw arms 10 and a compound motion mechanism 20. The claw seat 11 is used to connect the pair of claw arms 10, and the compound motion mechanism 20 is used to drive the pair of claw arms 10 to open, close and rotate on the claw seat 11.

[0034] Figure 3 Schematic diagram of the structure of the claw seat 11 and the claw arm 10 in the decomposed state. Figure 1-3 As shown, a pair of claw arms 10 are rotatably connected to the claw seat 11, and the compound motion mechanism 20 is rotatably connected to the claw arms 10, used to pull the claw arms 10 to open or close relative to the claw seat 11. Specifically, one end of the claw arm 10 is rotatably connected to the claw seat 11 at the first rotating shaft 101, forming the rotation center of the claw arm 10 in the opening or closing movement. In addition, the claw arm 10 is also rotatably connected to the compound motion mechanism 20 at the second rotating shaft 102, and the first rotating shaft 101 and the second rotating shaft 102 do not overlap, so that the compound motion mechanism 20 can, through telescopic movement, with the first rotating shaft 101 as the rotation center, form a rotating arm between the first rotating shaft 101 and the second rotating shaft 102 to pull the claw arms 10 to rotate, ultimately realizing the opening and closing movement of the pair of claw arms 10. At the same time, the compound motion mechanism 20 is connected to the claw seat 11, used to drive the pair of claw arms 10 to rotate through the claw seat 11. By rotating the claw base 11 , the pair of claw arms 10 can also rotate along with the claw base 11 , so that the clamping angle of the claw arms 10 can be adjusted, or the claw arms 10 can be rotated to clamp other objects.

[0035] Figure 4 Schematic diagram of the structure of the composite motion mechanism 20. Figure 2 and Figure 4 As shown, the compound motion mechanism 20 includes a base 21, a rotating assembly and a telescopic assembly. The rotating assembly is used to drive the rotation of the claw seat 11, while the telescopic assembly is used to pull the claw arm 10 to open or close.

[0036] Specifically, the base 21 is generally a block-shaped structure, used to house and mount the other components of the composite motion mechanism 20. In this embodiment, the base 21 has an open-ended cavity within it, which is sealed by an end cap 211. The end cap 211 can be detachably connected using connectors, rivets, or other means. When repairing or maintaining the composite motion mechanism 20 is required, the end cap 211 can be opened to access the components within the cavity.

[0037] Figure 5 It is a structural diagram of the rotating component. Figure 2 、 Figure 4 and Figure 5 As shown, the rotating assembly includes a rotating drum 24 and a driving component. The rotating drum 24 is rotatably connected to the base 21, for example, it can be rotatably arranged in the cavity of the base 21 via one or more bearings, and the rotating drum 24 at least partially extends from the end cover 211 of the base 21, and is used to connect to the claw seat 11. In this way, when the rotating drum 24 rotates, the rotating drum 24 can drive the claw seat 11 to rotate. The driving component is connected to the rotating drum 24 and is used to drive the rotating drum 24 to rotate relative to the base 21. As an example, the driving component includes a driving motor 22 and a gear. The driving motor 22 is a hydraulic motor, which is arranged outside the base 21 and drives the output shaft to rotate through hydraulic flow. The gears include a first gear 221 connected to the output shaft and a second gear 222 connected to the circumferential surface of the rotating drum 24. The first gear 221 and the second gear 222 are located inside the base 21 and mesh with each other. The driving motor 22 is connected to the rotating drum 24 through the gears, and drives the rotating drum 24 to rotate through the first gear 221 and the second gear 222, and drives the claw seat 11 to rotate through the rotating drum 24.

[0038] Figure 6 2 is a schematic diagram of the cross-sectional structure of the telescopic shaft 23 and the rotating drum 24. Figure 7 As shown, the telescopic assembly includes a telescopic shaft 23 and a piston 231. The telescopic shaft 23 is movably connected to the rotating cylinder 24 along the axial direction of the rotating cylinder 24. The telescopic shaft 23 rotates by following the rotation of the rotating cylinder 24 and telescopically moves relative to the rotating cylinder 24. As an example, a piston 231 cavity is provided in the rotating cylinder 24. The piston 231 is movably provided in the piston 231 cavity to divide the piston 231 cavity into a first cavity and a second cavity. The piston 231 is connected to the telescopic shaft 23 to form a piston-cylinder structure. One end of the telescopic shaft 23 passes through the rotating cylinder 24 and extends from the end cover 211. It is rotatably connected to a connecting rod 12. The other end of the connecting rod 12 is rotatably connected to the second rotating shaft 102. Therefore, through the movement of the telescopic shaft 23, the traction claw arm 10 can rotate with the first rotating shaft 101 as the rotation center.

[0039] The rotating drum 24 also includes a first connecting hole 241 and a second connecting hole 242. The first connecting hole 241 is connected to the first cavity, and the second connecting hole 242 is connected to the second cavity, so as to conduct fluid through the first connecting hole 241 and the second connecting hole 242 to push the telescopic shaft 23 to move through the piston 231.

[0040] During use, fluid is injected into the first cavity through the first connecting hole 241 or into the second cavity through the second connecting hole 242. The fluid can be gas or liquid. The fluid pushes the piston 231 to move in the cavity of the piston 231. The piston 231 drives the telescopic shaft 23 to move along the length direction of the cavity of the piston 231, thereby realizing the extension or retraction of the telescopic shaft 23.

[0041] Furthermore, to guide the axial movement of the telescopic shaft 23, the rotating cylinder 24 includes a guide cavity extending in the axial direction of the rotating cylinder 24. The end of the telescopic shaft 23 opposite to the connecting rod 12, i.e., the other end, is movably positioned within the guide cavity, thereby guiding the axial movement of the telescopic shaft 23. To enable the telescopic shaft 23 to rotate with the rotating cylinder 24, in this embodiment, a latching mechanism is provided between the guide cavity and the telescopic shaft 23, for driving the telescopic shaft 23 to rotate with the rotating cylinder 24. For example, the latching mechanism may be configured to configure the cross-section of at least the portion of the telescopic shaft 23 that moves within the guide cavity to be non-circular, such as elliptical or square; correspondingly, the cross-section of the guide cavity may be configured to correspond to the cross-section of the telescopic shaft 23. In this way, when the rotating cylinder 24 rotates, it can drive the telescopic shaft 23 to rotate together. Those skilled in the art understand that the locking mechanism may also be other structures, such as providing a locking block on the telescopic shaft 23 and providing a slot corresponding to the locking block on the inner wall of the guide cavity to achieve the purpose of locking the telescopic shaft 23 from rotating relative to the rotating drum 24. This application does not impose any restrictions on this.

[0042] Since fluid still needs to flow into or out of the first or second chamber during the rotation of the drum 24, in order to ensure fluid communication with the first and second chambers during the rotation of the drum 24, a sealed first fluid chamber 245 and second fluid chamber 246 are formed between the drum 24 and the base 21. The first connecting hole 241 is located in the first fluid chamber 245, and the second connecting hole 242 is located in the second fluid chamber 246. During use, an external fluid cylinder or fluid pipeline can connect the first and second fluid chambers 245 and 246 to the first and second chambers through a connecting joint to exchange fluids (i.e., to achieve fluid inflow or outflow) without affecting the rotation of the drum 24.

[0043] Figure 7 Schematic diagram of the structure of the drum 24. Figure 2 and Figure 7As shown, the circumferential surface of the rotating drum 24 is provided with an annular first groove 243 and a second groove 244. The first connecting hole 241 is located in the first groove 243, and the second connecting hole 242 is located in the second groove 244. Sealing rings are provided on both sides of the first groove 243 in the axial direction to form a sealed first fluid cavity 245 between the first groove 243 and the inner wall of the cavity of the base 21. Similarly, depending on the structure of the base 21, a sealing ring can also be provided on at least one side of the second groove 244 to form a sealed second fluid cavity 246 between the second groove 244 and the inner wall of the cavity of the base 21. During operation, the first fluid chamber 245 and the second fluid chamber 246 are the same as the external fluid pipeline. The first chamber is connected to the first fluid chamber 245 through the first connecting hole 241, and the second chamber is connected to the second fluid chamber 246 through the second connecting hole 242. The fluid enters the first chamber through the first fluid chamber 245 and the first connecting hole 241 in turn, pushing the piston 231 to move in the piston 231 cavity; at the same time, the fluid enters the second fluid chamber 246 through the second chamber and the second connecting hole 242 in turn and flows out. When the piston 231 moves in the opposite direction, it is similar to the above process and will not be repeated here. Since the first fluid chamber 245 and the second fluid chamber 246 are annular sealing structures, the rotation of the drum 24 will not affect the connection between the first chamber and the first fluid chamber 245, and the connection between the second chamber and the second fluid chamber 246.

[0044] The working process of the mechanical claw is described in detail below.

[0045] During the rotation, the driving motor 22 drives the drum 24 to rotate through gears under the action of external fluid pressure, and the drum 24 drives the claw seat 11 to rotate relative to the base 21, thereby driving the pair of claw arms 10 to rotate synchronously.

[0046] During the opening and closing of the claw arm 10, fluid enters the first fluid chamber 245 and then flows through the first connecting hole 241 into the first chamber, pushing the piston 231 and the telescopic shaft 23 to move axially. Simultaneously, fluid in the second chamber enters the second fluid chamber 246 through the second connecting hole 242. During the reverse movement, fluid flows from the second fluid chamber 246 through the second connecting hole 242 into the second chamber, pushing the piston 231 and the telescopic shaft 23 to move in opposite directions. This will not be described in detail here. During the extension and retraction of the telescopic shaft 23, the claw arm 10 rotates about the first rotation axis, driving the pair of claw arms 10 to rotate and open or close.

[0047] The above-mentioned composite motion mechanism 20 and mechanical claw are achieved by rotatably connecting the rotating drum 24 to the base 21, and the rotating drum 24 outputs rotational motion during the rotation process; in addition, by movably connecting the rotating drum 24 along the axial direction with the telescopic shaft 23, the telescopic motion can be achieved through the telescopic shaft 23, thereby achieving rotational motion and telescopic motion at the same time, and there is no need to set up two motion driving mechanisms 22 at the same time, thereby reducing the cost and occupied space of the mechanical claw.

[0048] In the several specific embodiments provided in the present disclosure, it is obvious to those skilled in the art that the present disclosure is not limited to the details of the above-mentioned exemplary embodiments, and that the present disclosure can be implemented in other specific forms without departing from the spirit or basic characteristics of the present disclosure. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive, and the scope of the present disclosure is defined by the appended claims rather than the above description, and it is intended that all changes that fall within the meaning and scope of the equivalent elements of the claims are included in the present disclosure. In addition, it is obvious that the word "including" does not exclude other units or steps, and the singular does not exclude the plural. Words such as first, second, etc. are used to indicate names and do not indicate any particular order.

[0049] The above embodiments are only used to illustrate the technical solutions of the present disclosure and are not intended to limit the present disclosure. Although the present disclosure has been described in detail with reference to the above preferred embodiments, those skilled in the art should understand that modifications or equivalent replacements of the technical solutions of the present disclosure should not depart from the spirit and scope of the technical solutions of the present disclosure.

Claims

1. A composite motion mechanism, characterized in that: include: matrix; A rotating assembly including a rotating drum rotatably connected to the base; a telescopic assembly comprising a telescopic shaft, the telescopic shaft being connected to the rotating drum so as to be movably connected along the axial direction of the rotating drum, the telescopic shaft rotating by following the rotation of the rotating drum and telescopically moving relative to the rotating drum; The telescopic assembly further includes a piston, a piston cavity is provided in the rotating cylinder, the piston is movably disposed in the piston cavity to divide the piston cavity into a first cavity and a second cavity, and the piston is connected to the telescopic shaft; and the rotating cylinder includes a first connecting hole and a second connecting hole, the first connecting hole is connected to the first cavity, and the second connecting hole is connected to the second cavity, so that fluid is conducted through the first connecting hole and the second connecting hole to push the telescopic shaft to move through the piston; A sealed first fluid cavity and a sealed second fluid cavity are formed between the rotating drum and the base, the first connecting hole is located in the first fluid cavity, and the second connecting hole is located in the second fluid cavity; The circumferential surface of the rotating drum is provided with a first groove body and a second groove body, the first connecting hole is located in the first groove body, the second connecting hole is located in the second groove body, the first groove body and the base form a sealed first fluid cavity, the second groove body and the base form the first fluid cavity, and the second groove body and the base form the second fluid cavity.

2. The compound motion mechanism according to claim 1, wherein: The rotating assembly further includes a driving component, which is connected to the rotating drum and is used to drive the rotating drum to rotate relative to the base.

3. The compound motion mechanism according to claim 2, wherein: The driving component includes a driving machine and a gear. The driving machine is connected to the rotating drum through the gear and is used to drive the rotating drum to rotate through the gear.

4. The compound motion mechanism according to claim 3, wherein: The driving machine is a hydraulic motor.

5. The compound motion mechanism according to claim 4, wherein: The rotating drum comprises a guide cavity extending in the axial direction of the rotating drum. The telescopic shaft movably extends out of the piston cavity, and the other end is movably located in the guide cavity.

6. The compound motion mechanism according to claim 5, wherein: A locking mechanism is further provided between the guide cavity and the telescopic shaft for driving the telescopic shaft to rotate along with the rotating drum.

7. A mechanical claw, characterized in that: It comprises a claw seat, a pair of claw arms and a compound motion mechanism as described in any one of claims 1 to 6, wherein the pair of claw arms are rotatably connected to the claw seat, the rotating cylinder of the compound motion mechanism is connected to the claw seat, and is used to drive the pair of claw arms to rotate through the claw seat; the telescopic shaft of the compound motion mechanism is rotatably connected to the claw arms, and is used to pull the claw arms to open or close relative to the claw seat.

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