Gripping device and gripping robot having the same

Abstract

The application provides a clamping device and a clamping robot with the same, which comprises a body, a first driving member arranged on the body, and a first clamping jaw assembly and a second clamping jaw assembly arranged independently of each other, wherein the first driving member is in driving connection with the first clamping jaw assembly and the second clamping jaw assembly respectively, so as to drive the first clamping jaw assembly and the second clamping jaw assembly to clamp an article respectively. The technical scheme provided by the application can solve the problem of poor adaptability of the clamping device in the prior art.

Description

Technical Field

[0001] This invention relates to the field of clamping equipment technology, and more specifically, to a clamping device and a clamping robot having the same. Background Technology

[0002] In laboratory experiments, gripping devices are typically used to grasp containers. These devices usually have two independent gripper assemblies. When gripping an item, one or both sets of gripper assemblies can be selected depending on the type of item or the specific environment in which it is located. The gripping device also typically includes two drive assemblies, each corresponding to a gripper assembly. These drive assemblies are driven and connected to the gripper assemblies, allowing the two sets of grippers to independently grip the item. However, this design results in a relatively large gripping device, occupying a significant amount of space and making it inconvenient to grip items located in corners. Summary of the Invention

[0003] This invention provides a clamping device and a clamping robot having the same, to solve the problem of poor adaptability of clamping devices in the prior art.

[0004] The present invention provides a clamping device, comprising: a body; a first driving member disposed on the body; and a first gripper assembly and a second gripper assembly disposed independently of each other, wherein the first driving member is drivenly connected to the first gripper assembly and the second gripper assembly respectively, so as to drive the first gripper assembly and the second gripper assembly to clamp the item individually.

[0005] Furthermore, the structures of the first gripper assembly and the second gripper assembly are different; the first gripper assembly and the second gripper assembly are located on opposite sides of the machine body; the positions of the first gripper assembly and / or the second gripper assembly relative to the machine body are adjustable.

[0006] Furthermore, the first gripper assembly includes a plurality of first gripping parts, each first gripping part having a first gripping surface, and the plurality of first gripping parts cooperate with each other through the plurality of first gripping surfaces to grip the article.

[0007] Furthermore, the contact area between the first clamping surface of the first clamping part and the clamped item is located on the arc surface or plane of the first clamping surface; or there are multiple contact areas between the first clamping surface of the first clamping part and the clamped item, and the multiple contact areas form an angle between each other at the locations on the first clamping surface.

[0008] Furthermore, there are two first clamping parts, and the two first clamping parts are arranged opposite to each other, with the first clamping surface of the first clamping part being V-shaped.

[0009] Furthermore, the first gripper assembly also includes: a first anti-slip structure disposed on the first clamping surface; and / or, a first elastic element disposed on the first clamping surface.

[0010] Furthermore, the second gripper assembly includes multiple gripping rods that cooperate with each other to grip the item.

[0011] Furthermore, the clamping rod includes a first clamping section, the first clamping section having a second clamping surface, the second clamping surface being used to clamp the article, and at least one of the second clamping surfaces of the clamping rod is a plane or an arc surface.

[0012] Furthermore, a second anti-slip structure is provided on the second clamping surface.

[0013] Furthermore, the clamping rods are cylindrical, and the number of clamping rods is three or more.

[0014] Furthermore, the clamping rod also includes a second clamping section, which is connected to the first clamping section and is located above the first clamping section. The second clamping section is provided with a second elastic element.

[0015] Furthermore, the second gripper assembly also includes multiple main body portions, each main body portion being connected to at least one gripping rod, and the gripping rod being located below the main body portion; a first driving member is drivenly connected to the main body portion, and the first driving member drives the gripping rod to move through the main body portion.

[0016] Furthermore, the clamping device also includes multiple connecting parts, each connecting part being connected to at least one main body part; the first driving member is driven to connect with the connecting parts, and the first driving member drives the main body part to move through the connecting parts.

[0017] Furthermore, the connecting part includes a first connecting segment and a second connecting segment connected at an angle, the first driving member is connected to the first connecting segment of the connecting part, and the second connecting segment of the connecting part is connected to the main body.

[0018] Furthermore, the end of the second connecting segment of the first connecting segment of the connecting portion that is away from the connecting portion is located above the second connecting segment of the connecting portion, and the second connecting segment of the connecting portion is connected to the main body at an angle.

[0019] Furthermore, the first connecting segment of the connecting part is L-shaped after being connected to the second connecting segment of the connecting part, the second connecting segment of the connecting part is L-shaped after being connected to the main body, and the main body is L-shaped after being connected to the clamping rod.

[0020] Furthermore, there are two connecting parts, and the two connecting parts are arranged opposite to each other, with the main body located between the two connecting parts.

[0021] Furthermore, there are two main body parts, which are arranged opposite to each other, and the main body parts are connected to the connecting parts one by one; there are four clamping rods, with one main body part connected to two clamping rods, and the clamping rods on the two main body parts are arranged opposite to each other.

[0022] Furthermore, the first gripper assembly includes two opposing first clamping portions, each of which is connected to a connecting portion in a one-to-one correspondence, and the first clamping portions are located between the two connecting portions.

[0023] Furthermore, the clamping device also includes a displacement mechanism, which is disposed on the machine body and is drivenly connected to the first gripper assembly and / or the second gripper assembly to adjust the position of the first gripper assembly and / or the second gripper assembly relative to the machine body.

[0024] Furthermore, the clamping device also includes a displacement mechanism, which is mounted on the machine body and is drivenly connected to the second gripper assembly to adjust the position of the second gripper assembly relative to the machine body.

[0025] Furthermore, the displacement mechanism includes a lifting structure, which includes: a second driving member, which is mounted on the machine body; a lifting plate, which is drivenly connected to the second driving member; a first limiting part is provided on the lifting plate; the main body is slidably connected to the first limiting part; and the second driving member drives the second gripper assembly to lift and lower via the lifting plate.

[0026] Furthermore, the lifting structure also includes: a lead screw, a second driving member connected to the lead screw; a lead screw and nut pair, threadedly connected to the lead screw, and connected to the lifting plate; a second limiting part, which is mounted on the machine body, and the lifting plate is slidably connected to the second limiting part. The second driving member drives the lifting plate to move up and down along the second limiting part through the cooperation of the lead screw and the lead screw and nut pair.

[0027] Furthermore, the lifting structure also includes: multiple guide rods, with at least one guide rod provided on each connecting part, the guide rods being slidably connected to the main body in a one-to-one correspondence, the lifting plate driving the main body to rise and fall along the guide rods, and the connecting part driving the second gripper assembly to clamp through the guide rods and the first limiting part.

[0028] Furthermore, the second driving component is located above the lifting plate, and the lifting structure also includes: a limit sensor located below the second driving component and close to the second driving component; and a baffle plate located above the lifting plate. The baffle plate, in conjunction with the limit sensor, can limit the displacement of the lifting plate.

[0029] Furthermore, the clamping device also includes: a quick-change connecting plate and a pneumatic quick-change connector, the quick-change connecting plate being mounted on the machine body and the pneumatic quick-change connector being mounted on the quick-change connecting plate.

[0030] Furthermore, the clamping robot includes a motion mechanism and the clamping device described above. The motion mechanism is driven to connect with the clamping device, and the motion mechanism drives the clamping device to move.

[0031] Applying the technical solution of this invention, the clamping device is equipped with a first gripper assembly and a second gripper assembly. When clamping an item, the first gripper assembly or the second gripper assembly can be selected to clamp the item according to the type of item or the specific scenario in which the item is located. Compared with traditional technical solutions, by simultaneously driving the first gripper assembly and the second gripper assembly to independently perform clamping actions through a first driving member, the number of driving members is reduced, thereby reducing the overall size of the clamping device. This enables the clamping device to be miniaturized and facilitates the clamping device to clamp items located in corners. Attached Figure Description

[0032] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0033] Figure 1 A schematic diagram of the clamping device provided by the present invention is shown;

[0034] Figure 2 This invention provides a schematic diagram of the structure of the lifting plate after it has been raised.

[0035] Figure 3 This invention provides a structural schematic diagram of the lifting device from another perspective.

[0036] Figure 4 This invention provides a schematic diagram showing the structure of the main body and the clamping rod engaging.

[0037] Figure 5 A schematic diagram of the clamping rod provided by the present invention is shown;

[0038] Figure 6 This shows a front view of the main body and clamping rod provided by the present invention in action;

[0039] Figure 7 A top view showing the main body and clamping rod of the present invention in cooperation is shown;

[0040] Figure 8 A side view showing the main body of the present invention engaging with the clamping rod is shown.

[0041] The above figures include the following reference numerals:

[0042] 10. Body; 11. Second limiting part;

[0043] 20. First driving component;

[0044] 30. First clamping part; 31. First anti-slip structure;

[0045] 41. Main body; 42. Clamping rod; 4221. Wrench facet; 4222. Snap-fit ​​groove; 4223. Second anti-slip structure; 4224. Second elastic element;

[0046] 50. Connecting part;

[0047] 61. Guide groove;

[0048] 71. Second driving component; 72. Lifting plate; 721. First limiting part; 73. Lead screw; 74. Lead screw and nut pair; 75. Connecting block; 751. Baffle plate;

[0049] 80. Guide rod;

[0050] 91. Quick-change connecting plate; 92. Pneumatic quick-change connector. Detailed Implementation

[0051] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0052] like Figures 1 to 3 As shown, the present invention provides a clamping device, which includes a body 10, a first driving member 20, and a first gripper assembly and a second gripper assembly that are independently arranged. The first driving member 20 is disposed on the body 10. The first driving member 20 is drivenly connected to both the first gripper assembly and the second gripper assembly to drive the first gripper assembly and the second gripper assembly to clamp the item individually.

[0053] Applying the technical solution of this invention, the clamping device is equipped with a first gripper assembly and a second gripper assembly. When clamping an item, the first gripper assembly or the second gripper assembly can be selected to grip the item depending on the type of item or the specific scenario in which the item is located. Compared with traditional technical solutions, in this solution, both the first gripper assembly and the second gripper assembly are driven by a first driving member 20. This configuration reduces the number of driving members, the size of the clamping device, and also reduces the weight and cost of the clamping device. Furthermore, the first gripper assembly and the second gripper assembly can perform clamping actions independently, facilitating the handling of different types of items and expanding the applicability of the clamping device.

[0054] The structures of the first gripper assembly and the second gripper assembly can be the same or different. In this design, the structures of the first gripper assembly and the second gripper assembly are different. This arrangement allows the gripping device to pick up different types of items, further expanding its applicability and scope. Furthermore, the first gripper assembly and the second gripper assembly are located on opposite sides of the body 10. They can be located on adjacent sides of the body 10, opposite sides of the body 10, or on the same side of the body 10. In this design, the body 10 extends vertically, and the first gripper assembly and the second gripper assembly are located on opposite sides of the body 10. This arrangement avoids interference between the first and second gripper assemblies during operation, improving the flexibility of the gripping device. Additionally, at least one of the first and second gripper assemblies is adjustable relative to the body 10. In this embodiment, the position of the second gripper assembly relative to the body 10 is adjustable. When gripping an item, the second gripper assembly is adjusted to a suitable position to hold the item. After gripping, the position of the second gripper assembly can be adjusted again as needed to complete the overall gripping action. This design further enhances the flexibility of the gripping device, expands its application range, and facilitates the picking up and placing of items.

[0055] Specifically, the first gripper assembly includes a plurality of first gripping portions 30, each first gripping portion 30 having a first gripping surface. The plurality of first gripping portions 30 cooperate with each other through the plurality of first gripping surfaces to grip an item. When gripping an item, the plurality of first gripping portions 30 of the first gripper assembly approach the item being gripped until all the plurality of first gripping surfaces abut against the item being gripped. The arrangement of multiple gripping portions enables the gripping of items of different sizes and shapes, improving the adaptability of the first gripper assembly.

[0056] Specifically, the contact area between the first clamping surface of the first clamping part 30 and the clamped item is located on the arc surface or plane of the first clamping surface; or there are multiple contact areas between the first clamping surface of the first clamping part 30 and the clamped item, and the locations of the multiple contact areas on the first clamping surface form an angle with each other. This arrangement can increase the contact area between the first clamping surface and the clamped item, further improving the stability of the first gripper assembly in clamping the item.

[0057] In this embodiment, the first clamping part 30 is a block structure, and there are two first clamping parts 30, which are arranged opposite to each other. The first clamping surface of the first clamping part 30 is V-shaped. This arrangement ensures the uniformity of force on the clamped item and guarantees the stability of clamping the item. Furthermore, the two V-shaped first clamping surfaces being arranged opposite to each other can clamp items of different sizes and shapes, expanding the application range of the first gripper assembly.

[0058] Furthermore, the first gripper assembly also includes at least one of a first anti-slip structure 31 and a first elastic element. When the first gripper assembly includes the first elastic element, the first elastic element can be an elastic pad made of rubber, and the first elastic element is disposed on the first clamping surface. The provision of the first elastic element can prevent rigid contact between the first clamping part 30 and the item, reducing the possibility of the clamped item being crushed. When the first gripper assembly includes the first anti-slip structure 31, the first anti-slip structure 31 is disposed on the first clamping surface, and the first anti-slip structure 31 can be a first anti-slip texture, a first anti-slip particle, or a first anti-slip pad, etc. The provision of the first anti-slip structure 31 can increase the friction between the first clamping part 30 and the clamped item, improving the stability of the first clamping part 30 in clamping the item. The first anti-slip texture can be set as inclined stripes, vertical stripes, horizontal stripes, and grid stripes; this solution does not limit the specific form of the stripes. In this embodiment, the first gripper assembly includes a first anti-slip structure 31, and the first anti-slip structure 31 is a first anti-slip pattern. The first anti-slip pattern is disposed on the first gripping surface, and the first anti-slip pattern is a vertically arranged stripe structure.

[0059] Specifically, the second gripper assembly includes multiple gripping rods 42, which cooperate to grip the item. In this embodiment, the gripping rods 42 extend vertically and are arranged in a ring. When the second gripper assembly grips the item, the first driving member 20 drives the multiple gripping rods 42 to approach the item until all the gripping rods 42 are in contact with the item, thus completing the gripping. This arrangement increases the contact area between the gripping rods 42 and the item, improving the stability of the gripping by the second gripper assembly. Furthermore, this arrangement provides a reasonable distribution of the gripping rods 42, reducing the space occupied by the second gripper assembly and facilitating the insertion of the multiple gripping rods 42 into the outer periphery of the item for gripping, thereby improving the flexibility of gripping the item.

[0060] like Figures 4 to 8As shown, the clamping rod 42 includes a first clamping section with a second clamping surface for clamping an item. At least one clamping rod 42 has a second clamping surface that is either flat or curved. In this embodiment, the first clamping section of the clamping rod 42 is located at the bottom of the clamping rod 42, and the second clamping surfaces of the plurality of second clamping rods 42 are all curved surfaces, with the axial direction of the second clamping surface being vertical. This arrangement ensures that when the plurality of clamping rods 42 clamp an item, the second clamping surfaces of all the clamping rods 42 can contact the item, thereby improving the stability of the second gripper assembly in clamping the item.

[0061] Furthermore, a second anti-slip structure 4223 is provided on the second clamping surface. The second anti-slip structure 4223 enhances the friction between the second clamping surface and the clamped item, thereby improving the stability of the second gripper assembly in clamping the item. Specifically, the second anti-slip structure 4223 is a second anti-slip texture, and this second anti-slip texture is provided on the second clamping surface. The second anti-slip texture can be an inclined pattern or a grid pattern; this design does not limit the specific shape of the texture. In this embodiment, the second anti-slip structure 4223 is a vertical anti-slip texture.

[0062] Specifically, the clamping rod 42 is a cylinder, and the number of clamping rods 42 is three or more. In this embodiment, the circumferential surface of the clamping rod 42 forms a second clamping surface, and a second anti-slip texture is annularly disposed on the second clamping surface. Furthermore, in this embodiment, the number of clamping rods 42 is set to four, and the four clamping rods 42 are arranged opposite each other in a ring. This arrangement ensures that the four clamping rods 42 are annularly distributed around the outer periphery of the clamped item, guaranteeing the uniformity of force on the item and improving the stability of clamping the item.

[0063] Furthermore, the clamping rod 42 also includes a second clamping section, which is connected to the first clamping section and located above it. The second clamping section is provided with a second elastic element 4224. Specifically, the second clamping section is provided with a snap-fit ​​groove 4222, which is an annular structure. The second elastic element 4224 is also an annular structure, and it is snapped into the second clamping section via the snap-fit ​​groove 4222. The circumferential surface of the second elastic element 4224 protrudes from the second clamping section. When it is necessary to clamp easily broken containers or containers with long bodies, the second clamping section is used; when it is necessary to clamp containers that are not easily broken or containers with short bodies, the first clamping section is used. This design allows the second gripper assembly to easily clamp different types of containers, improving the adaptability of the clamping device.

[0064] like Figures 1 to 3As shown, the second gripper assembly also includes multiple main body portions 41, each main body portion 41 being connected to at least one gripping rod 42, with the gripping rod 42 located below the main body portion 41. A first driving member 20 is drivenly connected to the main body portion 41, and the first driving member 20 drives the gripping rod 42 to move via the main body portion 41. The gripping rod 42 is detachably connected to the main body portion 41. Specifically, the gripping rod 42 and the main body portion 41 can be detachably connected by snap-fit ​​or fasteners. In this embodiment, a threaded hole is provided at the bottom of the main body portion 41, and the top of the gripping rod 42 is threadedly connected to the main body portion 41 through the threaded hole. This arrangement allows for easy replacement of gripping rods 42 of different specifications and sizes, enabling different types of gripping rods 42 to grip different types of objects, thus improving the adaptability of the gripping device. Furthermore, a wrench-shaped facet 4221 is provided on the circumferential surface near the top of the gripping rod 42 to facilitate gripping of the gripping rod 42.

[0065] Furthermore, the clamping device also includes multiple connecting portions 50, each connecting portion 50 being connected to at least one main body portion 41. A first driving member 20 is driven to connect to the connecting portions 50, and the first driving member 20 drives the main body portion 41 to move via the connecting portions 50. When clamping an item, the first driving member 20 drives the connecting portions 50 to move, the movement of the connecting portions 50 drives the main body portion 41 to move, and the movement of the main body portion 41 drives the clamping rod 42 to move, thereby completing the clamping of the item.

[0066] Specifically, the connecting portion 50 includes a first connecting segment and a second connecting segment connected at an angle. The first driving member 20 is connected to the first connecting segment of the connecting portion 50, and the second connecting segment of the connecting portion 50 is connected to the main body portion 41. The end of the first connecting segment of the connecting portion 50 away from the second connecting segment is located above the second connecting segment of the connecting portion 50. The first connecting segment and the second connecting segment of the connecting portion 50 are integrally formed. Specifically, the first connecting segment of the connecting portion 50 extends vertically, and the second connecting segment extends horizontally, forming an L-shape after the first connecting segment and the second connecting segment of the connecting portion 50 are connected. The second connecting segment of the connecting portion 50 is connected to the main body portion 41 at an angle. The second connecting segment of the connecting portion 50 forms an L-shape after being connected to the main body portion 41. Specifically, the main body portion 41 includes a first main body segment and a second main body segment connected sequentially in a horizontal direction. The first main body segment is located above the second connecting segment of the connecting portion 50, and the bottom end face of the second main body segment is lower than the bottom end face of the first main body segment. After the main body 41 is connected to the clamping rod 42, it forms an L-shape. Specifically, the clamping rod 42 is connected to the bottom of the second main body section of the main body 41.

[0067] In this design, there are two connecting parts 50, which are arranged opposite to each other, with the main body 41 located between them. There are also two main bodies 41, arranged opposite to each other, with each main body 41 connected to a corresponding connecting part 50. There are four clamping rods 42, with one main body 41 connected to two clamping rods 42, and the clamping rods 42 on the two main bodies 41 are arranged opposite to each other. Furthermore, the two connecting parts 50 are distributed along the width of the body 10, ensuring the compact structure of the clamping device. This arrangement also divides the four clamping rods 42 into two groups, with the two groups of clamping rods 42 arranged opposite to each other. When clamping an item, the four clamping rods 42 are located on the outer periphery of the item, ensuring the stability of the clamping.

[0068] Specifically, the first gripper assembly includes two opposing first clamping portions 30, each of which is connected to a connecting portion 50. The first clamping portions 30 are located between the two connecting portions 50. The connecting portions 50 are movably disposed at the bottom of the body 10, and both ends of the connecting portions 50 extend sequentially to both sides of the body 10. Specifically, a guide groove 61 is provided at the bottom of the body 10. The guide groove 61 is horizontally disposed, and its extension direction is the same as that of the body 10. A guide block is provided at the top of the connecting portion 50. The guide block is movably disposed within the guide groove 61. The guide groove 61 has an I-shaped cross-section. This design prevents the guide block from detaching from the guide groove 61, improving the smoothness of the guide block's movement. The main body 41 and the first clamping portions 30 are located on both sides of the body 10 and are respectively connected to the two ends of the connecting portions 50. The first clamping part 30 has a block-shaped structure, and there is a clearance space between the top of the first clamping part 30 and the body 10, so that the top of the clamped item can pass through the clearance space. This arrangement facilitates the first clamping part 30 to clamp the clamped item and avoids interference from the body 10 and other components with the clamping action of the first clamping part 30.

[0069] Furthermore, the clamping device also includes a displacement mechanism, which is disposed on the body 10 and is drivenly connected to the first gripper assembly and / or the second gripper assembly to adjust the position of the first gripper assembly and / or the second gripper assembly relative to the body 10. In this embodiment, the displacement mechanism is disposed on the body 10 and is drivenly connected to the second gripper assembly to adjust the position of the second gripper assembly relative to the body 10.

[0070] Specifically, the displacement mechanism includes a lifting structure, which comprises a second driving member 71 and a lifting plate 72. The second driving member 71 is mounted on the body 10. The lifting plate 72 is movably mounted on one side of the body 10 and is parallel to the body 10. The second driving member 71 is drivenly connected to the lifting plate 72. The lifting plate 72 has a first limiting part 721, and the main body 41 is slidably connected to the first limiting part 721. The second driving member 71 drives the second gripper assembly to rise and fall via the lifting plate 72. This lifting structure enables the second gripper assembly to automatically rise and fall, thereby improving the ease of adjusting the height of the second gripper assembly relative to the body 10. Furthermore, in this design, the first driving member 20 is mounted on the body 10 and does not need to rise and fall with the second gripper assembly. This reduces the lifting weight and the load on the lifting structure, thereby improving the flexibility of the lifting action.

[0071] In this embodiment, the first limiting part 721 extends horizontally and can be a first limiting groove, with the main body 41 movably disposed within the first limiting groove. In this embodiment, the first limiting part 721 is a first guide rail, with two main bodies 41 distributed along the extension direction of the first guide rail, and a connecting part 50 movably disposed on the first guide rail. The first driving member 20 drives the two connecting parts 50 to move synchronously towards or in opposite directions. The first guide rail design is simple in structure and avoids contact between the main body 41 and the machine body 10, improving the smoothness of the movement of the main body 41. Furthermore, this design ensures that both main bodies 41 move synchronously in the horizontal direction, thereby maintaining consistent travel distances during a single clamping process. This ensures that the clamping force exerted on the item by the two main bodies 41 remains consistent, further enhancing the stability of the item clamping. Furthermore, the first guide rail is positioned near the bottom of the lifting plate 72, which maximizes the travel range of the second gripper assembly, making it convenient for this gripping device to hold items at different heights.

[0072] The second driving component 71 can be a driving cylinder, which is mounted on the machine body 10 and drivenly connected to the lifting plate 72. This configuration is simple in structure and easy to operate. In this embodiment, the second driving component 71 is a driving motor, and the lifting structure also includes a lead screw 73, a lead screw nut pair 74, and a second limiting part 11. The second driving component 71 is drivenly connected to the lead screw 73. The lead screw nut pair 74 is threadedly connected to the lead screw 73 and connected to the lifting plate 72. The second limiting part 11 is mounted on the machine body 10, and the lifting plate 72 is slidably connected to the second limiting part 11. The second driving component 71 drives the lifting plate 72 to rise and fall along the second limiting part 11 through the cooperation of the lead screw 73 and the lead screw nut pair 74. When adjusting the height of the lifting plate 72 relative to the machine body 10, the driving motor is started, and the driving motor drives the lead screw 73 to rotate. The rotation of the lead screw 73 drives the lead screw nut pair 74 to raise and lower the lifting plate 72. The lead screw 73 and lead screw nut assembly 74 have a simple structure and smooth transmission. In addition, the lead screw 73 and lead screw nut assembly 74 have a self-locking function, which can ensure the stability of the lifting plate 72 when it is stationary, and thus ensure the stability of the second gripper assembly when it grips the item.

[0073] Specifically, the lifting plate 72, lead screw 73, lead screw nut assembly 74, and drive motor are all located on the same side of the machine body 10. The moving direction of the lifting plate 72 and the extending direction of the lead screw 73 are both vertical. The drive motor is positioned near the top of the machine body 10, and the lead screw 73 is located below the drive motor. The first drive component 20 is located on the side of the machine body 10 away from the lifting plate 72. This arrangement ensures the compactness of the overall structure of the lifting device, thereby facilitating the gripping of objects in confined spaces.

[0074] In this embodiment, the displacement mechanism further includes a connecting block 75, which is fixedly connected to the lead screw and nut assembly 74. The lead screw 73 passes through the connecting block 75, and the connecting block 75 is fixedly connected to the lifting plate 72. Alternatively, the connecting block 75 and the lifting plate 72 can be integrally formed. The connecting block 75 serves as a transitional connection, improving the stability of the connection between the lead screw and nut assembly 74 and the lifting plate 72.

[0075] The second limiting part 11 is vertically arranged, and the second limiting part 11 can be a second guide rail, on which the lifting plate 72 is movably arranged. In this embodiment, the second limiting part 11 is a second limiting groove, which is arranged on the side of the machine body 10 near the lifting plate 72, and a limiting block is provided on the lifting plate 72, which is movably arranged in the second limiting groove. The setting of the second limiting groove and the limiting block can guide and limit the lifting of the lifting plate 72, ensuring the smooth movement of the lifting plate 72.

[0076] Furthermore, the lifting structure also includes multiple guide rods 80, with at least one guide rod 80 provided on each connecting part 50. The guide rods 80 are slidably connected to the main body part 41 in a one-to-one correspondence. The lifting plate 72 drives the main body part 41 to rise and fall along the guide rods 80, and the connecting part 50 drives the second gripper assembly to clamp through the guide rods 80 and the first limiting part 721. In this embodiment, the lifting structure includes two guide rods 80, and each connecting part 50 is provided with one guide rod 80. The guide rods 80 are vertically arranged on the top surface of the second connecting section of the connecting part 50, and the first main body section of the main body part 41 is movably inserted through the guide rods 80. The guide rods 80 have a simple structure, occupy little space, and can ensure the compactness of the overall structure of the device. In addition, in this solution, the guide rods 80 cooperate with the connecting part 50, and the second limiting groove cooperates with the limiting block on the lifting plate 72, which can ensure the smooth synchronous rise and fall of the connecting part 50 and the lifting plate 72.

[0077] Furthermore, the second driving component 71 is located above the lifting plate 72, and the lifting structure also includes a limit sensor and a baffle 751. The limit sensor is located below and close to the second driving component 71. The baffle 751 is located above the lifting plate 72, and the baffle 751, in conjunction with the limit sensor, can limit the displacement of the lifting plate 72. Specifically, the limit sensor is electrically connected to the second driving component 71. When the lifting plate 72 rises and approaches the second driving component 71, the limit sensor and the baffle 751 sense each other, and the limit sensor transmits the position signal of the lifting plate 72 to the second driving component 71. The second driving component 71 then stops operating, and the lifting plate 72 stops rising. The baffle 751, in conjunction with the limit sensor, can limit the displacement of the lifting plate 72, preventing the lifting plate 72 from colliding with the second driving component 71.

[0078] The clamping device also includes a quick-change connecting plate 91 and a pneumatic quick-change connector 92. The quick-change connecting plate 91 is mounted on the body 10, and the pneumatic quick-change connector 92 is mounted on the quick-change connecting plate 91. In use, the pneumatic quick-change connector 92 can be fixed to the external robotic arm, and the entire clamping device can be moved by controlling the robotic arm. The inclusion of the pneumatic quick-change connector 92 and the quick-change connecting plate 91 improves the ease of connection between the clamping device and the external robotic arm, thus increasing the efficiency of installation.

[0079] Furthermore, the clamping robot includes a motion mechanism and the clamping device described above. The motion mechanism is driven to connect with the clamping device, and the motion mechanism drives the clamping device to move.

[0080] Embodiment 2 of the present invention provides a clamping robot, which includes a motion mechanism and the clamping device described above. The motion mechanism is driven to connect with the clamping device, and the motion mechanism can drive the clamping device to move.

[0081] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0082] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0083] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, perpendicular, second" and "top, bottom" are generally based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0084] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0085] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0086] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A clamping device, characterized in that, The clamping device includes: Body (10); The first driving component (20) is disposed on the body (10); The first gripper assembly and the second gripper assembly are independently configured. The first driving member (20) is driven to connect the first gripper assembly and the second gripper assembly respectively, so as to drive the first gripper assembly and the second gripper assembly to clamp the item separately. The first gripper assembly and the second gripper assembly are located on opposite sides of the machine body (10) and are driven synchronously by the first driving member (20) to clamp and open. The height position of the first gripper assembly or the second gripper assembly relative to the machine body (10) is adjustable. A displacement mechanism is provided on the body (10). The displacement mechanism is drivenly connected to the first gripper assembly or the second gripper assembly to adjust the height position of the first gripper assembly or the second gripper assembly relative to the body (10).

2. The clamping device according to claim 1, characterized in that, The structures of the first gripper assembly and the second gripper assembly are different.

3. The clamping device according to claim 1, characterized in that, The first gripper assembly includes a plurality of first gripping parts (30), each of the first gripping parts (30) having a first gripping surface, and the plurality of first gripping parts (30) cooperate with each other through the plurality of first gripping surfaces to grip the article.

4. The clamping device according to claim 3, characterized in that, The contact area between the first clamping surface of the first clamping part (30) and the clamped item is located on the arc or plane of the first clamping surface; or there are multiple contact areas between the first clamping surface of the first clamping part (30) and the clamped item, and the multiple contact areas form an angle between each other at the locations on the first clamping surface.

5. The clamping device according to claim 4, characterized in that, There are two first clamping parts (30), and the two first clamping parts (30) are arranged opposite to each other, and the first clamping surface of the first clamping part (30) is V-shaped.

6. The clamping device according to claim 3, characterized in that, The first gripper assembly further includes: A first anti-slip structure (31) is disposed on the first clamping surface; and / or, The first elastic element is disposed on the first clamping surface.

7. The clamping device according to claim 1, characterized in that, The second gripper assembly includes a plurality of gripping rods (42), which cooperate with each other to grip the item.

8. The clamping device according to claim 7, characterized in that, The clamping rod (42) includes a first clamping section, the first clamping section having a second clamping surface, the second clamping surface being used to clamp an article, and at least one of the second clamping surfaces of the clamping rod (42) is a plane or an arc surface.

9. The clamping device according to claim 8, characterized in that, A second anti-slip structure is provided on the second clamping surface.

10. The clamping device according to claim 7, characterized in that, The clamping rod (42) is a column, and the number of clamping rods (42) is three or more.

11. The clamping device according to claim 8, characterized in that, The clamping rod (42) further includes a second clamping section, which is connected to the first clamping section and is located above the first clamping section. The second clamping section is provided with a second elastic element.

12. The clamping device according to any one of claims 7-11, characterized in that, The second gripper assembly also includes a plurality of body portions (41), each of the body portions (41) being connected to at least one of the gripping rods (42), and the gripping rods (42) being located below the body portions (41); The first driving member (20) is driven to connect with the main body (41), and the first driving member (20) drives the clamping rod (42) to move through the main body (41).

13. The clamping device according to claim 12, characterized in that, The clamping device further includes a plurality of connecting parts (50), each of the connecting parts (50) being connected to at least one of the main body parts (41); The first driving member (20) is driven to connect with the connecting part (50), and the first driving member (20) drives the main body (41) to move through the connecting part (50).

14. The clamping device according to claim 13, characterized in that, The connecting part (50) includes a first connecting segment and a second connecting segment connected at an angle. The first driving member (20) is connected to the first connecting segment of the connecting part (50), and the second connecting segment of the connecting part (50) is connected to the main body part (41).

15. The clamping device according to claim 14, characterized in that, The end of the second connecting segment of the first connecting segment of the connecting part (50) that is away from the connecting part (50) is located above the second connecting segment of the connecting part (50), and the second connecting segment of the connecting part (50) is connected to the main body (41) at an angle.

16. The clamping device according to claim 15, characterized in that, The first connecting segment of the connecting part (50) forms an L-shape after being connected to the second connecting segment of the connecting part (50), the second connecting segment of the connecting part (50) forms an L-shape after being connected to the main body (41), and the main body (41) forms an L-shape after being connected to the clamping rod (42).

17. The clamping device according to claim 13, characterized in that, The number of the connecting parts (50) is two, and the two connecting parts (50) are arranged opposite to each other, with the main body (41) located between the two connecting parts (50).

18. The clamping device according to claim 17, characterized in that, The number of the main body parts (41) is two, the two main body parts (41) are arranged opposite to each other, and the main body parts (41) are connected to the connecting parts (50) one by one; The number of clamping rods (42) is four, and one main body (41) is connected to two clamping rods (42) respectively. The clamping rods (42) located on the two main body (41) are arranged opposite to each other.

19. The clamping device according to claim 17, characterized in that, The first gripper assembly includes two opposing first gripping portions (30), which are connected one-to-one with the connecting portions (50), and the first gripping portions (30) are located between the two connecting portions (50).

20. The clamping device according to claim 13, characterized in that, The displacement mechanism is driven to connect with the second gripper assembly to adjust the height position of the second gripper assembly relative to the body (10).

21. The clamping device according to claim 20, characterized in that, The displacement mechanism includes a lifting structure, which includes: The second drive unit (71) is disposed on the body (10); The lifting plate (72) is driven by the second driving member (71). The lifting plate (72) is provided with a first limiting part (721). The main body (41) is slidably connected to the first limiting part (721). The second driving member (71) drives the second gripper assembly to rise and fall through the lifting plate (72).

22. The clamping device according to claim 21, characterized in that, The lifting structure also includes: The lead screw (73) is driven by the second driving member (71). A lead screw and nut assembly (74) is threadedly connected to the lead screw (73) and connected to the lifting plate (72); The second limiting part (11) is disposed on the machine body (10). The lifting plate (72) is slidably connected to the second limiting part (11). The second driving member (71) cooperates with the lead screw (73) and the lead screw nut pair (74) to drive the lifting plate (72) to rise and fall along the second limiting part (11).

23. The clamping device according to claim 21, characterized in that, The lifting structure also includes: Multiple guide rods (80) are provided on each of the connecting parts (50), and the guide rods (80) are slidably connected to the main body (41) in a one-to-one correspondence. The lifting plate (72) drives the main body (41) to rise and fall along the guide rods (80). The connecting part (50) drives the second gripper assembly to clamp through the guide rods (80) and the first limiting part (721).

24. The clamping device according to claim 21, characterized in that, The second driving member (71) is located above the lifting plate (72), and the lifting structure further includes: The limit sensor is located below the second drive member (71) and is positioned close to the second drive member (71); A baffle (751) is disposed above the lifting plate (72). The baffle (751) cooperates with the limit sensor to limit the displacement of the lifting plate (72).

25. The clamping device according to claim 1, characterized in that, The clamping device further includes: The quick-change connecting plate (91) and the pneumatic quick-change connector (92) are provided on the machine body (10).

26. A gripping robot, characterized in that, The clamping robot includes a motion mechanism and a clamping device according to any one of claims 1 to 25, wherein the motion mechanism is drivenly connected to the clamping device and the motion mechanism drives the clamping device to move.

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