A clamping mechanism

Abstract

This invention proposes a clamping mechanism, comprising: a clamping component, a supporting component, a lifting component, and a base. The top ends of each supporting portion of the supporting component are hinged to the non-clamping surfaces of a first clamping unit and a second clamping unit, respectively. Each lifting portion of the lifting component is hinged to the non-clamping surfaces of the first and second clamping units, respectively. The supporting component and the lifting component are spaced apart. The bottom ends of each supporting portion of the supporting component and each fixed portion of the lifting component are hinged to the base, respectively. One end of each of the first and second clamping units is lifted to a target height by the lifting component and rotates around each supporting portion of the supporting component and each lifting portion of the lifting component to a target angle to form a clamping space. This mechanism avoids excessive motors and large gears, resulting in a smaller size and simpler structure, and also avoids the problem of large loads associated with traditional motor- or gear-driven gripper grasping and releasing mechanisms.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, and specifically relates to a clamping mechanism. Background Technology

[0002] Currently, robots are widely used in various fields, such as domestic robots in the service industry, space robots in the aerospace industry, bomb disposal robots in the military industry, and production robots in the industrial industry. Robotics technology has become a cutting-edge technology in scientific and technological development. These robotic technologies include robotic grippers, which are one of the most important components of a robot. The gripper plays a crucial role in the robot's interaction with its environment, and its function is similar to that of a human hand. Therefore, there is a need to design a high-performance robotic gripper that can replace the human hand, solving tasks that cannot be performed by the human hand in certain special environments.

[0003] However, existing technologies have several shortcomings: First, the robotic gripper has a complex structure. To achieve stable grasping, gear transmission is commonly used. While this method offers high power transmission and reliability, it also results in a large size and complex structure, hindering gripper control. Second, the gripper experiences heavy loads. Current robotic grippers, designed for complex grasping functions, often employ multi-degree-of-freedom and multi-finger designs. To improve stability, motors are used to drive the fingers, providing fast response, low noise, and stable output. However, excessive motors increase the gripper's load, impacting performance. Third, the gripper lacks adaptability. While various grasping methods exist, their stability and reliability vary significantly. Furthermore, the gripper cannot select a suitable grasping mode to actively adapt to object shapes, leading to unstable gripping. Summary of the Invention

[0004] To address the above problems, the present invention proposes a clamping mechanism, comprising:

[0005] The clamping assembly includes at least two clamping units, which are respectively a first clamping unit and a second clamping unit;

[0006] The support assembly has its top ends hinged to the non-clamping surfaces of the first clamping unit and the second clamping unit, respectively.

[0007] A lifting assembly for hydraulic or pneumatic lifting, wherein each lifting part is hinged to the non-clamping surface of the first clamping unit and the second clamping unit respectively, and the support assembly is spaced apart from the lifting assembly;

[0008] The base, the bottom ends of each support part of the support assembly and each fixed part of the lifting assembly are respectively hinged to the base, and one end of the first clamping unit and the second clamping unit are respectively lifted to the target height by the lifting assembly, and respectively rotate around each support part of the support assembly and each lifting part of the lifting assembly to the target angle to form a clamping space.

[0009] Optionally, the lifting assembly includes a first lifting unit and a second lifting unit. One end of the first lifting unit is hinged to the first clamping unit, and one end of the second lifting unit is hinged to the second clamping unit. Each support part of the support assembly is spaced apart from the first lifting unit and the second lifting unit located on their respective corresponding clamping units. The other ends of the first lifting unit and the second lifting unit are respectively hinged to the base.

[0010] Optionally, the first lifting unit includes a first telescopic rod and a first sleeve. The top surface of the first telescopic rod is hinged to the first clamping unit. The first telescopic rod is sealed inside the first sleeve so that it can be lifted hydraulically or pneumatically within the first sleeve.

[0011] Optionally, the first lifting unit and the second lifting unit have the same structure.

[0012] Optionally, the support assembly includes a first support unit and a second support unit. The first support unit is hinged to the first clamping unit, and the second support unit is hinged to the second clamping unit. The first support unit and the second support unit are respectively arranged at intervals on their respective clamping units, corresponding to each lifting part of the lifting assembly.

[0013] Optionally, the first support unit includes a first support rod and a second support rod that are respectively hinged to the first clamping unit, and the first support rod, the second support rod and a lifting part of the lifting assembly are arranged in a triangular structure on the first clamping unit.

[0014] Optionally, the first support unit and the second support unit have the same structure.

[0015] Optionally, the first clamping unit includes a first connecting plate, a first support plate, and a first fingertip. A support portion of the support assembly and a lifting portion of the lifting assembly are respectively hinged to the non-clamping surface of the first connecting plate. The first support plate is disposed on the clamping surface of the first connecting plate, and the first fingertip is disposed on the top of the first support plate.

[0016] Optionally, the first clamping unit and the second clamping unit have the same structure.

[0017] Optionally, the clamping assembly comprises three units, including the first clamping unit and the second clamping unit, and further including a third clamping unit that is hinged to the support portion of the support assembly and the lifting portion of the lifting assembly, so that it can rise, fall, and rotate together with the first clamping unit and the second clamping unit to form the clamping space.

[0018] The clamping mechanism of this invention uses hydraulic or pneumatic control to raise and lower each lifting part of the lifting assembly. This allows one end of the first and second clamping units to be lifted to a target height by the lifting assembly, and then rotated around each support part of the support assembly and each lifting part of the lifting assembly to a target angle, forming a clamping space capable of gripping the target object. Because the support assembly and lifting assembly on the base can rotate, the size of the clamping space can be adjusted according to the volume of the target object. Since pneumatic or hydraulic pressure drives the raising and lowering of each lifting part of the lifting assembly, gripping and releasing actions are performed by controlling changes in pneumatic or hydraulic pressure. Compared to traditional motor or gear-driven gripping and releasing mechanisms, this mechanism uses fewer motors and larger gears, resulting in a smaller size and simpler structure. It also avoids the problem of high load associated with traditional motor or gear-driven gripper gripping and releasing mechanisms.

[0019] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures pointed out in the description, claims and drawings. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 A schematic diagram of the clamping mechanism in an embodiment of the present invention is shown;

[0022] Figure 2 A schematic diagram of the lifting component of the clamping mechanism in an embodiment of the present invention is shown;

[0023] Figure 3 A schematic diagram of the first telescopic rod in the lifting assembly of the clamping mechanism in an embodiment of the present invention is shown;

[0024] Figure 4 A schematic diagram of the first support rod of the support assembly of the clamping mechanism in an embodiment of the present invention is shown;

[0025] Figure 5 A schematic diagram of the base of the clamping mechanism in an embodiment of the present invention is shown.

[0026] In the diagram, 1-clamping assembly, 2-support assembly, 3-lifting assembly, 11-first clamping unit, 12-second clamping unit, 13-third clamping unit, 31-first lifting unit, 32-second lifting unit, 311-first telescopic rod, 312-first sleeve, 21-first support unit, 22-second support unit, 23-third support unit, 221-first support rod, 222-second support rod, 111-first connecting plate, 112-first support plate, 113-first fingertip, 4-base, 5-hinge. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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, not all embodiments. 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.

[0028] like Figure 1As shown, the present invention provides a clamping mechanism, comprising: a clamping assembly 1, a support assembly 2, a lifting assembly 3 for hydraulic or pneumatic lifting, and a base 4. The clamping assembly 1 includes at least two clamping units, namely a first clamping unit 11 and a second clamping unit 12. The top ends of each support portion of the support assembly 2 are respectively hinged to the non-clamping surfaces of the first clamping unit 11 and the second clamping unit 12, that is, the first clamping unit 11 and the second clamping unit 12 are respectively located on two different support portions of the support assembly 2. Each lifting portion of the lifting assembly 3 is respectively hinged to the non-clamping surfaces of the first clamping unit 11 and the second clamping unit 12, that is, the two different lifting portions of the lifting assembly 3 are respectively hinged to the non-clamping surfaces of the first clamping unit 11 and the second clamping unit 12. The non-clamping surfaces of the two clamping units 12 correspond one-to-one and are hinged. Furthermore, the first clamping unit 11 and the second clamping unit 12 are respectively located on two different lifting parts of the lifting assembly 3. The support assembly 2 and the lifting assembly 3 are spaced apart; that is, when the support part on the support assembly 2 and the lifting part on the lifting assembly 3 are on the same clamping unit, they are spaced apart. The bottom ends of each support part of the support assembly 2 and each fixed part of the lifting assembly 3 are hinged to the base 4. One end of the first clamping unit 11 and the second clamping unit 12 are respectively lifted to the target height by the lifting assembly 3, and rotate around each support part of the support assembly 2 and each lifting part of the lifting assembly 3 to the target angle to form a clamping space. Since the lifting assembly 3 is driven by pneumatic or hydraulic pressure, the grasping and releasing actions are performed by controlling the changes in pneumatic or hydraulic pressure. Compared with traditional motor or gear-driven grasping and releasing, this mechanism does not have too many motors and large gears, making the mechanism smaller and simpler in structure, and avoiding the problem of large loads in traditional motor or gear-driven gripper grasping and releasing. In addition, by controlling the input air pressure, different gripping forces can be output for objects of different hardness, enabling the robot gripper to adapt to different gripping scenarios. At the same time, the hinge of the base 4 can control the overall opening and closing degree of each gripping unit, thereby playing an auxiliary gripping role and enhancing the gripper's gripping adaptability.

[0029] It should be noted that during the grasping process, each lifting unit needs to be driven to rise. At this time, one end of the first clamping unit 11 and the second clamping unit 12 are respectively lifted to the target height by the lifting assembly 3. The first clamping unit 11 and the second clamping unit 12 rotate in their respective opposite directions and rotate around the support parts of the support assembly 2 and the lifting parts of the lifting assembly 3 to the target angle, so that a clamping space is formed between the first clamping unit 11 and the second clamping unit 12. The size of the clamping space can be adjusted by adjusting the rotation angle between the first clamping unit 11 and the second clamping unit 12, that is, it can clamp target objects of different volumes. In addition, the size of the clamping space can be further adjusted according to the volume of the grasped target by the rotation of the support assembly and the lifting assembly on the base. Optionally, the first clamping unit 11 and the second clamping unit 12 are hinged to the support assembly 2 and the lifting assembly 3 respectively by hinge 5, and the first clamping unit 11 and the second clamping unit 12 can rotate 0-90°.

[0030] like Figures 1 to 3 As shown, in one embodiment, the lifting assembly 3 includes a first lifting unit 31 and a second lifting unit 32. One end of the first lifting unit 31 is hinged to the first clamping unit 11, and one end of the second lifting unit 32 is hinged to the second clamping unit 12. Each support part of the support assembly 2 is spaced apart from the first lifting unit 31 and the second lifting unit 32 located on their respective clamping units. The other ends of the first lifting unit 31 and the second lifting unit 32 are respectively hinged to the base 4. The first lifting unit 31 and the second lifting unit 32 drive the first clamping unit 11 and the second clamping unit 12 to rise to the target height, and rotate around each support part of the support assembly 2 and the lifting part of each lifting unit to the target angle, so that a clamping space is formed between the first clamping unit 11 and the second clamping unit 12. Compared with traditional electric and gear-driven grippers, the pneumatic or hydraulic drive of the first lifting unit 31 and the second lifting unit 32 of this mechanism has a simpler structure and smaller size, thereby reducing the load on the gripper.

[0031] It should be noted that the support component 2 has two different support parts, namely the first support unit 21 and the second support unit 22. The first support unit 21, the first lifting unit 31, the second support unit 22 and the second lifting unit 32 form two support lifting parts. The support unit and the lifting unit in each group are respectively arranged at intervals on the non-clamping surfaces of the first clamping unit 11 and the second clamping unit 12.

[0032] In one embodiment, the first lifting unit 31 includes a first telescopic rod 311 and a first sleeve 312. The top surface of the first telescopic rod 311 is hinged to the first clamping unit 11. The first telescopic rod 311 is sealed inside the first sleeve 312 to allow it to be lifted and lowered hydraulically or pneumatically within the first sleeve 312. By controlling the change in air pressure, the gripping and releasing actions are performed. Furthermore, because the structure composed of the first telescopic rod 311 and the first sleeve 312 is simple and small in size, the weight and volume of gears and traditional motors are avoided from affecting the load on the gripper.

[0033] In one embodiment, the first lifting unit 31 and the second lifting unit 32 have the same structure. That is, both the second lifting unit 32 and the third lifting unit include a telescopic rod and a sleeve. The telescopic rod is sealed inside the sleeve so that it can be raised and lowered hydraulically or pneumatically within the first sleeve 312. By controlling the change of air pressure in each lifting unit, the grasping and releasing actions are performed. Since the structure of the telescopic rod and sleeve of each lifting unit is simple and small in size, the weight and volume of gears and traditional motors are avoided from affecting the load of the gripper. In addition, when grasping an object, it is necessary to control the telescopic rods in the first lifting unit 31 and the second lifting unit 32 to rise simultaneously so that the corresponding clamping units on each telescopic rod rise to the target height. The first clamping unit 11 and the second clamping unit 12 rotate around the support parts of the support assembly 2 and the top surface of each telescopic rod to the target angle, so that the first clamping unit 11 and the second clamping unit 12 retract with each other, thereby forming a clamping space. When an item is released, the telescopic rods of each lifting unit descend and retract into their respective sleeves. During the descent, each clamping unit is reset until the clamping unit is nearly perpendicular to or perpendicular to the telescopic rod, thus completing the reset.

[0034] like Figure 1 and Figure 4 As shown, in one embodiment, the support assembly 2 includes a first support unit 21 and a second support unit 22. The first support unit 21 is hinged to the first clamping unit 11, and the second support unit 22 is hinged to the second clamping unit 12. The first support unit 21 and the second support unit 22 are respectively spaced on their respective clamping units, corresponding to the respective lifting parts of the lifting assembly 3. The first support unit 21 and the second support unit 22 can support their respective clamping units. When the clamping units are raised or lowered, each clamping unit will rotate around its respective support unit, thereby realizing the function of clamping or releasing objects by each clamping unit. Moreover, the structure of each support unit of the support assembly 2 is simple, reducing weight.

[0035] In one embodiment, the first support unit 21 includes a first support rod 221 and a second support rod 222, which are respectively hinged to the first clamping unit 11. The first support rod 221, the second support rod 222, and a lifting part of the lifting assembly 3 are arranged in a triangular structure on the first clamping unit 11. It should be noted that the first support rod 221, the second support rod 222, and any telescopic rod of the lifting assembly 3 are located at different positions on the clamping unit, and the first support rod 221, the second support rod 222, and the telescopic rod are connected sequentially to form a triangular structure on the clamping unit. In addition, the first support rod 221 and the second support rod 222 need to be located in front of the telescopic rod, that is, the first support rod 221 and the second support rod 222 need to be close to the center direction of the clamping space formed between the clamping units, so that each lifting unit can bring the clamping units close together to form a clamping space.

[0036] In one embodiment, the first support unit 21 and the second support unit 22 have the same structure. The first support unit 21 and the second support unit 22 can support their respective clamping units. When the clamping units are raised or lowered, each clamping unit will rotate around its respective support unit, thereby realizing the function of clamping or releasing objects by each clamping unit. Moreover, the structure of each support unit of the support assembly 2 is simple, reducing weight.

[0037] In one embodiment, the first clamping unit 11 includes a first connecting plate 111, a first support plate 112, and a first fingertip 113. A support portion of the support assembly 2 and a lifting portion of the lifting assembly 3 are respectively hinged to the non-clamping surface of the first connecting plate 111. The first support plate 112 is disposed on the clamping surface of the first connecting plate 111, and the first fingertip 113 is disposed on the top of the first support plate 112. The first connecting plate 111 provides support for the first support plate 112, and the first fingertip 113 can improve the success rate of gripping. When gripping a target object, each fingertip on each clamping unit needs to grip the target object. The first clamping unit 11 has a simple structure, is lightweight, and reduces the load.

[0038] In one embodiment, the first clamping unit 11 and the second clamping unit 12 have identical structures. Optionally, the second clamping unit 12 also includes a connecting plate, a gripping plate, and fingertips; by retracting the fingertips on each clamping unit, the target object is ultimately clamped. Each clamping unit has a simple structure and is lightweight, reducing the load.

[0039] like Figure 5As shown, in one embodiment, the clamping assembly 1 comprises three units, including a first clamping unit 11 and a second clamping unit 12, and a third clamping unit 13, which is hinged to the support portion of the support assembly 2 and the lifting portion of the lifting assembly 3, respectively. This allows the third unit 13 to move up and down and rotate together with the first clamping unit 11 and the second clamping unit 12 to form a clamping space. Optionally, the bottom end face of the support assembly 2 and the bottom end face of the lifting assembly 3 are hinged to the base 4 via hinges 5. This allows adjustment of the rotation of the support assembly 2 and the lifting assembly 3, enabling the first clamping unit 11 and the second clamping unit 12 to move closer or further apart, thereby reducing or expanding the clamping space between them. In other words, the hinges 5 connecting each support rod can control the overall opening and closing degree of each clamping unit, thus assisting in gripping. Optionally, the lifting assembly 3 also includes a third lifting unit (unmarked), which is hinged to the third clamping unit 13. The support assembly 2 also includes a third support unit 23, which is hinged to the third clamping unit 13. The first clamping unit 11, the second clamping unit 12, and the third clamping unit 13 rotate around each support part and the top surface of each telescopic rod of the support assembly 2 to the target angle, so that the first clamping unit 11, the second clamping unit 12, and the third clamping unit 13 retract towards each other, thereby forming a clamping space.

[0040] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A clamping mechanism, characterized by, The utility model relates to a kind of clamping assemblies, including: Clamping assembly (1), including at least two and respectively first clamping unit (11) and second clamping unit (12), the first clamping unit (11) includes first connecting plate (111), first support plate (112) and first fingertip (113), a support part of support assembly (2) and a lifting part of lifting assembly (3) are respectively hinged on the non-clamping surface of the first connecting plate (111), the first support plate (112) is arranged on the clamping surface of the first connecting plate (111), and the first fingertip (113) is arranged on the top end of the first support plate (112); Support assembly (2), each support part top end is respectively hinged with the non-clamping surface of the first clamping unit (11) and the second clamping unit (12); Lifting assembly (3) for hydraulic or pneumatic lifting, each lifting part is respectively hinged with the non-clamping surface of the first clamping unit (11) and the second clamping unit (12), and the support assembly (2) is spaced apart from the lifting assembly (3); Base (4), each support part bottom end of the support assembly (2) and each fixed part of the lifting assembly (3) are respectively hinged with the base (4), one end of the first clamping unit (11) and the second clamping unit (12) is respectively lifted to target height by the lifting assembly (3), and is respectively rotated to target angle around each support part of the support assembly (2) and each lifting part of the lifting assembly (3) to form a clamping space.

2. The clamping mechanism of claim 1, wherein The lifting assembly (3) includes first lifting unit (31) and second lifting unit (32), one end of the first lifting unit (31) is hinged with the first clamping unit (11), one end of the second lifting unit (32) is hinged with the second clamping unit (12), each support part of the support assembly (2) is spaced apart from the first lifting unit (31) and the second lifting unit (32) located on each corresponding clamping unit, and the other end of the first lifting unit (31) and the second lifting unit (32) is respectively hinged with the base (4).

3. The clamping mechanism of claim 2, wherein, The first lifting unit (31) includes first telescopic rod (311) and first sleeve (312), the top end surface of the first telescopic rod (311) is hinged with the first clamping unit (11), and the first telescopic rod (311) is sealingly arranged in the first sleeve (312) to be lifted by hydraulic pressure or pneumatic pressure in the first sleeve (312).

4. A clamping mechanism according to claim 2 or 3, characterised in that, The first lifting unit (31) and the second lifting unit (32) are same in structure.

5. The clamping mechanism of claim 1, wherein, The support assembly (2) includes first support unit (21) and second support unit (22), the first support unit (21) is hinged with the first clamping unit (11), the second support unit (22) is hinged with the second clamping unit (12), and the first support unit (21) and the second support unit (22) are respectively spaced apart on each clamping unit corresponding to each lifting part of the lifting assembly (3).

6. The clamping mechanism of claim 5, wherein, The first supporting unit (21) comprises a first supporting rod (221) and a second supporting rod (222) respectively hinged with the first clamping unit (11), and one lifting part in the first supporting rod (221), the second supporting rod (222) and the lifting assembly (3) are arranged in a triangular structure on the first clamping unit (11).

7. A clamping mechanism according to claim 5 or 6, characterised in that, The first supporting unit (21) and the second supporting unit (22) are the same in structure.

8. The chucking mechanism of claim 1, wherein The first clamping unit (11) and the second clamping unit (12) are the same in structure.

9. The chucking mechanism of claim 1, wherein, The clamping assembly (1) is three and comprises the first clamping unit (11) and the second clamping unit (12), and further comprises a third clamping unit (13) respectively hinged with a supporting part of the supporting assembly (2) and a lifting part of the lifting assembly (3), so that it can be lifted and rotated together with the first clamping unit (11) and the second clamping unit (12) to form the clamping space.

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