Manipulator and robot

Abstract

The invention provides a manipulator and a robot. The manipulator comprises at least two clamping units, each clamping unit comprises a frame part, a first clamping part, a matching part and a second clamping part, the first end of the frame part is rotatably connected with the first clamping part, the matching part is arranged at the second end of the frame part, the matching part is arranged on the second clamping part in a relative movement mode in the extending direction of the second clamping part, and the second clamping part is arranged on the frame part; the second clamping piece is rotatably arranged relative to the second end of the frame piece, and the second clamping piece is rotatably connected with the first clamping piece; the transmission unit is used for enabling the manipulator to be in a first clamping state that the second clamping pieces of the at least two clamping units clamp the target object in parallel; or the manipulator is in a second clamping state that the target object is enveloped and clamped by the second clamping pieces and the first clamping pieces of the at least two clamping units or by the second clamping pieces of the at least two clamping units and partial structures of the transmission units. According to the mechanical arm, the structure is simplified while the mechanical arm has two clamping states.

Description

Technical Field

[0001] The present application relates to the technical field of robots or mechanical actuators, and specifically, to a manipulator and a robot. Background Art

[0002] A manipulator is an automatic device that can imitate certain movements of human hands and is used to grab, move objects or operate tools according to a fixed program. The manipulator can replace heavy labor of people to achieve mechanization and automation of production, and can operate in harmful environments to protect personal safety. Therefore, it is widely used in machinery manufacturing, metallurgy, electronics, light industry and atomic energy.

[0003] The manipulator is a frequently used end effector, which generally has a flat clamping function or an enveloping function. However, the structure of the manipulator commonly used at present is relatively complex. Summary of the invention

[0004] In view of the shortcomings of the existing methods, the present application proposes a manipulator and a robot to solve the technical problem of the complex structure of the manipulator in the related technology.

[0005] In a first aspect, an embodiment of the present application provides a manipulator for a robot, comprising: At least two clamping units, the clamping units include a frame member, a first clamping member, a matching member, and a second clamping member, the first end of the frame member is rotatably connected to the first clamping member, the matching member is arranged at the second end of the frame member, the matching member is relatively movably arranged on the second clamping member along the extension direction of the second clamping member, the second clamping member is rotatably arranged relative to the second end of the frame member, and the second clamping member is rotatably connected to the first clamping member; The transmission unit is transmission-connected to the frame member of the clamping unit, and is used to place the manipulator in a first clamping state in which the second clamping members of at least two clamping units are parallel and close to clamp the target object; or, the manipulator is in a second clamping state in which the second clamping members of at least two clamping units and the first clamping member are enveloped and clamped on the periphery of the target object; or, the manipulator is in a second clamping state in which the second clamping members of at least two clamping units and a partial structure of the transmission unit are enveloped and clamped on the periphery of the target object.

[0006] Optionally, the clamping unit further includes a guide portion provided on the second clamping member; The matching piece is pivotally connected to the frame piece, and the matching piece is slidably matched with the guide portion, and the guide portion is used to limit the matching piece to move along the extension direction of the guide portion.

[0007] Optionally, the second clamping member has a first clamping portion away from the first clamping member and a second clamping portion close to the first clamping member, and the first clamping member has a third clamping portion; the transmission unit at least includes a seat body; In the first clamping state, the first clamping parts of at least two clamping units cooperate to clamp the target object in parallel; In the second clamping state, the second clamping parts of at least two clamping units cooperate with the third clamping parts, or the second clamping parts of at least two clamping units cooperate with the seat body to envelop and clamp the target object.

[0008] Optionally, the frame member comprises: A first rod segment, both ends of which are respectively pivotally connected to the transmission unit, and a first end of the first rod segment is pivotally connected to the first clamping member; A second rod segment, a first end of which is fixedly connected to a second end of the first rod segment, and the second rod segment is arranged at an angle to the first rod segment; The first end of the third rod segment is fixedly connected to the second end of the second rod segment, and the third rod segment is inclined to the axis of the second rod segment; the matching piece is pivotally connected to the second end of the third rod segment.

[0009] Optionally, the third rod segment extends toward a side away from the first rod segment.

[0010] Optionally, the first rod segment, the second rod segment and the third rod segment enclose a receiving space; In the first clamping state, the matching member is close to the first end of the second clamping member, and the axes of the first clamping member and the second clamping member are collinear; In the second clamping state, the matching piece is close to the second end of the second clamping piece, and the first clamping piece and the second clamping piece are swung to partially penetrate into the accommodating space.

[0011] Optionally, the clamping unit further comprises a restoring member connected to at least one of the first clamping member and the second clamping member so as to restore the first clamping member and the second clamping member to a collinear axis.

[0012] Optionally, the clamping unit further includes a limiting member connected to at least one of the first clamping member and the second clamping member to limit the swinging of the first clamping member and the second clamping member toward a side away from the accommodating space.

[0013] Optionally, in the second clamping state, the connection between the first clamping member and the second clamping member abuts against the frame member and / or the matching member abuts against an end of the guide portion away from the first clamping member.

[0014] In a second aspect, an embodiment of the present application provides a robot, including a robotic arm and a robotic arm as described above, wherein the robotic arm is installed at the execution end of the robotic arm.

[0015] The beneficial technical effects brought about by the technical solution provided by the embodiment of the present application include: The embodiment of the present application not only enables the manipulator to have both parallel clamping and envelope clamping functions, but also simplifies the structure of the manipulator, making the structure of the manipulator simpler, by arranging the first clamping member to be rotatable, the second clamping member to be movable and rotatable, and the first clamping member and the second clamping member to be relatively rotatable.

[0016] In the embodiment of the present application, the first clamping member and the second clamping member of the clamping unit are rotatably connected, the first clamping member is rotatably connected to the first end of the frame member, and the second clamping member is arranged in a relatively movable manner with the frame member and in a rotatable manner relative to the second end of the frame member through a matching member.

[0017] The transmission unit is in transmission connection with the frame member of the clamping unit. Driven by the transmission unit, at least two clamping units can be moved closer to or farther from each other, so that the manipulator is in the first clamping state or the second clamping state.

[0018] When the manipulator is in the first clamping state, the second clamping members of at least two clamping units approach each other in parallel and cooperate with each other to realize the function of parallel clamping the target object. When at least two clamping units approach each other so that the first clamping member and the second clamping member abut against the target object at or near the rotation point, the manipulator switches to the second clamping state, the first clamping member of the clamping unit rotates relative to the frame member, the second clamping member moves and rotates relative to the frame member, the first clamping member and the second clamping member rotate relative to each other into a semi-enclosed shape, the second clamping member abuts against the target object from the outside (for example, the side of the target object away from the transmission unit), and the second clamping member cooperates with the first clamping member or the second clamping member abuts the target object against the partial structure of the transmission unit, so as to realize the function of the manipulator enveloping the periphery of the target object and clamping the target object (the manipulator is in the second clamping state at this time).

[0019] Additional aspects and advantages of the present application will be partially given in the following description, which will become apparent from the following description, or will be understood through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which: Figure 1 A schematic diagram of the structure of a manipulator provided in an embodiment of the present application when in a first clamping state; Figure 2 for Figure 1 A partial enlarged structural diagram of the robot in the figure; Figure 3 A schematic cross-sectional structural diagram of a manipulator provided in an embodiment of the present application when in a first clamping state; Figure 4A schematic diagram of the structure of a manipulator provided in an embodiment of the present application when the second clamping member and the first clamping member are in a second clamping state where the second clamping member and the first clamping member envelop and clamp the target object; Figure 5 for Figure 4 A schematic diagram of the partially enlarged structure of the robot; Figure 6 A schematic cross-sectional structure diagram of a manipulator provided in an embodiment of the present application when the manipulator is in a second clamping state where the second clamping member and the first clamping member envelop and clamp a target object; Figure 7 A schematic structural diagram of a manipulator provided in an embodiment of the present application when the manipulator is in a second clamping state in which the second clamping member and the seat body of the transmission unit envelop and clamp the target object; Figure 8 A schematic cross-sectional structure diagram of a manipulator provided in an embodiment of the present application in a second clamping state in which a second clamping member and a base body of a transmission unit envelop and clamp a target object.

[0021] Reference numerals: 100-manipulator; 10- clamping unit; 11-frame member; 111-first rod section; 112-second rod section; 113-third rod section; 114-accommodating space; 12-first clamping member; 121-third clamping portion; 13-Matching parts; 14-second clamping member; 141-first clamping portion; 142-second clamping portion; 15-guide part; 16-reset part; 17-limiting part; 20- transmission unit; 21-first transmission rod; 22-second transmission rod; 23-base; 24-transmission assembly; 200-Target object. DETAILED DESCRIPTION

[0022] The embodiments of the present application are described below in conjunction with the drawings in the present application. It should be understood that the implementation methods described below in conjunction with the drawings are exemplary descriptions for explaining the technical solutions of the embodiments of the present application and do not constitute a limitation on the technical solutions of the embodiments of the present application.

[0023] Those skilled in the art will appreciate that, unless expressly stated, the "said" and "the" used herein may also include plural forms. It should be further understood that the term "including" used in the specification of the present application refers to the presence of the features, integers, operations and / or components, but does not exclude the implementation of other features, information, data, steps, operations, elements, components and / or combinations thereof supported by the technical field. The term "and / or" used herein refers to at least one of the items defined by the term, for example, "A and / or B" may be implemented as "A", or as "B", or as "A and B".

[0024] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0025] The manipulator and robot provided in this application are intended to solve the technical problem of the complex structure of the manipulator in the related technology.

[0026] The following is a detailed description of the technical solution of the present application and how the technical solution of the present application solves the above technical problems with specific embodiments. It should be noted that the following implementations can refer to, draw on or combine with each other, and the same terms, similar features and similar implementation steps in different implementations will not be described repeatedly.

[0027] The present application embodiment provides a robot 100, the structure diagram of the robot 100 is as follows Figures 1 to 8 As shown, the manipulator 100 is used for a robot, and includes: at least two clamping units 10 and a transmission unit 20 .

[0028] The clamping unit 10 includes a frame member 11, a first clamping member 12, a matching member 13 and a second clamping member 14. The first end of the frame member 11 is rotatably connected to the first clamping member 12. The matching member 13 is arranged at the second end of the frame member 11. The matching member 13 is relatively movably arranged on the second clamping member 14 along the extension direction of the second clamping member 14. The second clamping member 14 is rotatably arranged relative to the second end of the frame member 11, and the second clamping member 14 is rotatably connected to the first clamping member 12.

[0029] The transmission unit 20 is in transmission connection with the frame member 11 of the clamping unit 10, and is used to place the manipulator 100 in a first clamping state in which the second clamping members 14 of at least two clamping units 10 are parallel and close to clamp the target object 200; or, the manipulator 100 is in a second clamping state in which the second clamping members 14 of at least two clamping units 10 and the first clamping member 12 envelop and clamp the periphery of the target object 200, or the manipulator 100 is in a second clamping state in which the second clamping members 14 of at least two clamping units 10 and a partial structure of the transmission unit 20 are envelop and clamped the periphery of the target object 200.

[0030] In the embodiment of the present application, the first clamping member 12 is rotatable, the second clamping member 14 is movable and rotatable, and the first clamping member 12 and the second clamping member 14 are relatively rotatable. This not only enables the manipulator 100 to have both parallel clamping and envelope clamping functions, but also simplifies the structure of the manipulator 100, making the structure of the manipulator 100 simpler.

[0031] In the embodiment of the present application, the first clamping member 12 and the second clamping member 14 of the clamping unit 10 are rotatably connected, the first clamping member 12 is rotatably connected to the first end of the frame member 11, and the second clamping member 14 is arranged in a manner that is relatively movable with the frame member 11 and rotatable relative to the second end of the frame member 11 through the matching member 13.

[0032] The transmission unit 20 is transmission-connected to the frame member 11 of the clamping unit 10 . Driven by the transmission unit 20 , at least two clamping units 10 can be moved closer to or farther from each other, so that the manipulator 100 is in the first clamping state or the second clamping state.

[0033] When the robot arm 100 is in the first clamping state, the second clamping members 14 of at least two clamping units 10 are parallel and close to each other and cooperate with each other to achieve the function of parallel clamping of the target object 200.

[0034] When at least two clamping units 10 approach each other so that the first clamping member 12 and the second clamping member 14 abut against the target object at or near the rotation point, the manipulator 100 switches to the second clamping state, the first clamping member 12 of the clamping unit 10 rotates relative to the frame member 11, and the second clamping member 14 moves and rotates relative to the frame member 11. The first clamping member 12 and the second clamping member 14 rotate relative to each other to form a semi-enclosed shape, and the second clamping member 14 abuts against the target object 200 from the outside (for example, the side of the target object 200 away from the transmission unit 20). The second clamping member 14 cooperates with the first clamping member 12 or the target object 200 is abutted against a partial structure of the transmission unit 20, so that the manipulator 100 envelops the periphery of the target object 200 and clamps the target object 200 (the manipulator 100 is in the second clamping state at this time).

[0035] Of course, in the embodiment of the present application, the manipulator 100 also has at least two clamping units 10 that are separated from each other to release the target object 200.

[0036] In the embodiment of the present application, when the manipulator 100 switches to the second clamping state, the mating piece 13 moves along the extension direction of the second clamping piece 14 from the first end of the second clamping piece 14 (the end close to the first clamping piece 12) to the second end (the first end away from the first clamping piece 12), so that the distance between the first end of the second clamping piece 14 and the mating piece 13 increases, while the distance between the second end of the second clamping piece 14 and the mating piece 13 decreases, which can reduce the interference (such as collision) of the second end of the second clamping piece 14 with the target object 200 or other second clamping pieces 14.

[0037] Alternatively, if Figure 1 , Figure 3 , Figure 4 , Figures 6 to 8 As shown, in the embodiment of the present application, there are two clamping units 10, and the two clamping units 10 are symmetrically arranged. The two clamping units 10 are close to each other to achieve parallel clamping or enveloping clamping of the target object 200.

[0038] Of course, in other optional embodiments of the present application, three or more clamping units 10 may be provided according to actual needs.

[0039] Alternatively, if Figure 1 , Figure 2 , Figure 4 and Figure 5 As shown, in the embodiment of the present application, the clamping unit 10 also includes a guide portion 15 arranged on the second clamping member 14; the mating member 13 is pivotally connected to the frame member 11, and the mating member 13 is slidably matched with the guide portion 15, and the guide portion 15 is used to limit the mating member 13 to move along the extension direction of the guide portion 15.

[0040] In the embodiment of the present application, the guide portion 15 is disposed on the second clamping member 14, and the guide portion 15 is slidably matched with the matching member 13, and the matching member 13 is limited to move along the extension direction of the guide portion 15, so that the second clamping member 14 can move relative to the matching member 13 and the frame member 11 along the extension direction of the guide portion 15. The matching member 13 is pivotally connected to the frame member 11, so that the second clamping member 14 disposed on the frame member 11 through the matching member 13 can rotate relative to the frame member 11.

[0041] Alternatively, if Figure 1 , Figure 2 , Figure 4 and Figure 5As shown, in the embodiment of the present application, the guide portion 15 includes a slot in the shape of an elongated hole, and the extension direction of the slot is parallel to the extension direction of the second clamping member 14. The matching member 13 includes a slider, which is pivotally connected to the frame member 11, and the slider passes through the elongated hole of the slot and slides with the slot.

[0042] In the embodiment of the present application, the slide groove extends in a direction parallel to the extension direction of the second clamping member 14 , so as to ensure that the slide block moves along the extension direction of the second clamping member 14 .

[0043] Of course, in other optional embodiments of the present application, the extension direction of the chute can also be set at an angle to the extension direction of the second clamping member 14 according to actual needs. The chute extends in a direction that is angled to the extension direction of the second clamping member 14, so that the slider moves in a direction that is angled to the extension direction of the second clamping member 14. It should be noted that the embodiment of the present application does not limit the angle between the extension direction of the chute and the extension direction of the second clamping member 14, as long as it can ensure that the slider can slide back and forth roughly between the first end and the second end of the second clamping member 14.

[0044] In the embodiment of the present application, since a slide groove is provided on the second clamping member 14, when the manipulator 100 switches to the second clamping state, the slider moves along the slide groove from the first end of the second clamping member 14 to the second end, so that the distance between the first end of the second clamping member 14 and the matching member 13 increases, while the distance between the second end of the second clamping member 14 and the matching member 13 decreases. In this way, the portion of the second clamping member 14 that swings into the accommodating space 114 can be increased. When the second ends of the second clamping members 14 of at least two clamping units 10 are close to each other, the second ends of the second clamping members 14 are not easy to contact each other. Compared with the technology in the related art that the second clamping member and the third rod segment cannot move relative to each other, the embodiment of the present application sets the second clamping member 14 to be movably set relative to the third rod segment 113 of the frame member 11, so that the manipulator 100 can envelope a smaller target object 200 (at least the target object 200 along the Figure 4 and Figure 6 The dimensions in the up and down directions can be smaller).

[0045] Of course, in other optional embodiments of the present application, it can also be arranged according to actual needs: the mating piece 13 is fixedly arranged on the frame piece 11, and the mating piece 13 and the second clamping piece 14 are relatively rotatable, that is, the second clamping piece 14 can rotate and move simultaneously relative to the fixed mating piece 13.

[0046] Optionally, in some optional embodiments of the present application, such as Figure 2 and Figure 5As shown, the second clamping member 14 has a first clamping portion 141 away from the first clamping member 12 and a second clamping portion 142 close to the first clamping member 12, and the first clamping member 12 has a third clamping portion 121. In the first clamping state, the first clamping portions 141 of at least two clamping units 10 cooperate to clamp the target object 200 in parallel. In the second clamping state, the second clamping portions 142 of at least two clamping units 10 cooperate with the third clamping portion 121 to envelop and clamp the target object 200.

[0047] In the embodiment of the present application, when the manipulator 100 switches to the first clamping state, the first clamping parts 141 of at least two clamping units 10 are parallel and close to each other. When the manipulator 100 is in the first clamping state, the mutually parallel first clamping parts 141 of at least two clamping units 10 are respectively in contact with the target object 200 to clamp the target object 200 in parallel, thereby realizing the parallel clamping function of the manipulator 100.

[0048] When the manipulator 100 switches to the second clamping state, the second clamping portion 142 and the third clamping portion 121 of at least two clamping units 10 approach each other and then contact the surface of the target object 200, so that the second clamping member 14 is forced to move and rotate relative to the frame member 11, and the first clamping member 12 is forced to rotate relative to the frame member 11, and the second clamping member 14 and the first clamping member 12 are bent at an angle to form a semi-enclosed shape.

[0049] When the manipulator 100 is in the second clamping state, the second clamping portion 142 of the semi-enclosed second clamping member 14 of at least two clamping units 10 and the third clamping portion 121 of the first clamping member 12 respectively abut against the target object 200 to envelop the periphery of the target object 200, thereby realizing the enveloping clamping function of the manipulator 100.

[0050] Optionally, in some other optional embodiments of the present application, such as Figure 7 and Figure 8 As shown, the transmission unit 20 includes a seat body 23. In the second clamping state, the second clamping portions 142 of at least two clamping units 10 cooperate with the seat body 23 to envelop and clamp the target object 200.

[0051] At this time, when the manipulator 100 is in the second clamping state, the second clamping portion 142 of the second clamping member 14 of each of at least two clamping units 10 abuts against the target object 200 from the outside, and the seat body 23 of the transmission unit 20 abuts against the target object 200 from the inside (for example, the side of the seat body 23 close to the target object 200), and the second clamping member 14 and the seat body 23 envelope and clamp the periphery of the target object 200, thereby realizing the envelope clamping function of the manipulator 100.

[0052] Alternatively, if Figure 4 , Figures 6 to 8 As shown, in the embodiment of the present application, the second clamping member 14 cooperates with the seat body 23 to envelop the size of the clamped target object 200 (the size at least includes the size of the target object 200 along the Figure 7 and Figure 8 The left-right dimension is greater than the dimension of the target object 200 that is clamped by the second clamping member 14 and the first clamping member 12 (the dimension at least includes the dimension of the target object 200 along the left-right direction). Figure 4 and Figure 6 The embodiment of the present application enables the manipulator 100 to envelop and clamp a larger object by cooperating the second clamping parts 142 of at least two clamping units 10 with the seat 23 to envelop and clamp the target object 200. Of course, in other optional embodiments of the present application, it is also possible to make the second clamping parts 142 of at least two clamping units 10 cooperate with the first transmission rod 21 of the transmission unit 20 in the second clamping state, or the second clamping parts 142 of at least two clamping units 10 cooperate with at least two of the first clamping member 12, the seat 23 and the first transmission rod 21, so as to envelop and clamp the target object 200 according to actual needs.

[0053] Alternatively, if Figure 1 and Figure 2 As shown, in the embodiment of the present application, the first clamping portion 141 has a flat clamping surface. The corresponding clamping surfaces of the first clamping portions 141 of any two clamping units 10 are kept parallel or at a certain relative angle.

[0054] Alternatively, if Figure 2 and Figure 5 As shown, in the embodiment of the present application, the first clamping portion 141 partially overlaps with the second clamping portion 142. Of course, in other optional embodiments of the present application, the first clamping portion 141 and the second clamping portion 142 may not have overlapping portions according to actual needs.

[0055] Alternatively, if Figure 1 and Figure 3 As shown, in an embodiment of the present application, taking a target object 200 whose cross-sectional shape is rectangular or quasi-rectangular in a cross-section perpendicular to the extension direction of the target object 200 as an example, the parallel clamping of the target object 200 by at least two clamping units 10 of the manipulator 100 (the manipulator 100 is in a first clamping state) is described.

[0056] Alternatively, if Figure 4 , Figures 6 to 8 As shown, in an embodiment of the present application, taking a target object 200 (such as a cylindrical object) having a circular cross-sectional shape in a cross-section perpendicular to the extension direction of the target object 200 as an example, the manipulator 100 enveloping and clamping the target object 200 (the manipulator 100 is in the second clamping state) is described.

[0057] Alternatively, if Figure 2 and Figure 5 As shown, in the embodiment of the present application, the guide portion 15 is disposed on a side of the second clamping member 14 away from the first clamping portion 141 and the second clamping portion 142. Along the extension direction of the second clamping member 14, the guide portion 15 is located between the first clamping portion 141 and the second clamping portion 142.

[0058] Optionally, in the embodiment of the present application, the orthographic projection of the guide portion 15 on the second clamping member 14 overlaps with at least one of the first clamping portion 141 and the second clamping portion 142 .

[0059] Specifically, the orthographic projection of the guide portion 15 on the second clamping member 14 may overlap with a portion of the first clamping portion 141 close to the second clamping portion 142, or the orthographic projection of the guide portion 15 on the second clamping member 14 may overlap with a portion of the second clamping portion 142 close to the first clamping portion 141, or the orthographic projection of the guide portion 15 on the second clamping member 14 may overlap with both a portion of the first clamping portion 141 close to the second clamping portion 142 and a portion of the second clamping portion 142 close to the first clamping portion 141.

[0060] Alternatively, if Figure 1 , Figure 2 , Figure 4 and Figure 5 As shown, in the embodiment of the present application, the slide groove is arranged between the first end and the second end of the second clamping member 14 and does not include a portion of the first clamping portion 141 located at the second end of the second clamping member 14 .

[0061] Alternatively, if Figures 1 to 6 As shown, in the embodiment of the present application, the frame member 11 includes: a first rod segment 111, a second rod segment 112 and a third rod segment 113. Both ends of the first rod segment 111 are respectively pivotally connected to the transmission unit 20, and the first end of the first rod segment 111 is pivotally connected to the first clamping member 12.

[0062] The first end of the second rod segment 112 is fixedly connected to the second end of the first rod segment 111, and the second rod segment 112 is arranged at an angle to the first rod segment 111. The first end of the third rod segment 113 is fixedly connected to the second end of the second rod segment 112, and the third rod segment 113 is inclined to the axis of the second rod segment 112. The matching piece 13 is pivotally connected to the second end of the third rod segment 113.

[0063] In the embodiment of the present application, both ends of the first rod segment 111 are respectively pivotally connected to the transmission unit 20 . Driven by the transmission unit 20 , the first rod segment 111 moves in a direction parallel to the extension direction of the first rod segment 111 .

[0064] The first rod segment 111, the second rod segment 112 and the third rod segment 113 are fixedly connected in sequence, and the transmission unit 20 drives the first rod segment 111, the second rod segment 112 and the third rod segment 113 to move in a direction parallel to the extension direction of the first rod segment 111, thereby being able to drive the first clamping member 12, the matching member 13 and the second clamping member 14 to translate in a direction parallel to the extension direction of the first rod segment 111.

[0065] In the embodiment of the present application, the third rod segment 113 is tilted relative to the second rod segment 112, so that the second clamping member 14 can be avoided when the manipulator 100 switches to the second clamping state or is in the second clamping state, thereby avoiding obstruction to the rotation and movement of the second clamping member 14 and ensuring that the second clamping member 14 rotates and moves smoothly.

[0066] Alternatively, if Figure 1 , Figure 4 and Figure 5 As shown, in the embodiment of the present application, the second rod segment 112 is perpendicular to the first rod segment 111 .

[0067] Alternatively, if Figure 1 and Figure 4 As shown, in the embodiment of the present application, the first end of the first clamping member 12 is pivotally connected to the transmission unit 20 .

[0068] Optionally, the pivot points between the first clamping member 12 and the first rod segment 111, between the first end of the first rod segment 111 and the transmission unit 20, and between the first clamping member 12 and the transmission unit 20 coincide. Optionally, the first clamping member 12, the first rod segment 111 and the transmission unit 20 (specifically, the first transmission rod 21) are rotatably arranged around the same rotation axis.

[0069] Alternatively, if Figure 1 and Figure 4 As shown, in the embodiment of the present application, the fixed connection point between the second rod segment 112 and the first rod segment 111 is pivotally connected to the transmission unit 20 (specifically, the second transmission rod 22 ).

[0070] Alternatively, if Figure 1 and Figure 4 As shown, in the embodiment of the present application, the second rod segment 112 extends toward a side away from the transmission unit 20 relative to the first rod segment 111 .

[0071] Alternatively, if Figure 1 , Figure 4 and Figure 5 As shown, in the embodiment of the present application, the third rod segment 113 extends relative to the second rod segment 112 to a side away from the first rod segment 111. The third rod segment 113 is inclined to a side away from the axis of the second rod segment 112. The third rod segment 113 and the first rod segment 111 are located on the same side of the second rod segment 112.

[0072] Alternatively, if Figure 5 As shown, in the embodiment of the present application, the pivot connection point (such as Figure 5 The vertical distance between the first rod segment 111 and the second rod segment 112 is greater than the fixed connection point between the second rod segment 112 and the third rod segment 113 (specifically, the first end of the third rod segment 113) (as shown in point a). Figure 5 The vertical distance between the pivot connection point a and the pivot connection point between the first clamping member 12 and the first rod segment 111 (as shown in point c) and the first rod segment 111. Figure 5 The distance between the fixed connection point c and the pivot connection point b) is greater than the distance between the fixed connection point c and the pivot connection point b.

[0073] In the present application embodiment, Figure 5 As shown, the force points of the manipulator 100 enveloping the target object 200 include: pivot connection point a and pivot connection point b. When the centroid G of the target object 200 is between the pivot connection point a and the pivot connection point b, the manipulator 100 can envelop and clamp the target object 200. Since the distance between the pivot connection point a and the pivot connection point b is large, the manipulator 100 can envelop a larger target object 200.

[0074] Alternatively, if Figure 4 , Figures 6 to 8 As shown, in the embodiment of the present application, the third rod segment 113 is fixedly connected to the second rod segment 112, and is bent relative to the second rod segment 112 in a direction close to the other clamping units 10 and the target object 200. When the manipulator 100 envelops and clamps the target object 200, the second clamping member 14 rotates and moves relative to the end of the third rod segment 113 away from the second rod segment 112, and the second clamping portion 142 of the second clamping member 14 is moved from the outside (for example, Figure 4 , Figures 6 to 8 The first clamping member 12 is rotated relative to the first end of the first rod segment 111, and the third clamping portion 121 of the first clamping member 12 is moved from the inner side (eg Figure 4 and Figure 6 The target object 200 is shown from the side below) or the seat 23 from the inside (for example Figure 7 and Figure 8 The target object 200 is shown below the target object 200 as shown in the figure, and is abutted against the target object 200. The target object 200 is enclosed and clamped by the cooperation between the second clamping portion 142 of the second clamping member 14 and the third clamping portion 121 of the first clamping member 12, or by the cooperation between the second clamping portion 142 of the second clamping member 14 and the seat body 23.

[0075] According to the size of the target object 200 , the swing angles of the first transmission rod 21 and the second transmission rod 22 of the transmission unit 20 may be adjusted, thereby adjusting the distance between the at least two clamping units 10 .

[0076] The transmission unit 20 drives at least two clamping units 10 away from each other, thereby increasing the distance between the at least two clamping units 10. Figure 4 , Figures 6 to 8 The upper side of the target object 200 and the third clamping portion 121 are as shown in FIG. Figure 4 and Figure 6 The second clamping portion 142 is located below the side of the target object 200 as shown in FIG. Figure 4 , Figures 6 to 8 The upper side of the target object 200 and the seat body 23 are shown as follows Figure 7 and Figure 8 The target object 200 is clamped below the target object shown in the figure. Therefore, even if the size of the target object 200 is large enough to contact or abut against the seat 23 of the transmission unit 20, the manipulator 100 can still stably envelop and clamp the target object 200, so that the manipulator 100 can envelop a larger target object 200.

[0077] Alternatively, if Figure 1 , Figure 3 , Figure 4 and Figure 6 As shown, in the embodiment of the present application, the first rod segment 111, the second rod segment 112 and the third rod segment 113 enclose a receiving space 114. Figure 1 and Figure 3 As shown, in the first clamping state, the fitting member 13 is close to the first end of the second clamping member 14, and the axes of the first clamping member 12 and the second clamping member 14 are collinear. Figure 4 , Figures 6 to 8 As shown, in the second clamping state, the matching member 13 is close to the second end of the second clamping member 14 , and the first clamping member 12 and the second clamping member 14 are swung to partially penetrate into the accommodating space 114 .

[0078] In the embodiment of the present application, the accommodation space 114 is used to accommodate and avoid the bent first clamping member 12 and the second clamping member 14 .

[0079] Alternatively, if Figure 1 , Figure 3 , Figure 4 and Figure 6 As shown, in the embodiment of the present application, each clamping unit 10 has: the matching member 13 is close to the first end of the second clamping member 14, and the axes of the first clamping member 12 and the second clamping member 14 are in an initial position (such as Figure 1 and Figure 3The mating member 13 is close to the second end of the second clamping member 14, and part of the first clamping member 12 and at least part of the second clamping member 14 swing to the envelope position in the accommodating space 114 (as shown); Figure 4 , Figures 6 to 8 As shown); and an intermediate position between the initial position and the envelope position. At any time, the clamping unit 10 is in any position among the initial position, the envelope position and the intermediate position.

[0080] Optionally, in the embodiment of the present application, Figure 1 and Figure 3 As shown, if the clamping unit 10 is in the initial position and at least two clamping units 10 are brought close to each other, the target object 200 can be clamped in parallel by the first clamping portions 141 of at least two clamping units 10 (at this time, the first clamping portions 141 abut against the surface of the target object 200), so that the manipulator 100 is in the first clamping state.

[0081] That is, the manipulator 100 is in the first clamping state, the matching piece 13 of each clamping unit 10 is close to the first end of the second clamping piece 14, and the axes of the first clamping piece 12 and the second clamping piece 14 are collinear.

[0082] like Figure 4 and Figure 6 As shown, if the clamping unit 10 is in the enveloping position and at least two clamping units 10 are brought close to each other, the target object 200 can be envelopingly clamped by the second clamping portion 142 and the third clamping portion 121 of at least two clamping units 10 (at this time, the second clamping portion 142 and the third clamping portion 121 are respectively in contact with the surface of the target object 200), or, the target object 200 can be envelopingly clamped by the second clamping portion 142 and the seat body 23 of at least two clamping units 10 (at this time, the second clamping portion 142 and the seat body 23 are respectively in contact with the surface of the target object 200), so that the manipulator 100 is in the second clamping state.

[0083] That is, the manipulator 100 is in the second clamping state, the matching piece 13 of each clamping unit 10 is close to the second end of the second clamping piece 14 , and the first clamping piece 12 and the second clamping piece 14 swing to partially penetrate into the accommodating space 114 .

[0084] Alternatively, if Figure 4 and Figure 5 As shown, in the embodiment of the present application, in the second clamping state, the connection between the first clamping member 12 and the second clamping member 14 abuts against the frame member 11 (eg, the second rod segment 112 ). The matching member 13 is located between the two ends of the guide portion 15 .

[0085] In the embodiment of the present application, the frame member 11 is used to install and support the first clamping member 12, the matching member 13 and the second clamping member 14, and is used to carry the target object 200. When the manipulator 100 is in the second clamping state, the second clamping portion 142 abuts against the target object 200, the third clamping portion 121 or the seat body 23 abuts against the target object 200, and the connection between the first clamping member 12 and the second clamping member 14 abuts against the second rod segment 112, so as to achieve stable clamping of the target object 200.

[0086] Of course, in other optional embodiments of the present application, it can also be arranged according to actual needs: in the second clamping state, the matching member 13 abuts against the end (i.e., the second end) of the guide portion 15 away from the first clamping member 12, and there is a gap between the connection between the first clamping member 12 and the second clamping member 14 and the frame member 11. At this time, when the manipulator 100 is in the second clamping state, the matching member 13 abuts against the second end of the guide portion 15, clamping the second clamping member 14 to provide a clamping force for clamping the target object 200, and the clamping force is much greater than the reset force provided by the reset member 16. Under the action of the clamping force, the second clamping portion 142 abuts against the target object 200, and the third clamping portion 121 or the seat body 23 abuts against the target object 200, which can stably envelop and clamp the target object 200.

[0087] Of course, in other optional embodiments of the present application, it can also be arranged according to actual needs: in the second clamping state, the connection between the first clamping member 12 and the second clamping member 14 abuts against the frame member 11 (for example, the second rod segment 112), and the matching member 13 abuts against the end of the guide portion 15 away from the first clamping member 12 (i.e., the second end). At this time, when the manipulator 100 is in the second clamping state, the matching member 13 abuts against the second end of the guide portion 15, clamping the second clamping member 14 to provide a clamping force for clamping the target object 200. At the same time, the connection between the first clamping member 12 and the second clamping member 14 abuts against the second rod segment 112, and the second clamping member 142 abuts against the target object 200, the third clamping member 121 or the seat 23 abuts against the target object 200, and the connection between the first clamping member 12 and the second clamping member 14 abuts against the second rod segment 112, so as to achieve stable clamping of the target object 200.

[0088] Alternatively, if Figure 3 and Figure 6 As shown, in the embodiment of the present application, the clamping unit 10 further includes a reset member 16, which is connected to at least one of the first clamping member 12 and the second clamping member 14, so as to restore the first clamping member 12 and the second clamping member 14 to the same axis. The reset member 16 is configured to apply a force to the first clamping member 12 or the second clamping member 14 to open the first clamping member 12 and the second clamping member 14 in a direction away from the frame member 11.

[0089] In the embodiment of the present application, the reset member 16 acts on at least one of the first clamping member 12 and the second clamping member 14 to restore the first clamping member 12 and the second clamping member 14 to the same axis line to achieve reset. When the manipulator 100 is not working, the reset member 16 can be used to restore the clamping unit 10 to the initial position.

[0090] Alternatively, if Figure 3 and Figure 6 As shown, in the embodiment of the present application, the reset member 16 includes an elastic member, which is arranged at the connection between the first clamping member 12 and the second clamping member 14. The elastic member applies a force opposite to the swinging direction into the accommodation space 114 to the first clamping member 12 and the second clamping member 14.

[0091] Optionally, in the embodiment of the present application, the elastic member includes but is not limited to a spring or a spring sheet, etc. The spring includes but is not limited to a torsion spring, etc.

[0092] Optionally, in the embodiment of the present application, when the axes of the first clamping member 12 and the second clamping member 14 are collinear, the elastic member is in its original state (at this time, the elastic member is in a natural state without preload or has preload). In this way, when the first clamping member 12 and the second clamping member 14 swing into the accommodation space 114 under the pressure of the target object 200, the elastic member deforms and stores energy. When the target object 200 disappears, the elastic member releases energy and returns to its original state, thereby driving the first clamping member 12 and the second clamping member 14 to return to the collinear axis.

[0093] Of course, in other optional implementations of the present application, the reset member 16 can also be arranged at the connection between the first clamping member 12 and the frame member 11 according to actual needs.

[0094] Alternatively, if Figure 1 and Figure 4 As shown, in the embodiment of the present application, the first clamping member 12 includes but is not limited to a rod. The second clamping member 14 includes but is not limited to a rod.

[0095] Alternatively, if Figure 1 , Figure 3 , Figure 4 and Figure 6 As shown, in the embodiment of the present application, the clamping unit 10 further includes a limiter 17, which is connected to at least one of the first clamping member 12 and the second clamping member 14 to limit the swing of the first clamping member 12 and the second clamping member 14 away from the accommodating space 114. The limiter 17 is used to prevent the first clamping member 12 and the second clamping member 14 from opening in a direction away from the frame member 11 beyond a predetermined opening angle. The predetermined opening angle can be 180 degrees, at which time, the first clamping member 12 and the second clamping member 14 tend to remain in the same line with the axis.

[0096] In the embodiment of the present application, by setting the limiter 17, the first clamping member 12 and the second clamping member 14 cannot swing to the side away from the accommodating space 114 (i.e., the side where the target object 200 is located), so that when the manipulator 100 clamps the target object 200 in parallel through the first clamping portion 141, the first clamping member 12 and the second clamping member 14 will not swing to the side away from the accommodating space 114, causing the second end of the second clamping member 14 to open outward, and the clamping of the target object 200 is unstable or even causes the target object 200 to fall off, so that the target object 200 can be clamped in parallel more stably. The limiter 17 prevents the first clamping member 12 and the second clamping member 14 from swinging to the side away from the accommodating space 114, ensuring that the clamping unit 10 switches between the initial position, the intermediate position and the envelope position.

[0097] Optionally, in the embodiment of the present application, the limiting member 17 includes but is not limited to a baffle or a protrusion.

[0098] Optionally, a baffle or a protrusion can be arranged at the second end of the first clamping member 12 (i.e., the end facing the second clamping member 14) and located on the side of the first clamping member 12 facing the accommodating space 114. When the axes of the first clamping member 12 and the second clamping member 14 are colinear, the baffle or the protrusion fits against the outer wall of the second clamping member 14. When the second clamping member 14 has a tendency to swing toward the side away from the accommodating space 114, the baffle or the protrusion abuts against the outer wall of the second clamping member 14 to prevent the second clamping member 14 from swinging toward the side away from the accommodating space 114.

[0099] Of course, in other optional embodiments of the present application, the baffle or protrusion can be set at the first end of the second clamping member 14 (i.e., the end facing the first clamping member 12) according to actual needs, and be located on the side of the second clamping member 14 facing the accommodating space 114, and when the axes of the first clamping member 12 and the second clamping member 14 are colinear, the baffle or protrusion fits the outer wall of the first clamping member 12; or, the baffle or protrusion is set at the pivotal connection between the first clamping member 12 and the frame member 11, or at the pivotal connection between the first clamping member 12 and the transmission unit 20; or, a baffle or protrusion is set at at least two of the second clamping member 14, the first clamping member 12, the frame member 11 and the transmission unit 20, as long as it can limit the first clamping member 12 and the second clamping member 14 from swinging away from the accommodating space 114.

[0100] Alternatively, if Figure 1 , Figure 3 , Figure 4 and Figure 6 As shown, in the embodiment of the present application, the transmission unit 20 further includes a first transmission rod 21 and a second transmission rod 22 , and the first transmission rod 21 and the second transmission rod 22 are parallelly and rotatably arranged on the seat body 23 .

[0101] The first transmission rod 21 is pivotally connected to the first end of the first rod segment 111, and the second transmission rod 22 is pivotally connected to the second end of the first rod segment 111. The line between the first rotation axis and the second rotation axis of the first transmission rod 21 and the second transmission rod 22 respectively rotating relative to the seat body 23 is parallel to the extension direction of the first rod segment 111, and the length of the line is equal to the length of the first rod segment 111. That is, the first transmission rod 21, the first rod segment 111, the second transmission rod 22 and the part of the seat body 23 corresponding to the line form a parallelogram.

[0102] In this way, the first transmission rod 21 and the second transmission rod 22 rotate relative to the base body 23, and can synchronously drive the first rod segment 111 to move along the extension direction of the first rod segment 111, so that the transmission unit 20 can drive the first rod segment 111 to translate, thereby making the frame member 11, the first clamping member 12, the matching member 13 and the second clamping member 14 translate, thereby making the clamping units 10 move closer to or farther away from each other.

[0103] Optionally, in the embodiment of the present application, the manipulator 100 further includes a power unit (not shown), which is used to drive the transmission unit 20, so that the transmission unit 20 drives the frame member 11 to move in a translational manner, thereby driving the first clamping member 12 and the second clamping member 14 to move.

[0104] Optionally, in the embodiment of the present application, the power unit may directly drive at least one of the first transmission rod 21 and the second transmission rod 22 to rotate, so that both the first transmission rod 21 and the second transmission rod 22 rotate relative to the seat body 23 .

[0105] Of course, in other optional embodiments of the present application, the transmission unit 20 may further include a transmission assembly 24 (such as Figure 3 and Figure 6 As shown in the figure, the power unit is drivingly connected to the transmission assembly 24, and the transmission assembly 24 is connected to at least one of the first transmission rod 21 and the second transmission rod 22, driving the first transmission rod 21 and the second transmission rod 22 to rotate relative to the seat body 23. Optionally, the transmission assembly 24 includes but is not limited to structures such as a ball screw or a worm gear.

[0106] Based on the same inventive concept, an embodiment of the present application provides a robot, which includes: a robotic arm and a robotic hand 100 as described above, wherein the robotic hand 100 is installed at the execution end of the robotic arm.

[0107] In the embodiment of the present application, the manipulator 100 is installed at the end of the robot arm as an end effector. The robot can use the robot arm and the manipulator 100 to perform operations such as grasping, carrying objects or operating tools.

[0108] It should be noted that, since the robot provided in the embodiment of the present application includes the manipulator provided in the embodiment of the present application, the robot provided in the embodiment of the present application also has the above-mentioned beneficial effects of the manipulator provided in the embodiment of the present application, which will not be repeated here.

[0109] Optionally, the robot arm may include one or more joints for driving the robot arm to move along one or more degrees of freedom. For example, the robot arm may be used to clamp goods, and the robot arm may be used to move the clamped goods from one location to another. For another example, the robot arm may be used to clamp tools such as pliers, and the clamped tools may be used to transform the physical world through the movement of the robot arm.

[0110] By applying the embodiments of the present application, at least the following beneficial effects can be achieved: The embodiment of the present application not only enables the manipulator to have both parallel clamping and envelope clamping functions, but also simplifies the structure of the manipulator, making the structure of the manipulator simpler, by arranging the first clamping member to be rotatable, the second clamping member to be movable and rotatable, and the first clamping member and the second clamping member to be relatively rotatable.

[0111] In the description of the present application, the directions or positional relationships indicated by words such as "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the exemplary directions or positional relationships shown in the accompanying drawings. They are for the convenience of describing or simplifying the description of the embodiments of the present application, and do not indicate or imply that the referred device or component must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be understood as limitations on the present application.

[0112] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0113] In the description of this specification, specific features, structures, materials or characteristics may be combined in an appropriate manner in any one or more embodiments or examples.

[0114] The above is only a partial implementation method of the present application. It should be pointed out that for ordinary technicians in this technical field, without departing from the technical concept of the scheme of the present application, other similar implementation methods based on the technical ideas of the present application are also within the protection scope of the embodiments of the present application.

Claims

1. A robot, characterized in that: For robots, including: At least two clamping units, the clamping units comprising a frame member, a first clamping member, a matching member, and a second clamping member, the first end of the frame member being rotatably connected to the first clamping member, the matching member being disposed at the second end of the frame member, the matching member being relatively movably disposed on the second clamping member along an extension direction of the second clamping member, the second clamping member being rotatably disposed relative to the second end of the frame member, and the second clamping member being rotatably connected to the first clamping member; A transmission unit is transmission-connected to the frame member of the clamping unit, and is used to place the manipulator in a first clamping state in which the second clamping members of each of the at least two clamping units are parallel and close to clamp a target object; or, place the manipulator in a second clamping state in which the second clamping members of each of the at least two clamping units and the first clamping member envelop and clamp the periphery of the target object; or place the manipulator in a second clamping state in which the second clamping members of the at least two clamping units and a partial structure of the transmission unit envelop and clamp the periphery of the target object.

2. The robot according to claim 1, characterized in that: The clamping unit further comprises a guide portion provided on the second clamping member; The matching piece is pivotally connected to the frame piece, and the matching piece is slidably matched with the guide portion, and the guide portion is used to limit the matching piece to move along the extension direction of the guide portion.

3. The robot according to claim 1, characterized in that: The second clamping member has a first clamping portion away from the first clamping member and a second clamping portion close to the first clamping member, and the first clamping member has a third clamping portion; the transmission unit at least includes a seat body; In the first clamping state, the first clamping parts of the at least two clamping units cooperate to clamp the target object in parallel; In the second clamping state, the second clamping parts of the at least two clamping units cooperate with the third clamping part, or the second clamping parts of the at least two clamping units cooperate with the seat body to envelop and clamp the target object.

4. The robot according to any one of claims 1 to 3, characterized in that: The frame member comprises: A first rod segment, both ends of which are respectively pivotally connected to the transmission unit, and a first end of the first rod segment is pivotally connected to the first clamping member; A second rod segment, a first end of which is fixedly connected to the second end of the first rod segment, and the second rod segment is arranged at an angle to the first rod segment; The third rod segment has a first end fixedly connected to the second end of the second rod segment, and the third rod segment is inclined to the axis of the second rod segment; the matching piece is pivotally connected to the second end of the third rod segment.

5. The robot according to claim 4, characterized in that: The third rod segment extends toward a side away from the first rod segment.

6. The robot according to claim 4, characterized in that: The first rod segment, the second rod segment and the third rod segment enclose a containing space; In the first clamping state, the matching member is close to the first end of the second clamping member, and the axes of the first clamping member and the second clamping member are collinear; In the second clamping state, the matching member is close to the second end of the second clamping member, and the first clamping member and the second clamping member are swung to partially penetrate into the accommodating space.

7. The robot according to claim 6, characterized in that: The clamping unit further includes a restoring member connected to at least one of the first clamping member and the second clamping member so as to restore the first clamping member and the second clamping member to a collinear axis.

8. The robot according to any one of claims 5 to 7, characterized in that: The clamping unit further includes a limiting member connected to at least one of the first clamping member and the second clamping member to limit the swinging of the first clamping member and the second clamping member away from the accommodating space.

9. The robot according to claim 2, characterized in that: In the second clamping state, the connection between the first clamping member and the second clamping member abuts against the frame member and / or the matching member abuts against an end of the guide portion away from the first clamping member.

10. A robot, characterized in that: It comprises a robotic arm and a robotic arm as claimed in any one of claims 1 to 9, wherein the robotic arm is installed at the execution end of the robotic arm.

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