Offset type mechanical gripper

Abstract

The invention provides an offset type mechanical gripper which comprises a clamping mechanism, a first clamping mechanism, a second clamping mechanism, a first driving mechanism and a second driving mechanism. And the driving mechanism is connected with the clamping mechanism through a movable assembly, and the driving mechanism is located on one side of the clamping mechanism and used for driving the first clamping finger and the second clamping finger to be opened and closed so as to pick and place objects. According to the offset type mechanical gripper, the driving mechanism is arranged on one side of the clamping mechanism, so that the space of the rear end of the mechanical gripper is reserved, the mechanical gripper can transversely move into some specific areas, the rear end of the mechanical gripper is prevented from influencing the planned stroke, and the working efficiency of the mechanical gripper is improved. And the layout of an automatic production line in a specific production environment is facilitated.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of handling equipment, in particular to an offset mechanical gripper. BACKGROUND

[0002] A mechanical gripper is an actuator at the end of an industrial machine device, which can grasp and place objects by controlling the opening and closing movement of the mechanical gripper. The mechanical gripper is suitable for assembly, handling, packaging and other industrial scenes, and can quickly and accurately grasp and place parts, so that the offset mechanical gripper is widely used in automated factories to improve production efficiency.

[0003] However, in some specific automated production line environments, the space on the production line is planned and laid out in advance, and it is difficult to plan the route in some areas without changing the original production environment, such as adding a mechanical hand, and there may be a situation that a traditional mechanical hand cannot plan a route and interferes with surrounding equipment during operation, which cannot realize automatic grasping. For example, the driving motor of a conventional mechanical gripper is located in the middle rear position area of the mechanical gripper, which may interfere with the grasping stroke of the mechanical gripper. SUMMARY

[0004] The technical problem to be solved by the present application is to provide an offset mechanical gripper for planning a grasping route in a specific production environment.

[0005] To solve the above technical problems, in a first aspect, the present application provides an offset mechanical gripper, comprising: a clamping mechanism having a first clamping finger and a second clamping finger arranged opposite to each other; a driving mechanism connected to the clamping mechanism through a movable assembly, the driving mechanism being located on one side of the clamping mechanism, and being used to drive the first clamping finger and the second clamping finger to open and close for taking and placing objects.

[0006] In some embodiments of the present application, the movable assembly comprises a first movable part and a second movable part arranged opposite to each other, the first movable part is connected to the first clamping finger, and the second movable part is connected to the second clamping finger; the driving mechanism comprises a driver and a transmission assembly, the transmission assembly is connected to the first movable part and the second movable part, the driver is located on one side of the transmission assembly, so that the driver is offset relative to the center of the clamping mechanism, the driver is used to drive the transmission assembly to move, and the transmission assembly is used to drive the first movable part and the second movable part to move.

[0007] In some embodiments of the present application, the transmission assembly comprises a driving wheel, a driven wheel and a conveyor belt, the driving wheel is arranged opposite to the first clamp finger, the driven wheel is arranged opposite to the second clamp finger, and the conveyor belt connects the driving wheel and the driven wheel; The driver is connected with the driving wheel; The first movable member is connected with the conveyor belt through a first connecting block, the second movable member is connected with the conveyor belt through a second connecting block, and the first connecting block and the second connecting block are respectively located on two sides of the conveyor belt.

[0008] In some embodiments of the present application, the transmission assembly comprises a mounting seat, a lead screw, a first nut and a second nut; The lead screw is mounted in the mounting seat, and the lead screw has a first extension section and a second extension section with opposite threads; The first nut is threadedly connected with the first extension section, and the first nut has a first connecting end fixedly connected with the first movable member; The second nut is threadedly connected with the second extension section, and the second nut has a second connecting end fixedly connected with the second movable member; The driver is connected with the lead screw.

[0009] In some embodiments of the present application, the movable assembly comprises a slide rail, a first sliding block and a second sliding block; The slide rail has a first slide channel and a second slide channel arranged opposite to each other, and the slide rail is located between the first movable member and the second movable member; The first sliding block is slidably arranged in the first slide channel and fixedly connected with the first movable member; The second sliding block is slidably arranged in the second slide channel and fixedly connected with the second movable member.

[0010] In some embodiments of the present application, the first movable member has a first mounting area close to one end of the first clamp finger; The second movable member has a second mounting area close to one end of the second clamp finger; A first clamping assembly is arranged in the first mounting area to connect the first clamp finger and the first movable member; A second clamping assembly is arranged in the second mounting area to connect the second clamp finger and the second movable member.

[0011] In some embodiments of the present application, the first clamping assembly is rotatably arranged in the first mounting area, and the second clamping assembly is rotatably arranged in the second mounting area; The first clamping assembly further has a first abutting part, and the first abutting part and the first clamping finger are located at two ends of the first clamping assembly respectively; the second clamping assembly further has a second abutting part, and the second abutting part and the second clamping finger are located at two ends of the second clamping assembly respectively; In the working state, when the driving mechanism drives the first movable part and the second movable part to approach each other until the first abutting part and the second abutting part contact each other, the first clamping assembly and the second clamping assembly rotate and approach each other to make the first clamping finger cooperate with the second clamping finger to clamp the object.

[0012] In some embodiments of the present application, the first movable part has a first limiting part, and the second movable part has a second limiting part; When the driving mechanism drives the first movable part and the second movable part to approach each other to make the first clamping finger cooperate with the second clamping finger to clamp the object, one side wall of the first clamping assembly abuts against the first limiting part, and one side wall of the second clamping assembly abuts against the second limiting part.

[0013] In some embodiments of the present application, first and second elastic members are further included; The first elastic member is connected with the first clamping assembly and is used to apply a force to the first clamping assembly towards the first limiting part, so that part of the structure of the first clamping assembly abuts against the first limiting part; The second elastic member is connected with the second clamping assembly and is used to apply a force to the second clamping assembly towards the second limiting part, so that part of the structure of the second clamping assembly abuts against the second limiting part.

[0014] In some embodiments of the present application, the first clamping assembly includes a first connecting rod, and the second clamping assembly includes a second connecting rod; wherein, The first connecting rod includes a first inner side rod part and a first outer side rod part which are spaced and arranged side by side, one end of the first inner side rod part and one end of the first outer side rod part are rotatably arranged in the first mounting area through a rotating shaft, and the other end of the first inner side rod part and the other end of the first outer side rod part are rotatably connected with the first clamping finger through a rotating shaft; The second connecting rod includes a second inner side rod part and a second outer side rod part which are spaced and arranged side by side, one end of the second inner side rod part and one end of the second outer side rod part are rotatably arranged in the second mounting area through a rotating shaft, and the other end of the second inner side rod part and the other end of the second outer side rod part are rotatably connected with the second clamping finger through a rotating shaft.

[0015] The offset mechanical gripper provided by the present application has the following beneficial effects: 1. The space of the rear end of the mechanical gripper is reserved by setting the driving mechanism on one side of the clamping mechanism, so that the lateral movement of the mechanical gripper into some specific area is avoided, the influence of the rear end of the mechanical gripper on the planned stroke is avoided, and the layout of the automatic production line in the specific production environment is facilitated.

[0016] 2. The first clamping assembly in the application is rotationally arranged on the first movable member, the second clamping assembly is rotationally arranged on the second movable member, and because the first clamping assembly further has a first abutting portion and the second clamping assembly further has a second abutting portion, when the first movable member and the second movable member are driven to approach each other until the first abutting portion and the second abutting portion contact each other, the first clamping assembly and the second clamping assembly are both rotated and approach each other, so that the first clamping finger and the second clamping finger cooperate to clamp smaller objects, thereby increasing the adaptability of the offset mechanical gripper. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 The structure schematic diagram of the offset mechanical gripper provided by the first embodiment of the application is shown in the figure. Figure 2 The schematic diagram of the offset mechanical gripper provided by the first embodiment of the application used in a specific production environment is shown in the figure. Figure 3 The structure schematic diagram of the offset mechanical gripper provided by the embodiment of the application after the driving mechanism is disassembled is shown in the figure. Figure 4 The structure schematic diagram of the offset mechanical gripper provided by the second embodiment of the application is shown in the figure. Figure 5 The partial structure schematic diagram of the movable assembly provided by the embodiment of the application is shown in the figure. Figure 6 The structure schematic diagram of the clamping mechanism provided by the embodiment of the application is shown in the figure.

[0018] Reference signs: Driving mechanism 1, driver 11, transmission assembly 12, driving wheel 121, driven wheel 122, conveyor belt 123, first connecting block 124, second connecting block 125, mounting seat 126, lead screw 127, first extension section 1271, second extension section 1272, first nut 128, first connecting end 1281, second nut 129, second connecting end 1291, movable assembly 2, first movable member 21, first extension 211, first top plate 212, first limiting portion 213, second movable member 22, second extension 221, second top plate 222, second limiting portion 223, The first slider 23, the second slider 24, the slide rail 25, the clamping mechanism 3, the first clamping assembly 31, the first clamping finger 311, the first abutting part 312, the first connecting rod 313, the first inner side rod part 3131, the first outer side rod part 3132, the first accommodating groove 3133, the second clamping assembly 32, the second clamping finger 321, the second abutting part 322, the second connecting rod 323, the second inner side rod part 3231, the second outer side rod part 3232, the second accommodating groove 3233, the rotating shaft 4, the bearing table 5, the object 6, and the obstacle 7. DETAILED DESCRIPTION

[0019] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below. Obviously, the described embodiments are only some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of the present application. Unless otherwise defined, the technical terms or scientific terms used herein should be understood as the common meanings of the same to those of ordinary skill in the art to which the present application belongs. The terms such as “comprise” and the like used herein mean that the elements or objects before the terms encompass the elements or objects listed after the terms and their equivalents, and do not exclude other elements or objects.

[0020] REFERENCE Figure 1 As shown in the drawings, the embodiments of the present application provide an offset mechanical gripper, which comprises a driving mechanism 1, a movable assembly 2 and a clamping mechanism 3. The clamping mechanism 3 has a first clamping finger 311 and a second clamping finger 321 arranged oppositely. The driving mechanism 1 is connected with the clamping mechanism 3 through the movable assembly 2, and the driving mechanism 1 is located on one side of the clamping mechanism 3, for driving the first clamping finger 311 and the second clamping finger 321 to open and close for taking and placing objects.

[0021] In the embodiments, the driving mechanism 1 is arranged on one side edge of the clamping mechanism 3, so that the space of the rear end of the mechanical gripper is reserved, the lateral movement of the mechanical gripper into some specific areas, such as “L”-shaped space, is avoided, the rear end of the mechanical gripper does not affect the planned travel, and the layout of the automatic production line in a specific production environment is facilitated.

[0022] For example, as shown in the drawings, due to the obstruction of the obstacle 7, the conventional mechanical gripper has interference when laterally moving to grab the object 6 on the bearing table 5. However, when the offset mechanical gripper provided by the embodiments is used in a specific production environment, the clamping mechanism 3 can be laterally moved to the obstacle 7 and the bearing table 5, and then the object 6 is grabbed. Figure 2

[0023] REFERENCE​Figure 1 and Figure 3 As shown in FIGS. 1 and 2, in some embodiments, the movable assembly 2 comprises a first movable piece 21 and a second movable piece 22 arranged in relative sliding manner, the first movable piece 21 is connected with the first clamp finger 311, and the second movable piece 22 is connected with the second clamp finger 321. The driving mechanism 1 comprises a driver 11 and a transmission assembly 12, the transmission assembly 12 is connected with the first movable piece 21 and the second movable piece 22, and the driver 11 is arranged on one side of the transmission assembly 12 to offset the driver 11 relative to the center of the clamping mechanism 3. The driver 11 is used to drive the transmission assembly 12 to move, and the transmission assembly 12 is used to drive the first movable piece 21 and the second movable piece 22 to move.

[0024] In the present embodiment, the first movable piece 21 and the second movable piece 22 are connected in relative sliding manner through a slide rail 25, a first sliding block 23 and a second sliding block 24. Specifically, the slide rail 25 has a first slide and a second slide arranged in relative manner, the first slide is located on the upper surface of the slide rail 25, and the second slide is located on the lower surface of the slide rail 25. The slide rail 25 is placed between the first movable piece 21 and the second movable piece 22, the first slide is close to the first movable piece 21, and the second slide is close to the second movable piece 22. The first sliding block 23 is slidably arranged in the first slide and fixedly connected with the first movable piece 21, and the second sliding block 24 is slidably arranged in the second slide and fixedly connected with the second movable piece 22.

[0025] When the driver 11 drives the transmission assembly 12 to move, the first movable piece 21 and the second movable piece 22 can be driven to move towards or away from each other, so as to control the first clamp finger 311 and the second clamp finger 321 to grasp or place objects.

[0026] Referring to Figure 1 and Figure 3 As shown in FIGS. 1 and 2, in some embodiments, the transmission assembly 12 comprises a driving wheel 121, a driven wheel 122 and a transmission belt 123, the driving wheel 121 and the driven wheel 122 are arranged in interval manner, the driving wheel 121 is arranged relative to the first clamp finger 311, the driven wheel 122 is arranged relative to the second clamp finger 321, the transmission belt 123 connects the driving wheel 121 and the driven wheel 122, and the driver 11 is connected with the driving wheel 121. The first movable piece 21 is connected with the transmission belt 123 through a first connecting block 124, the second movable piece 22 is connected with the transmission belt 123 through a second connecting block 125, and the first connecting block 124 and the second connecting block 125 are respectively located on the upper and lower sides of the transmission belt 123.

[0027] In the embodiment, the first connecting block 124 is fixedly connected with the upper part of the transmission belt 123, and the second connecting block 125 is connected with the lower part of the transmission belt 123. When the driver 11 drives the driving wheel 121 to rotate clockwise, the transmission belt 123 drives the driven wheel 122 to rotate synchronously, at this time, the first connecting block 124 drives the first movable part 21 to move right, and the second connecting block 125 drives the second movable part 22 to move left, so as to complete the clamping action. When the driver 11 drives the driving wheel 121 to rotate counterclockwise, at this time, the first connecting block 124 drives the first movable part 21 to move left, and the second connecting block 125 drives the second movable part 22 to move right, so as to complete the action of opening the clamping head.

[0028] With reference to Figure 4 As shown in FIG. 1, in some embodiments, in order to make the driving mechanism 1 located at one side of the clamping mechanism 3, the transmission assembly 12 can also be provided in other forms. For example, the transmission assembly 12 comprises a mounting seat 126, a screw rod 127, a first nut 128 and a second nut 129. The mounting seat 126 is arranged close to the first movable part 21 and the second movable part 22. The screw rod 127 is rotatably installed on the mounting seat 126, and has a first extension section 1271 and a second extension section 1272 with opposite screw threads. The first nut 128 is threadedly connected with the first extension section 1271, and has a first connecting end 1281 extending towards the first movable part 21, which is fixedly connected with the first movable part 21. The second nut 129 is threadedly connected with the second extension section 1272, and has a second connecting end 1291 extending towards the second movable part 22, which is fixedly connected with the second movable part 22. The driver 11 is connected with the screw rod 127.

[0029] In the embodiment, the driver 11 is a motor. When the driver 11 rotates, it drives the screw rod 127 to rotate. Since the first nut 128 is installed on the first extension section 1271, and the second nut 129 is installed on the second extension section 1272, the first nut 128 will move right, and the second nut 129 will move left, thereby driving the first movable part 21 and the second movable part 22 to move towards each other, and finally driving the first clamping finger 311 and the second clamping finger 321 to cooperate for clamping an object. When the driver 11 rotates in the opposite direction, the first nut 128 will move left, and the second nut 129 will move right, thereby driving the first movable part 21 and the second movable part 22 to move away from each other, and finally driving the first clamping finger 311 and the second clamping finger 321 to release the object.

[0030] Reference Figure 1 and Figure 5 As shown in FIGS. 1, 2, 3, 4, 5 and 6, in some embodiments, the first movable member 21 has a first extension 211 and a first top plate 212 at one end away from the driving mechanism 1, and the first extension 211 and the first top plate 212 are spaced apart to form the first mounting area. The second movable member 22 has a second extension 221 and a second top plate 222 at one end away from the driving mechanism 1, and the second extension 221 and the second top plate 222 are spaced apart to form the second mounting area. The first clamping assembly 31 is arranged in the first mounting area, and the second clamping assembly 32 is arranged in the second mounting area, so that the first clamping fingers 311 and the second clamping fingers 321 are oppositely arranged.

[0031] In the present embodiment, the first top plate 212 is detachably connected with the first extension 211 by bolts, and the second top plate 222 is detachably connected with the second extension 221 by bolts. In order to make the first clamping assembly 31 and the second clamping assembly 32 oppositely arranged to ensure the reliability of clamping, in the present embodiment, the height of the first top plate 212 is set to be the same as the height of the second extension 221, and the height of the second top plate 222 is set to be the same as the height of the first extension 211, so that the first mounting area and the second mounting area are oppositely arranged.

[0032] Reference Figure 1 , Figure 5 and Figure 6 As shown in FIGS. 1, 2, 3, 4, 5 and 6, in some embodiments, the first clamping assembly 31 is rotatably arranged in the first movable member 21, and the second clamping assembly 32 is rotatably arranged in the second movable member 22. The first clamping assembly 31 further has a first abutting portion 312, and the first abutting portion 312 and the first clamping fingers 311 are respectively located at two ends of the first clamping assembly 31. The second clamping assembly 32 further has a second abutting portion 322, and the second abutting portion 322 and the second clamping fingers 321 are respectively located at two ends of the second clamping assembly 32.

[0033] In the working state, when the driving mechanism 1 drives the first movable member 21 and the second movable member 22 to approach each other until the first abutting portion 312 and the second abutting portion 322 contact each other, the first clamping assembly 31 and the second clamping assembly 32 are rotated and approach each other, so that the first clamping fingers 311 and the second clamping fingers 321 cooperate to clamp the object.

[0034] In the embodiment, the first clamping assembly 31 is arranged to rotate on the first movable element 21, the second clamping assembly 32 is arranged to rotate on the second movable element 22, and the first clamping assembly 31 further has a first abutting portion 312 and the second clamping assembly 32 further has a second abutting portion 322. Thus, when the driving mechanism 1 drives the first movable element 21 and the second movable element 22 to move towards each other, until the first abutting portion 312 and the second abutting portion 322 contact each other, the first clamping assembly 31 and the second clamping assembly 32 are forced to rotate and move towards each other, so that the first clamping fingers 311 and the second clamping fingers 321 cooperate to clamp objects with smaller volume, thereby increasing the adaptability of the offset mechanical gripper.

[0035] Further, since the first clamping assembly 31 and the second clamping assembly 32 are arranged to rotate, in order to avoid the problem that the first clamping assembly 31 and the second clamping assembly 32 cannot clamp fixedly when clamping objects with larger volume. In the embodiment, the first extension 211 and the first top plate 212 on the first movable element 21 are both provided with a first limiting portion 213 in opposite positions, the second extension 221 and the second top plate 222 on the second movable element 22 are both provided with a second limiting portion 223 in opposite positions, the first clamping assembly 31 is arranged to rotate in a first mounting area formed between the first extension 211 and the first top plate 212, and part of the structure of the first clamping assembly 31 abuts against the first limiting portion 213, and the second clamping assembly 32 is arranged to rotate in a second mounting area formed between the second extension 221 and the second top plate 222, and part of the structure of the second clamping assembly 32 abuts against the second limiting portion 223.

[0036] In the embodiment, the first limiting portion 213 and the second limiting portion 223 are both limiting groove structures, and part of the structure of the first clamping assembly 31 and part of the structure of the second clamping assembly 32 are both limiting protrusion structures arranged corresponding to the limiting groove structures. When the offset mechanical gripper clamps objects with larger volume, due to the cooperation of the limiting protrusion structures and the limiting groove structures, the first clamping assembly 31 and the second clamping assembly 32 are prevented from rotating outward, thereby ensuring the stability of the offset mechanical gripper when clamping larger objects.

[0037] Reference Figures 1 to 6As shown, in some embodiments, the offset mechanical gripper further comprises a first elastic member and a second elastic member, the first elastic member is connected with the first clamping assembly 31 and is used to apply a force to the first clamping assembly 31 towards the first limiting portion 213, so that part of the structure of the first clamping assembly 31 abuts against the first limiting portion 213, the second elastic member is connected with the second clamping assembly 32 and is used to apply a force to the second clamping assembly 32 towards the second limiting portion 223, so that part of the structure of the second clamping assembly 32 abuts against the second limiting portion 223.

[0038] In this embodiment, due to the action of the first elastic member and the second elastic member, the first clamping assembly 31 and the second clamping assembly 32 will not rotate when abutting against the first limiting portion 213 and the second limiting portion 223 without clamping an object, thereby ensuring the stability of the relative state of the first clamping assembly 31 and the second clamping assembly 32 without clamping an object. When the driving mechanism 1 drives the first movable member 21 and the second movable member 22 to move close to each other until the first abutting portion 312 and the second abutting portion 322 contact each other, the elastic force provided by the first elastic member and the second elastic member will be overcome, so that the first clamping assembly 31 and the second clamping assembly 32 rotate, at this time the first elastic member and the second elastic member also play a certain damping role, thereby ensuring the stability when clamping an object with a small volume.

[0039] Reference Figures 1 to 6 As shown, in some embodiments, the first clamping assembly 31 comprises a first connecting rod 313, one end of the first connecting rod 313 is rotatably arranged in the first mounting area, the other end of the first connecting rod 313 is connected with the first clamping finger 311, the second clamping assembly 32 comprises a second connecting rod 323, one end of the second connecting rod 323 is rotatably arranged in the second mounting area, the other end of the second connecting rod 323 is connected with the first clamping finger 311.

[0040] In this embodiment, the first connecting rod 313 and the second connecting rod 323 are four-bar mechanisms, so as to ensure that the angle of the first clamping finger 311 and the second clamping finger 321 will not change during clamping, thereby improving the stability of clamping an object.

[0041] Specifically, the first connecting rod 313 comprises a first inner side rod portion 3131 and a first outer side rod portion 3132 which are spaced and arranged side by side, one end of the first inner side rod portion 3131 and the first outer side rod portion 3132 is rotatably arranged in the first mounting area through a rotating shaft 4, and the other end of the first inner side rod portion 3131 and the first outer side rod portion 3132 is rotatably connected with the first clamping finger 311 through a rotating shaft 4. The second connecting rod 323 comprises a second inner side rod portion 3231 and a second outer side rod portion 3232 which are spaced and arranged side by side, one end of the second inner side rod portion 3231 and the second outer side rod portion 3232 is rotatably arranged in the second mounting area through a rotating shaft 4, and the other end of the second inner side rod portion 3231 and the second outer side rod portion 3232 is rotatably connected with the second clamping finger 321 through a rotating shaft 4.

[0042] In the embodiment, a first accommodating groove 3133 is formed on the first outer side rod portion 3132, the first accommodating groove 3133 has a first connecting portion, the first connecting portion can be a fixed bolt, the first elastic member is a torque spring, the first elastic member is sleeved on the rotating shaft 4 penetrating the first outer side rod portion 3132, one end of the first elastic member is located in the first accommodating groove 3133 and connected with the first connecting portion, and the other end of the first elastic member is connected with the first movable member 21. A second accommodating groove 3233 is formed on the second outer side rod portion 3232, the second accommodating groove 3233 has a second connecting portion, the second connecting portion can also be a fixed bolt, the second elastic member is a torque spring, the second elastic member is sleeved on the rotating shaft 4 penetrating the second outer side rod portion 3232, one end of the second elastic member is located in the second accommodating groove 3233 and connected with the second connecting portion, and the other end of the second elastic member is connected with the second movable member 22.

[0043] In some embodiments, the first abutting portion 312 is arranged at one end of the first inner side rod portion 3131, the second abutting portion 322 is arranged at one end of the second inner side rod portion 3231, the first abutting portion 312 and the second abutting portion 322 are provided with mutually matched locking structures, when the first abutting portion 312 and the second abutting portion 322 are in contact, the first abutting portion 312 and the second abutting portion 322 are matched and locked, so as to ensure the reliability of the force applied to the first connecting rod 313 and the second connecting rod 323, and avoid the shaking of the first connecting rod 313 and the second connecting rod 323 during movement, further improving the stability of clamping the object.

[0044] In the embodiment, the first contact portion 312 is a gear fixed to the first inner side rod portion 3131, and the second contact portion 322 is a gear fixed to the second inner side rod portion 3231. The locking of the first contact portion 312 and the second contact portion 322 is achieved by the meshing of the two gears.

[0045] In some embodiments, a locking groove can be directly formed on the first contact portion 312, and a locking protrusion matching the locking groove can be formed on the second contact portion 322. The locking structure is formed by the mutual cooperation when the first contact portion 312 and the second contact portion 322 are contacted.

[0046] In some embodiments, the clamping surface of the first clamping finger 311 is provided with a flexible first gasket, and the clamping surface of the second clamping finger 321 is provided with a flexible second gasket.

[0047] In the embodiment, the first gasket and the second gasket can be made of rubber material in a sheet shape, and then cut into a block structure.

[0048] Although the embodiments of the present application are described in detail above, it is obvious for those skilled in the art that various modifications and changes can be made to the embodiments. However, it should be understood that such modifications and changes are within the scope and spirit of the present application. Moreover, the present application described herein can have other embodiments, and can be implemented or realized in various ways.

Claims

1. An offset mechanical gripper, characterized in that: include: The clamping mechanism comprises a first clamping finger and a second clamping finger arranged opposite to each other; a driving mechanism connected to the clamping mechanism via a movable assembly, the driving mechanism being located on one side of the clamping mechanism and configured to drive the first clamping finger and the second clamping finger to open and close for picking up and placing an object; The movable assembly includes a first movable member and a second movable member that are arranged to slide relative to each other, the first movable member is connected to the first clamping finger, and the second movable member is connected to the second clamping finger; The driving mechanism includes a driver and a transmission assembly, the transmission assembly is connected to the first movable member and the second movable member, the driver is provided on one side of the transmission assembly so as to be offset relative to the center of the clamping mechanism, the driver is used to drive the transmission assembly to move, and the transmission assembly is used to drive the first movable member and the second movable member to move; The first movable member has a first mounting area at one end thereof close to the first clamping finger; The second movable member has a second mounting area at one end thereof close to the second clamping finger; A first clamping assembly is provided in the first mounting area and is used to connect the first clamping finger and the first movable member; A second clamping assembly is provided in the second mounting area, and is used to connect the second clamping finger and the second movable member; The first clamping assembly is rotatably disposed in the first installation area, and the second clamping assembly is rotatably disposed in the second installation area; Wherein, the first clamping assembly further comprises a first interference portion, wherein the first interference portion and the first clamping finger are respectively located at two ends of the first clamping assembly; the second clamping assembly further comprises a second interference portion, wherein the second interference portion and the second clamping finger are respectively located at two ends of the second clamping assembly; In the working state, when the driving mechanism drives the first movable part and the second movable part to approach each other until the first interference part and the second interference part contact each other, the first clamping assembly and the second clamping assembly both rotate and approach each other, so that the first clamping finger and the second clamping finger cooperate to clamp an object.

2. The offset mechanical gripper according to claim 1, characterized in that: The transmission assembly includes a driving wheel, a driven wheel and a conveyor belt, wherein the driving wheel is arranged opposite to the first clamping finger, the driven wheel is arranged opposite to the second clamping finger, and the conveyor belt connects the driving wheel and the driven wheel; The driver is connected to the driving wheel; The first movable member is connected to the conveyor belt via a first connecting block, the second movable member is connected to the conveyor belt via a second connecting block, and the first connecting block and the second connecting block are respectively located on both sides of the conveyor belt.

3. The offset mechanical gripper according to claim 1, characterized in that: The transmission assembly includes a mounting seat, a screw rod, a first nut and a second nut; The screw rod is mounted on the mounting seat, and the screw rod has a first extension section and a second extension section with opposite threads; The first nut is threadedly connected to the first extension section, and the first nut has a first connecting end, and the first connecting end is fixedly connected to the first movable member; The second nut is threadedly connected to the second extension section, and the second nut has a second connecting end, and the second connecting end is fixedly connected to the second movable member; The driver is connected to the screw rod.

4. The offset mechanical gripper according to claim 1, characterized in that: The movable assembly includes a slide rail, a first slider and a second slider; The slide rail comprises a first slideway and a second slideway which are arranged opposite to each other, and the slide rail is located between the first movable member and the second movable member; The first sliding block is slidably disposed on the first slideway and is fixedly connected to the first movable member; The second sliding block is slidably disposed on the second slideway and is fixedly connected to the second movable member.

5. The offset mechanical gripper according to claim 1, characterized in that: The first movable member has a first limiting portion, and the second movable member has a second limiting portion; When the driving mechanism drives the first movable part and the second movable part to approach each other so that the first clamping finger and the second clamping finger cooperate to clamp an object, a side wall of the first clamping component abuts against the first limiting portion, and a side wall of the second clamping component abuts against the second limiting portion.

6. The offset mechanical gripper according to claim 5, characterized in that: Also includes a first elastic member and a second elastic member; The first elastic member is connected to the first clamping assembly and is used to apply a force to the first clamping assembly toward the first limiting portion, so that a part of the structure of the first clamping assembly abuts against the first limiting portion; The second elastic member is connected to the second clamping assembly and is used to apply a force to the second clamping assembly toward the second limiting portion, so that a partial structure of the second clamping assembly abuts against the second limiting portion.

7. The offset mechanical gripper according to claim 1, characterized in that: The first clamping assembly includes a first connecting rod; the second clamping assembly includes a second connecting rod; wherein, The first connecting rod includes a first inner rod portion and a first outer rod portion spaced apart and arranged side by side, one end of each of the first inner rod portion and the first outer rod portion being rotatably disposed in the first mounting area via a rotating shaft, and the other end of each of the first inner rod portion and the first outer rod portion being rotatably connected to the first clamping finger via a rotating shaft; The second connecting rod includes a second inner rod portion and a second outer rod portion arranged at intervals and side by side, one end of the second inner rod portion and the second outer rod portion are both rotatably arranged in the second installation area through a rotating shaft, and the other ends of the second inner rod portion and the second outer rod portion are both rotatably connected to the second clamping finger through a rotating shaft.

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