Mechanical clamping jaw and carrying equipment

Abstract

The invention discloses a mechanical clamping jaw and carrying equipment, and belongs to the technical field of mechanical arms. The mechanical clamping jaw comprises a connecting base, a power mechanism and a plurality of jaw finger mechanisms, the power mechanism is used for driving the multiple jaw finger mechanisms to move so as to clamp or loosen a target object, each jaw finger mechanism can comprise a jaw finger body and a displacement assembly, and the displacement assemblies are used for making contact with the target object. And the target object is driven to move towards the direction close to the connecting base or move towards the direction away from the connecting base. Thus, in the process that the mechanical clamping jaw is used for keeping clamping of the target object, if the target object shifts, the target object can be driven to move towards the direction close to the connecting base or move towards the direction away from the connecting base through the shifting assembly according to the movement trend of the target object; therefore, the target object returns to the space between the claw finger mechanisms, the target object is prevented from falling off from the space between the claw finger mechanisms, and the stable clamping state is kept.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical hands, and in particular to a mechanical gripper and a carrying device. BACKGROUND

[0002] With the development of industrial automation technology, robots are widely used as carrying devices in logistics and carrying scenarios, such as using robots to carry objects and stack objects. Robots can flexibly adapt to complex task requirements to meet the pose requirements in most carrying and stacking scenarios, thanks to their high degree of freedom and diversified control methods.

[0003] Currently, robots use different end effectors to perform carrying tasks for different objects to be carried. The types of end effectors usually include suction cup type, mechanical gripper type or magnetic type to achieve carrying of objects by suction or clamping. The mechanical gripper type end effector is mainly used to grasp, clamp or fix objects, and is usually composed of two or more movable claw fingers. During operation, the mechanical gripper first opens the multiple claw fingers, then closes the multiple claw fingers to apply appropriate clamping force to grasp the object, and then releases the object after completing the carrying.

[0004] However, when a robot is used to perform a task of grasping a flexible object, the flexible object is likely to deform when pressed, which may cause the mechanical gripper to fail to reliably clamp the object, thereby increasing the risk of the object falling during carrying and reducing the reliability of the carrying device. SUMMARY

[0005] Embodiments of the present application provide a mechanical gripper and a carrying device. The technical solution is as follows:

[0006] According to an aspect of the present application, a mechanical gripper is provided, which comprises:

[0007] a connecting base;

[0008] a power mechanism mounted on the connecting base;

[0009] a plurality of claw finger mechanisms, each mounted on the power mechanism, the claw finger mechanism comprising a claw finger body and a displacement assembly, the claw finger body being connected to an end of the power mechanism away from the connecting base, and the displacement assembly being mounted on the claw finger body;

[0010] The power mechanism is used to drive the plurality of claw finger mechanisms to move to clamp or release a target object, and the displacement assembly is used to contact the target object and drive the target object to move towards the connecting base or away from the connecting base.

[0011] Optionally, the shifting assembly comprises a first driving structure and a transmission belt structure.

[0012] The first driving structure and the transmission belt structure are both mounted on the claw finger body, the first driving structure is movably connected with the transmission belt structure, and the first driving structure is used to drive the transmission belt structure to move.

[0013] Optionally, the transmission belt structure comprises a synchronous belt and a plurality of protruding parts.

[0014] The synchronous belt is arranged on the outer side of the driving structure.

[0015] The plurality of protruding parts are arranged on the side of the synchronous belt away from the driving structure and are arranged at intervals along the extension direction of the synchronous belt, and the plurality of protruding parts are all fixedly connected with the synchronous belt.

[0016] Optionally, the power mechanism comprises a linear power assembly and a rotary power assembly.

[0017] One end of the linear power assembly is rotatably connected with the connecting base, and the other end of the linear power assembly is rotatably connected with the first position of the claw finger mechanism.

[0018] One end of the rotary power assembly is fixedly connected with the connecting base, and the other end of the rotary power assembly is rotatably connected with the second position of the claw finger mechanism.

[0019] The first position and the second position of the claw finger mechanism do not coincide, the linear power assembly is used to drive the claw finger mechanism to rotate around the second position to adjust the opening and closing angle of the plurality of claw finger mechanisms, and the rotary power assembly and the linear power assembly are used to drive the claw finger mechanism to translate to clamp or unclamp the target object.

[0020] Optionally, the linear power assembly comprises a telescopic rod, one end of the telescopic rod is rotatably connected with the connecting base, and the other end of the telescopic rod is rotatably connected with the second position of the claw finger mechanism.

[0021] Optionally, the rotary power assembly comprises a second driving structure, a worm, a worm wheel and a connecting rod.

[0022] The second driving structure is mounted on the connecting base.

[0023] The worm is connected with the second driving structure, and the second driving structure is used to drive the worm to rotate.

[0024] The worm wheel is meshingly connected with the worm.

[0025] One end of the connecting rod is fixedly connected with the worm gear, and the other end of the connecting rod is rotationally connected with the claw finger mechanism.

[0026] Optionally, the telescopic rod member comprises an electric cylinder, a pneumatic cylinder or a hydraulic cylinder, and the electric cylinder, the pneumatic cylinder or the hydraulic cylinder is used to perform reciprocating linear motion.

[0027] Optionally, the claw finger body has a first corner portion, a second corner portion and a third corner portion, and the third corner portion is arranged opposite to the first corner portion and the second corner portion.

[0028] The first corner portion is rotationally connected with the linear power assembly, the second corner portion is electrically connected with the rotary power assembly, the first corner portion is located outside the second corner portion, and the distance between the first corner portion and the third corner portion is greater than the distance between the second corner portion and the third corner portion.

[0029] Optionally, the mechanical gripper further comprises a distance detection assembly, the distance detection assembly is installed on the connecting base or the power mechanism, and the distance detection assembly is further electrically connected with the first driving structure, and the distance detection assembly is used to detect the position of the target object.

[0030] According to another aspect of the present application, a carrying device is provided, which comprises a mechanical arm and a mechanical gripper, the mechanical gripper is installed at the end of the mechanical arm, and the mechanical gripper comprises the above-mentioned mechanical gripper.

[0031] The technical scheme provided by the embodiments of the present application has at least the following beneficial effects:

[0032] The embodiments of the present application provide a mechanical gripper comprising a connecting base, a power mechanism and a plurality of claw finger mechanisms, the power mechanism is used to drive the plurality of claw finger mechanisms to move to clamp or release a target object, the claw finger mechanism can comprise a claw finger body and a displacement assembly, the displacement assembly is used to contact the target object and drive the target object to move towards the direction close to the connecting base or move towards the direction away from the connecting base. In this way, during the process of using the mechanical gripper to hold the target object, if the target object has a sliding phenomenon, a tendency to fall off or a displacement, etc., the target object can be driven to move towards the direction close to the connecting base or move towards the direction away from the connecting base according to the movement tendency of the target object through the displacement assembly, so that the target object returns to between the plurality of claw finger mechanisms, thereby avoiding the target object from falling off between the plurality of claw finger mechanisms, and a stable clamping state is maintained. The risk of the target object falling off during carrying can be reduced, and the problem of low reliability of the carrying device in the related art can be solved. BRIEF DESCRIPTION OF DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort based on these drawings.

[0034] Figure 1 is a structural schematic diagram of a mechanical gripper provided by the embodiments of the present application;

[0035] Figure 2 is Figure 1 is an exploded structural schematic diagram of the mechanical gripper shown in FIG. 1;

[0036] Figure 3 is a structural schematic diagram of a claw finger mechanism provided by the embodiments of the present application;

[0037] Figure 4 is a structural schematic diagram of a mechanical gripper and a target object provided by the embodiments of the present application;

[0038] Figure 5 is Figure 3 is a sectional structural schematic diagram of the claw finger mechanism shown in FIG. 3;

[0039] Figure 6 is Figure 1 is a sectional structural schematic diagram of the mechanical gripper shown in FIG. 4;

[0040] Figure 7 is a sectional structural schematic diagram of a mechanical gripper and a target object provided by the embodiments of the present application;

[0041] Figure 8 is a sectional structural schematic diagram of another mechanical gripper and a target object provided by the embodiments of the present application;

[0042] Figure 9 is a schematic diagram of a movement process of a mechanical gripper provided by the embodiments of the present application;

[0043] Figure 10 is a schematic diagram of a movement process of another mechanical gripper provided by the embodiments of the present application;

[0044] Figure 11 is a structural schematic diagram of a linear power assembly provided by the embodiments of the present application;

[0045] Figure 12 is a structural schematic diagram of a rotary power assembly provided by the embodiments of the present application;

[0046] Figure 13 is Figure 1 is a structural schematic diagram of the mechanical gripper from another perspective.

[0047] Reference Signs List:

[0048] Mechanical gripper 10; connecting base 11; power mechanism 12; linear power assembly 121, telescopic rod 1211, cylindrical outer rod h1, cylindrical inner rod h2, rotary power assembly 122, second driving structure 1221, worm 1222, worm wheel 1223, connecting rod 1224; gripper finger mechanism 13; gripper finger body 131, first corner j1, second corner j2, third corner j3, displacement assembly 132, first driving structure 1321, first pulley d1, second pulley d2, third pulley d3, transmission belt structure 1322, synchronous belt t1, protrusion t2, target object 20. DETAILED DESCRIPTION

[0049] In order to make the objects, technical solutions and advantages of the present application clearer, the following will further describe the embodiments of the present application in conjunction with the drawings.

[0050] Although the present application can be easily embodied in different forms of embodiments, only some specific embodiments are shown in the drawings and described in detail in the present specification, and it can be understood that the present specification should be considered as an exemplary description of the principles of the present application, and is not intended to limit the present application to what is described herein.

[0051] Therefore, one feature indicated in the present specification will be used to explain one feature of one embodiment of the present application, and it is not implied that each embodiment of the present application must have the explained feature. In addition, it should be noted that the present specification describes many features. Although certain features can be combined together to show possible system designs, these features can also be used in other combinations that are not explicitly described. Therefore, unless otherwise stated, the described combinations are not intended to be limiting.

[0052] In the embodiments shown in the drawings, the indications of directions, such as up, down, left, right, front and back, are used to explain the structure and movement of various elements of the present application, and are not absolute but relative. When these elements are in the positions shown in the drawings, these descriptions are appropriate. If the description of the position of these elements changes, the indications of these directions also change accordingly.

[0053] Currently, the mechanical gripper usually clamps the target object through external clamping. In this clamping mode, the mechanical gripper can exert a lateral normal pressure (also referred to as a normal support force) on the target object when the mechanical gripper clamps the target object by using multiple claw fingers, and then generate a friction force between the multiple claw fingers and the target object, so that the mechanical gripper can grasp the target object. However, in this process, the material, hardness and surface friction coefficient of the target object have a great influence on the clamping reliability of the mechanical gripper; if the target object is a non-elastic object or a flexible object that is easy to deform, for example, the target object includes cotton, plasticine, dough or a flour bag; because this type of target object is easy to deform under pressure, the mechanical gripper cannot provide stable normal pressure to the target object during holding, so that the friction force between the mechanical gripper and the target object becomes small, thereby the mechanical gripper cannot reliably clamp the object. The risk of the target object falling during the carrying process is increased, resulting in low reliability of the carrying equipment.

[0054] The embodiment of the present application provides a mechanical gripper and a carrying equipment, which can solve part or all of the above technical problems.

[0055] Please refer to Figure 1 , Figure 2 , Figure 3 and Figure 4 , Figure 1 is a structural schematic diagram of a mechanical gripper 10 provided by the embodiment of the present application, Figure 2 is an exploded structural schematic diagram of the mechanical gripper 10 shown in Figure 1 , Figure 3 is a structural schematic diagram of a claw finger mechanism 13 provided by the embodiment of the present application, Figure 4 is a structural schematic diagram of a mechanical gripper 10 and a target object 20 provided by the embodiment of the present application, and the mechanical gripper 10 can include a connecting base 11, a power mechanism 12 and multiple claw finger mechanisms 13.

[0056] The connecting base 11 can be used for connecting a mechanical arm, and the power mechanism 12 can be installed on the connecting base 11. The power mechanism 12 is used to drive the multiple claw finger mechanisms 13 to move to clamp or release the target object 20. For example, the power mechanism 12 can drive the claw finger mechanisms 13 to move, such as rotating or translating. The power mechanism 12 can be used to adjust the opening angle of the multiple claw finger mechanisms 13, and can also be used to adjust the clamping spacing of the multiple claw finger mechanisms 13, so as to clamp or release the target object 20. The multiple claw finger mechanisms 13 each have a clamping surface. The opening angle refers to the included angle between the clamping surfaces of the two opposite claw finger mechanisms 13. The clamping spacing refers to the spacing between the clamping surfaces of the two opposite claw finger mechanisms 13.

[0057] The plurality of claw fingers 13 can be mounted on the power mechanism 12, and the claw fingers 13 can include a claw finger body 131 and a displacement assembly 132, the claw finger body 131 is connected to the end of the power mechanism 12 away from the connecting base 11, and the displacement assembly 132 is mounted on the claw finger body 131. The power mechanism 12 can be used to drive the claw finger body 131 to move, and the displacement assembly 132 mounted on the claw finger body 131 can move with the claw finger body 131.

[0058] The displacement assembly 132 is used to contact the target object 20 and drive the target object 20 to move towards the connecting base 11 or away from the connecting base 11. Part of the structure of the displacement assembly 132 can protrude from the claw finger body 131, and the face clamping surface of the claw finger mechanism 13 can be located on the displacement assembly 132, so that the displacement assembly 132 can contact the target object 20. In an exemplary embodiment, when the mechanical gripper 10 is used to clamp the target object 20 located below the mechanical gripper 10, after the power assembly drives the plurality of claw fingers 13 to move to the appropriate opening and closing angle and clamping distance, the plurality of claw fingers 13 can contact the target object 20, at this time, the target object 20 can be contacted and driven by the displacement assembly 132 to move towards the connecting base 11, so as to drive the target object 20 to the plurality of claw fingers 13. After the mechanical gripper 10 is used to maintain the clamping of the target object 20, if the target object 20 slips, has a tendency to fall off, or moves, the target object 20 can be driven by the displacement assembly 132 to move towards the connecting base 11 or away from the connecting base 11 according to the movement trend of the target object 20, so as to make the target object 20 return to the plurality of claw fingers 13, avoid the target object 20 from falling off the plurality of claw fingers 13, and maintain a stable clamping state.

[0059] For example, the target object 20 is a non-elastic object or a flexible object that is easy to deform, such as cotton, plasticine, dough, or a flour bag, etc. During the clamping of these types of target objects 20, the plurality of claw fingers 13 can not only provide positive pressure to the target object 20, but also provide friction force to the target object 20 in time through the displacement assembly 132, which is opposite to the falling direction of the target object 20, thereby reducing the risk of the target object 20 falling during transportation and improving the reliability of the transportation equipment using the mechanical gripper 10.

[0060] In summary, the embodiment of the present application provides a mechanical gripper 10 comprising a connecting base 11, a power mechanism 12 and a plurality of claw finger mechanisms 13, the power mechanism 12 is used to drive the plurality of claw finger mechanisms 13 to move to clamp or release the target object 20, the claw finger mechanism 13 can comprise a claw finger body 131 and a displacement assembly 132, the displacement assembly 132 is used to contact the target object 20 and drive the target object 20 to move towards the direction close to the connecting base 11 or move towards the direction away from the connecting base 11. In this way, during the process of using the mechanical gripper 10 to keep clamping the target object 20, if the target object 20 has the phenomenon of slipping, has the tendency of falling off, or has the situation of displacement, etc., the target object 20 can be driven to move towards the direction close to the connecting base 11 or move towards the direction away from the connecting base 11 by the displacement assembly 132 according to the movement tendency of the target object 20, so as to make the target object 20 return to the plurality of claw finger mechanisms 13 again, avoid the target object 20 from falling off the plurality of claw finger mechanisms 13, and thus keep the stable clamping state. The risk of falling of the target object 20 during the carrying process can be reduced, and the problem of low reliability of the carrying equipment in the related art can be solved.

[0061] Please refer to Figure 3 and Figure 5 , Figure 5 is Figure 3 the cross-sectional structure diagram of the claw finger mechanism 13 shown in FIG. 13, in an alternative embodiment, the displacement assembly 132 can comprise a first driving structure 1321 and a transmission belt structure 1322. The first driving structure 1321 and the transmission belt structure 1322 are both installed on the claw finger body 131, the first driving structure 1321 is movably connected with the transmission belt structure 1322, and the first driving structure 1321 is used to drive the transmission belt structure 1322 to move.

[0062] The first driving structure 1321 can be installed inside the claw finger body 131, the transmission belt structure 1322 can be wrapped around the first driving structure 1321, the first driving structure 1321 can drive the transmission belt structure 1322 to rotate in the clockwise direction or rotate in the counterclockwise direction, and the clamping surface can be located on the side of the transmission belt structure 1322 away from the first driving structure 1321.

[0063] In an exemplary embodiment, the claw finger body 131 is triangular, the claw finger body 131 has three corners, the first driving structure 1321 includes a first driving motor (not shown in the figure), a first pulley d1, a second pulley d2 and a third pulley d3, the first pulley d1, the second pulley d2 and the third pulley d3 are respectively installed at the three corners of the claw finger body 131; the transmission belt structure 1322 is wrapped around the outside of the first pulley d1, the second pulley d2 and the third pulley d3, the first pulley d1, the second pulley d2 and the third pulley d3 are all movably connected with the transmission belt structure 1322, and at least one of the first pulley d1, the second pulley d2 and the third pulley d3 is connected with the first driving motor, for example, the first pulley d1 is connected with the first driving motor, the first driving motor can drive the first pulley d1 to rotate, the first pulley d1 is the driving pulley, and the second pulley d2 and the third pulley d3 are the driven pulleys.

[0064] In this way, when the target object 20 located below the mechanical gripper 10 is clamped by using the mechanical gripper 10, after the power assembly drives the plurality of claw finger bodies 131 to move to a suitable opening and closing angle and clamping distance, the transmission belt structure 1322 on the plurality of claw finger bodies 131 can be attached to the target object 20, at this time, the first driving assembly can drive the transmission belt assembly to rotate, so as to drive the target object 20 to move towards the direction close to the connecting base 11 through the transmission belt structure 1322, thereby the target object 20 can be driven to the plurality of claw finger mechanisms 13.

[0065] In the process of using the mechanical gripper 10 to hold and clamp the target object 20, if the target object 20 has a sliding phenomenon, a tendency to fall off, or a displacement occurs, according to the movement tendency of the target object 20, the first driving structure 1321 can drive the transmission belt structure 1322 to rotate clockwise or counterclockwise, so as to drive the target object 20 to move towards the direction close to the connecting base 11 or move towards the direction away from the connecting base 11, thereby the target object 20 can be returned to the plurality of claw finger mechanisms 13, so as to avoid the target object 20 from falling off the plurality of claw finger mechanisms 13, thereby maintaining a stable clamping state. It can be understood that in the process of adjusting the position of the target object 20, the rotation directions of the transmission belt structure 1322 in the plurality of claw finger mechanisms 13 can be the same or different.

[0066] Please refer to Figure 3 and Figure 5In an optional implementation, the transmission belt structure 1322 can include a synchronous belt t1 and a plurality of protrusions t2; the synchronous belt t1 is wrapped around the outside of the driving structure; the plurality of protrusions t2 are arranged on the side of the synchronous belt t1 away from the driving structure and are spaced apart along the extension direction of the synchronous belt t1, and the plurality of protrusions t2 are all fixedly connected with the synchronous belt t1. For example, the extension direction of the synchronous belt t1 is the length direction of the synchronous belt t1, and the plurality of protrusions t2 can be uniformly arranged along the extension direction of the synchronous belt t1. By arranging the plurality of protrusions t2 on the surface of the synchronous belt t1, the surface of the transmission belt structure 1322 can have jagged or wavy friction lines, which can increase the roughness of the contact surface between the transmission belt structure 1322 and the target object 20, so as to increase the friction coefficient between the transmission belt structure 1322 and the target object 20, thereby reducing the slipping phenomenon in the clamping process and improving the stability and reliability of the mechanical clamping jaw 10.

[0067] Please refer to Figure 6 、 Figure 7 、and Figure 8 , Figure 6 is Figure 1 a cross-sectional structure diagram of the mechanical clamping jaw 10 shown in FIG. 1, Figure 7 is a cross-sectional structure diagram of a mechanical clamping jaw 10 and a target object 20 provided by an embodiment of the present application, Figure 8 is a cross-sectional structure diagram of a mechanical clamping jaw 10 and a target object 20 provided by another embodiment of the present application, in an optional implementation, the power mechanism 12 can include a linear power assembly 121 and a rotary power assembly 122. One end of the linear power assembly 121 is rotationally connected with the connecting base 11, and the other end of the linear power assembly 121 is rotationally connected with the first position of the claw finger mechanism 13. One end of the rotary power assembly 122 is fixedly connected with the connecting base 11, and the other end of the rotary power assembly 122 is rotationally connected with the second position of the claw finger mechanism 13.

[0068] Figure 9 and Figure 10 , Figure 9 is a motion process diagram of a mechanical clamping jaw 10 provided by an embodiment of the present application, Figure 10 is a motion process diagram of another mechanical clamping jaw 10 provided by an embodiment of the present application, it can be understood that, in Figure 9 and Figure 10In the middle, the movement process of the mechanical gripper 10 can be more clearly shown by the cross-sectional structural schematic diagram, the first position and the second position of the claw finger mechanism 13 do not coincide, the linear power assembly 121 is used to drive the claw finger mechanism 13 to rotate around the second position, so as to adjust the opening angle of the plurality of claw finger mechanisms 13, the rotary power assembly 122 and the linear power assembly 121 are used to drive the claw finger mechanism 13 to translate, so as to adjust the clamping spacing of the plurality of claw finger mechanisms 13, so as to clamp or release the target object 20 by the plurality of claw finger mechanisms. The first position and the second position can be located on the claw finger body 131, the linear power assembly 121 can perform the telescopic movement, the rotary power assembly 122 can perform the rotary movement, the first position and the second position can have a preset gap, so that the linear power assembly 121 and the rotary power assembly 122 can be rotatably connected with the two different positions on the claw finger mechanism 13, so as to drive the claw finger mechanism 13 to move in multiple degrees of freedom.

[0069] For example, the power mechanism 12 can further include a first rotary shaft, a second rotary shaft and a third rotary shaft, one end of the linear power assembly 121 is rotatably connected with the connecting base 11 through the third rotary shaft, the other end of the linear power assembly 121 is rotatably connected with the first position of the claw finger mechanism 13 through the first rotary shaft, the other end of the rotary power assembly 122 is rotatably connected with the second position of the claw finger mechanism 13 through the second rotary shaft.

[0070] As shown in Figure 9 and Figure 10 , Figure 9 It is shown that the claw finger body 131 is driven to rotate around the second position (that is, the second rotary shaft) by the linear power assembly 121, so as to adjust the opening angle of the mechanical gripper 10, in this process, only the linear power assembly 121 can be started, and the rotary power assembly 122 is not started. Figure 10 It is shown that the mechanical gripper 10 is driven to tighten by the cooperation of the rotary power assembly 122 and the linear power assembly 121, the claw finger body 131 can be driven to rotate or translate by the cooperation of the linear power assembly 121 and the rotary power assembly 122, so as to adjust the clamping posture according to different target objects 20.

[0071] Please refer to Figure 6 and Figure 11 , Figure 11is a structural schematic diagram of a linear power assembly 121 provided by an embodiment of the present application. In an alternative embodiment, the linear power assembly 121 can include a telescopic rod 1211, one end of the telescopic rod 1211 is rotatably connected with the connecting base 11, and the other end of the telescopic rod 1211 is rotatably connected with the second position of the claw finger mechanism 13. For example, the telescopic rod 1211 can include a cylindrical outer rod h1 and a columnar inner rod h2. The cylindrical outer rod h1 can have a receiving cavity, and a part of the columnar inner rod h2 can be located in the receiving cavity of the cylindrical outer rod h1. One end of the cylindrical outer rod h1 is rotatably connected with the connecting base 11, and the end of the columnar inner rod h2 away from the cylindrical outer rod h1 is rotatably connected with the second position of the claw finger mechanism 13. The columnar inner rod h2 can be telescoped in the receiving cavity of the cylindrical outer rod h1 to drive the claw finger mechanism 13 to rotate around the first position. In this way, during the use of the mechanical gripper 10, the opening and closing angle of the mechanical gripper 10 can be controlled by the telescopic movement of the columnar inner rod h2, so as to improve the flexibility and adaptability of the mechanical gripper 10.

[0072] In an exemplary embodiment, the telescopic rod 1211 can include an electric cylinder, a pneumatic cylinder or a hydraulic cylinder for performing reciprocating linear motion. The electric cylinder is a modular structure integrating a servo motor and a lead screw, which can convert the rotary motion of the servo motor into linear motion.

[0073] Please refer to Figure 6 and Figure 12 , Figure 12is a structural schematic diagram of a rotating power assembly 122 provided by an embodiment of the present application. In an alternative embodiment, the rotating power assembly 122 can include a second driving structure 1221, a worm 1222, a worm wheel 1223, and a connecting rod 1224. The second driving structure 1221 is mounted on the connecting base 11; the worm 1222 is connected with the second driving structure 1221, and the second driving structure 1221 is configured to drive the worm 1222 to rotate; the worm wheel 1223 is engaged with the worm 1222; one end of the connecting rod 1224 is fixedly connected with the worm wheel 1223, and the other end of the connecting rod 1224 is rotatably connected with the claw finger mechanism 13. The second driving structure 1221 can include a second driving motor, and the second driving motor is configured to drive the worm 1222 to rotate. One end of the connecting rod 1224 can be welded with the worm wheel 1223, and the other end can be rotatably connected with the claw finger body 131 in the claw finger mechanism 13. Since the transmission connection mode of the worm wheel 1223 and the worm 1222 has a self-locking characteristic, when the second driving assembly power is interrupted, the reverse movement can be automatically prevented without the need for an additional brake device, so that the mechanical gripper 10 can remain in a clamping state after stopping, and the target object 20 can be prevented from falling. It can be understood that when the mechanical gripper 10 clamps the target object 20, the linear power assembly 121 can be self-locked or locked through a locking mechanism to maintain stable clamping of the mechanical gripper 10.

[0074] Please refer to Figure 5 and Figure 6 In an alternative embodiment, the claw finger body 131 can have a first corner j1, a second corner j2, and a third corner j3, and the third corner j3 is oppositely arranged with the first corner j1 and the second corner j2. The first corner j1 is rotatably connected with the linear power assembly 121, and the second corner j2 is electrically connected with the rotating power assembly 122. The first corner j1 is located outside the second corner j2, and the distance between the first corner j1 and the third corner j3 is greater than the distance between the second corner j2 and the third corner j3. In this way, the linear power assembly 121 and the rotating power assembly 122 can be prevented from interfering with each other during adjustment of the claw finger mechanism 13, and a larger adjustment range can be provided for the linear power assembly 121 and the rotating power assembly 122. In an embodiment of the present application, the linear power assembly 121 drives the claw finger body 131 to rotate around the second corner j2 by outputting linear motion, so as to flexibly adjust the opening and closing angles of the plurality of claw finger mechanisms 13 to adapt to different shapes and sizes of the grasping objects. The rotating power assembly 122 drives the claw finger body 131 to translate along the linear guide rail or guide mechanism by outputting rotary motion, so as to accurately adjust the clamping spacing between the plurality of claw finger mechanisms 13, and ensure stable and reliable clamping effect.

[0075] Please refer to Figure 1 , Figure 2 and Figure 13 ,Figure 13 is Figure 1 FIG. 13 is a structural schematic diagram of another perspective view of the mechanical gripper 10, in an exemplary embodiment, the plurality of claw fingers 13 can include two claw finger groups, each claw finger group including two claw fingers 13. The power mechanism 12 includes two linear power assemblies 121, each linear power assembly 121 corresponding to one claw finger group. The linear power assembly 121 is rotationally connected to the two claw fingers 13 in the corresponding claw finger group.

[0076] The rotary power assembly 122 is located between the two linear power assemblies 121. The rotary power assembly 122 includes a second driving structure 1221, a worm 1222, four worm gears 1223, and four connecting rods 1224. The four connecting rods 1224 are rotationally connected to the four claw fingers 13, respectively. The four connecting rods 1224 are fixedly connected to the four worm gears 1223, respectively. The four worm gears 1223 are located on both sides of the worm 1222, and are meshingly connected to the worm 1222.

[0077] In an alternative embodiment, the mechanical gripper 10 can further include a distance detection assembly (not shown in the figure). The distance detection assembly is installed on the connecting base 11 or the power mechanism 12, and is electrically connected to the first driving structure 1321. The distance detection assembly is used to detect the position of the target object 20. In the process of clamping the target object 20 by the mechanical gripper 10, when the target object 20 appears to slide down, the distance detection assembly can timely send a signal to the first driving structure 1321 according to the position of the target object 20, so as to start the displacement assembly 132, thereby lifting the target object 20 by the displacement assembly 132, to avoid the target object 20 from falling during clamping.

[0078] In an exemplary embodiment, the mechanical gripper 10 can further include a control assembly. The displacement assembly 132, the linear power assembly 121, the rotary power assembly 122, and the distance detection assembly can be electrically connected to the control assembly. The control assembly is used to receive the detection signal of the distance detection assembly, and is also used to control the running direction and distance of the displacement assembly 132, the linear power assembly 121, and the rotary power assembly 122, so as to adaptively adjust the opening and closing angle and clamping distance of the plurality of claw fingers 13 according to the shape and size of the target object 20.

[0079] The embodiments of the present application also provide a carrying device. The carrying device can include a mechanical arm and a mechanical gripper. The mechanical gripper is installed at the end of the mechanical arm, and includes the mechanical gripper in any of the above embodiments.

[0080] It is to be understood that the figures are shown for purposes of illustration only, and that the dimensions are made for the clarity of the description and are not meant to be limiting. Also, it can be readily appreciated that the above description is merely an example, and that many modifications and / or changes can be suggested by those skilled in the art and have been made herein without departing from the spirit and scope thereof. It is therefore desired that what is claimed should be understood to be within the spirit and scope of the application.

[0081] In this application, the terms "first" and "second" are used only for descriptive purposes and not to connote or imply relative importance. The term "plurality" refers to two or more, unless otherwise indicated.

[0082] The above description is intended to be illustrative and not restrictive. Many other modifications and variations to the illustrative embodiments will be apparent to those skilled in the art from the teachings herein without departing from the spirit and scope of the application. It is, therefore, intended that all such modifications and variations that come within the scope of the application be considered as within the scope of the application.

Claims

1. A mechanical gripper, characterized in that, include: Connecting base; The power mechanism is mounted on the connecting base; Multiple claw mechanisms are mounted on the power mechanism. Each claw mechanism includes a claw body and a shifting component. The claw body is connected to the end of the power mechanism away from the connecting base, and the shifting component is mounted on the claw body. The power mechanism is used to drive the plurality of claw mechanisms to move to grip or release the target object, and the displacement component is used to contact the target object and drive the target object to move toward the connecting base or toward the connecting base.

2. The mechanical gripper according to claim 1, characterized in that, The shifting assembly includes a first driving structure and a transmission belt structure; Both the first driving structure and the transmission belt structure are mounted on the claw body. The first driving structure is movably connected to the transmission belt structure, and the first driving structure is used to drive the transmission belt structure to move.

3. The mechanical gripper according to claim 2, characterized in that, The transmission belt structure includes a synchronous belt and multiple protrusions; The synchronous belt is wrapped around the outside of the drive structure; The plurality of protrusions are located on the side of the synchronous belt away from the drive structure and are arranged at intervals along the extension direction of the synchronous belt. The plurality of protrusions are all fixedly connected to the synchronous belt.

4. The mechanical gripper according to claim 1, characterized in that, The power mechanism includes a linear power component and a rotary power component; One end of the linear power assembly is rotatably connected to the connecting base, and the other end of the linear power assembly is rotatably connected to the first position of the claw mechanism; One end of the rotary power assembly is fixedly connected to the connecting base, and the other end of the rotary power assembly is rotatably connected to the second position of the claw mechanism; The first and second positions of the claw mechanism do not coincide. The linear power component is used to drive the claw mechanism to rotate around the second position to adjust the opening and closing angle of the plurality of claw mechanisms. The rotational power component and the linear power component are used to drive the claw mechanism to translate in order to clamp or release the target object.

5. The mechanical gripper according to claim 4, characterized in that, The linear power assembly includes a telescopic rod, one end of which is rotatably connected to the connecting base, and the other end of which is rotatably connected to the second position of the claw mechanism.

6. The mechanical gripper according to claim 4, characterized in that, The rotary power assembly includes a second drive structure, a worm gear, a worm wheel, and a connecting rod; The second drive structure is mounted on the connecting base; The worm gear is connected to the second drive structure, and the second drive structure is used to drive the worm gear to rotate. The worm gear is meshed with the worm. One end of the connecting rod is fixedly connected to the worm gear, and the other end of the connecting rod is rotatably connected to the claw mechanism.

7. The mechanical gripper according to claim 5, characterized in that, The telescopic rod includes an electric cylinder, a pneumatic cylinder, or a hydraulic cylinder, which is used to perform reciprocating linear motion.

8. The mechanical gripper according to claim 4, characterized in that, The claw body has a first corner, a second corner, and a third corner, with the third corner being disposed opposite to the first corner and the second corner; The first corner is rotatably connected to the linear power component, the second corner is electrically connected to the rotary power component, the first corner is located outside the second corner, and the distance between the first corner and the third corner is greater than the distance between the second corner and the third corner.

9. The mechanical gripper according to claim 2, characterized in that, The mechanical gripper also includes a distance detection component, which is mounted on the connecting base or the power mechanism and is electrically connected to the first drive structure. The distance detection component is used to detect the position of the target object.

10. A handling device, characterized in that, include: A robotic arm and a mechanical gripper, the mechanical gripper being mounted at the end of the robotic arm, the mechanical gripper comprising the mechanical gripper according to any one of claims 1 to 9.

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