Grabbing mechanism and robot

Abstract

The invention is suitable for the technical field of robot end executing mechanisms, and provides a grabbing mechanism and a robot. The grabbing mechanism comprises a connecting arm, a grabbing arm, a driving piece and a reset piece, and the connecting end of the grabbing arm is connected with one end, in the extending direction, of the connecting arm. The grabbing arm has an extending state in which the grabbing arm linearly extends to be close to or put down the target object, and a winding state in which the grabbing arm bends and extends in an arc line to be wound on the target object; the driving part penetrates through the connecting arm to be connected with the grabbing arm so as to drive the grabbing arm to be switched from the stretching state to the winding state. In the winding state, the reset piece deforms; the elastic force released by the reset piece is used for driving the grabbing arm to be switched from the winding state to the stretching state. In this way, the grabbing mechanism is higher in use flexibility and adaptable to more scenes, flexible and efficient resetting is achieved, the free end of the grabbing arm can press or touch the target object in the stretching state, the movement track of the grabbing arm is simple, the structure is simple, and implementation is convenient.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robot end effectors, and particularly relates to a grabbing mechanism and a robot. BACKGROUND

[0002] The end effector of a robot is usually a grabbing mechanism. In the related art, the grabbing mechanism can perform a grabbing action on a target object by bending and gathering multiple mechanical fingers, or can achieve grabbing by clamping the two ends of the target object with a hook that moves along a straight line. However, in this way, the mechanical fingers and the hook need a relatively large space to be opened, the grabbing mechanism is relatively bulky, a relatively large operation space is required, and the grabbing mechanism cannot be flexibly adapted to portable grabbing in special scenarios such as narrow gaps or long channels. In the related art, the grabbing mechanism can also wrap a target object along a planar spiral or a three-dimensional spiral to achieve grabbing of the target object. However, the planar spiral or the three-dimensional spiral makes the structure of the grabbing mechanism relatively complex, increases the design and assembly difficulty of the grabbing mechanism, and is not conducive to operation and implementation. SUMMARY

[0003] Therefore, the present application provides a grabbing mechanism and a robot to solve the technical problem of how to improve the flexibility of the grabbing mechanism with a simple structure.

[0004] To solve the above problems, the technical solution provided by the embodiments of the present application is as follows:

[0005] The embodiments of the present application provide a grabbing mechanism, which comprises a connecting arm, a grabbing arm, a driving member, and a reset member. The two opposite ends of the grabbing arm in the extension direction are a connecting end and a free end. The connecting end of the grabbing arm is connected to one end of the connecting arm in the extension direction. The grabbing arm has an extended state in a straight line for approaching or lowering a target object, and a winding state in an arc for winding the target object. The driving member is connected to the connecting arm and the grabbing arm to drive the grabbing arm to switch between the extended state and the winding state. The reset member is arranged in the connecting arm and connected to the driving member. In the winding state, the reset member is deformed. The elastic force released by the reset member is used to drive the grabbing arm to switch from the winding state to the extended state.

[0006] In some embodiments, the grabbing arm has opposite first and second sides. The grabbing arm is provided with multiple notches, each of which is used for bending the grabbing arm and is located on the first side, so that the grabbing arm switches to the winding state from the extended state towards the first side.

[0007] In some embodiments, the grabbing arm comprises: a plurality of rotating blocks, two adjacent rotating blocks are rotationally connected, the driving member passes through each rotating block, and opposite sides of the plurality of rotating blocks are spliced into the first side and the second side; wherein the rotating block has an inclined surface, the inclined surface is located at opposite ends of the rotating block and extends to the first side away from the opposite ends of the rotating block; the inclined surfaces of two adjacent rotating blocks are spaced from each other in the stretched state to form the gap, and abut against each other in the winding state.

[0008] In some embodiments, the rotating block comprises: a body for the driving member to pass through; a recess located at one end of the body and recessed relative to the body; and a protrusion located at the other end of the body, the protrusion protruding from the body and being matched with the recess; wherein the protrusion and the recess are both provided with the inclined surface between the first side, and the recess on one rotating block is insertedly arranged with the protrusion on another rotating block.

[0009] In some embodiments, the plurality of rotating blocks are divided into first rotating blocks and second rotating blocks, the first rotating blocks are located at the free end of the grabbing arm, the second rotating blocks are provided in plurality and located between the first rotating blocks and the connecting arm and rotationally connected with the first rotating blocks and the connecting arm.

[0010] In some embodiments, the rotating block is provided with a flexible member, the flexible member is located at least at one side of the opposite sides of the rotating block spliced into the first side.

[0011] In some embodiments, the grabbing arm further comprises: a plurality of fasteners, at least one fastener connects two adjacent rotating blocks to rotationally connect the two adjacent rotating blocks.

[0012] In some embodiments, two adjacent rotating blocks are connected via one fastener, the distance from the fastener to the first side is equal to the distance from the fastener to the second side; and / or the hardness of the fastener is greater than the hardness of the rotating block.

[0013] In some embodiments, the driving member comprises: a first traction rope adjacent to the first side, one end of the first traction rope is connected to the free end of the grabbing arm and is driven by the other end of the first traction rope; and a second traction rope adjacent to the second side, at least part of the second traction rope is connected between the reset member and the free end of the grabbing arm.

[0014] In some embodiments, a limiting groove is formed on the connecting arm, and the reset member is installed in the limiting groove.

[0015] The embodiment of the present application also provides a robot comprising the above-described grabbing mechanism, and the robot further comprises: a device body, wherein the grabbing mechanism is arranged on the device body; and a driving source, which is installed on the device body or the connecting arm, and which is connected with the driving member and drives the grabbing arm to switch from the stretched state to the wound state at least through the driving member.

[0016] The embodiment of the present application provides a grabbing mechanism, which comprises a connecting arm, a grabbing arm, a driving member and a reset member, and the connecting end of the grabbing arm is connected with one end of the connecting arm in the extension direction. The grabbing arm has a stretched state and a wound state, and the driving member is connected with the grabbing arm through the connecting arm to drive the grabbing arm to switch between the stretched state and the wound state. When a target object is to be grabbed, the grabbing arm is switched from the stretched state to the wound state to wrap and cover the target object, so that the target object is grabbed.

[0017] In the stretched state, the grabbing arm extends in a straight line. Therefore, in the stretched state, the grabbing arm itself does not need to reserve additional space for the target object to enter, and the grabbing arm can extend into a narrow or long gap, a narrow or long channel or other special scenes in the stretched state to grab the target object. The length of the connecting arm prolongs the force arm of the free end of the grabbing arm, so that the free end of the grabbing arm can extend deeper into the long channel or gap to grab the target object, further enhancing the use flexibility of the grabbing mechanism.

[0018] In the wound state, the grabbing arm extends in an arc. Therefore, the grabbing arm does not need to decrease the cross-sectional area in the direction from the connecting end to the free end, and the cross-sectional area of the free end of the grabbing arm can be substantially equal to that of the connecting end of the grabbing arm. The free end of the grabbing arm can press or touch the target object in the stretched state, increasing the function of the grabbing mechanism and enabling the grabbing mechanism to be flexibly adapted to more scenes.

[0019] Finally, the reset member is arranged in the connecting arm and connected with the driving member. In the wound state, the reset member is deformed, and the elastic force released by the reset member is used to drive the grabbing arm to switch from the wound state to the stretched state. Only the reset member is added on the connecting arm, so that the grabbing arm can automatically trigger the action of restoring the deformation relying on the elastic potential energy stored by the reset member, realizing flexible and efficient reset, and the structure is simple and convenient to implement. Moreover, the reset member responds in a timely manner, improving the grabbing efficiency of the grabbing arm. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 FIG. 1 is a structural schematic diagram of the grabbing mechanism in the stretched state according to an embodiment of the present application;

[0021] Figure 2The structure schematic diagram of the grabbing mechanism in the winding state according to an embodiment of the present application is shown in Fig. 1.

[0022] Figure 3 The structure schematic diagram of the grabbing mechanism in the stretching state according to another embodiment of the present application is shown in Fig. 2.

[0023] Figure 4 The structure schematic diagram of the grabbing mechanism in the winding state according to another embodiment of the present application is shown in Fig. 3.

[0024] Figure 5 The structure schematic diagram of the grabbing mechanism in the stretching state according to another embodiment of the present application is shown in Fig. 4. Figure 1 The enlarged schematic diagram of A in Fig. 1 is shown in Fig. 5.

[0025] Figure 6 The enlarged schematic diagram of B in Fig. 2 is shown in Fig. 6. Figure 4 The enlarged schematic diagram of B in Fig. 2 is shown in Fig. 6.

[0026] Explanation of reference signs:

[0027] 1, connecting arm; 11, limiting groove; 2, grabbing arm; 21, connecting end of the grabbing arm; 22, free end of the grabbing arm; 23, first side; 24, second side; 25, rotating block; 25a, first rotating block; 25b, second rotating block; 251, inclined surface; 252, body; 253, recessed part; 254, protruding part; 26, fastener; 27, notch; 3, driving member; 31, first traction rope; 32, second traction rope; 4, resetting member. DETAILED DESCRIPTION

[0028] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and should not be used to limit the present application.

[0029] In the specific embodiments, each specific technical feature described can be combined in any suitable manner without contradiction, for example, different embodiments and technical solutions can be formed by combining different specific technical features. In order to avoid unnecessary repetition, various possible combinations of each specific technical feature in the present application are not described again.

[0030] In the following description, the terms "first", "second", etc. are only used to distinguish different objects and do not mean that there is the same or relationship between the objects. It should be understood that the position description "upper", "lower", "outer", "inner" is the position in the normal use state, and the "left" and "right" directions represent the left and right directions shown in the specific corresponding schematic diagram, which can be the left and right directions in the normal use state or not.

[0031] It should be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. "A plurality of" means two or more.

[0032] like Figure 1 As shown, this embodiment of the invention provides a gripping mechanism that can be applied to gripping target objects in open spaces, and can also extend into narrow or elongated gaps or channels to grip target objects. It should be noted that the application scenario of this embodiment does not limit the structure of the gripping mechanism. It can be understood that "narrow" refers to a narrow width and short length of the channel or gap; "elongated" refers to a long depth and small cross-sectional area of ​​the channel or gap.

[0033] like Figure 1 As shown, the gripping mechanism provided in this embodiment of the invention includes a connecting arm 1, a gripping arm 2, a driving member 3, and a resetting member 4. The connecting arm 1 is connected to the gripping arm 2, the gripping arm 2 is used to grip or release a target object, and the driving member 3 can drive the gripping arm 2.

[0034] like Figure 1 and Figure 2 As shown, the two opposite ends of the extending direction of the gripper arm 2 are the connecting end and the free end. It can be understood that the extending direction of the gripper arm 2 is its length direction, and also the direction of its maximum profile dimension in three-dimensional coordinates. The connecting end 21 of the gripper arm is opposite to one end of the extending direction of the connecting arm 1 (…). Figure 1 The upper end of connecting arm 1 is connected. Thus, since the connecting end 21 of the gripping arm is connected to one end of the connecting arm 1 in the extending direction, the other end of the connecting arm 1 in the extending direction ( Figure 1 The lower end of the connecting arm 1 forms the lever arm fulcrum of the free end 22 of the gripping arm. Therefore, compared to the implementation method that only uses the gripping arm 2 for gripping, the gripping mechanism provided in this embodiment of the invention uses the connecting arm 1 to connect the gripping arm 2, so that the gripping arm 2 and the connecting arm 1 together constitute the gripping mechanism. The length of the connecting arm 1 extends the lever arm of the free end 22 of the gripping arm, so that the free end 22 of the gripping arm can extend deeper into narrow channels or gaps to grip the target object, thereby improving the flexibility of the gripping mechanism.

[0035] like Figure 1 and Figure 2As shown, the grabbing arm 2 has an extended state and a winding state. In the extended state, the grabbing arm 2 extends in a straight line and can be used to approach or lower a target object. In the winding state, the grabbing arm 2 extends in an arc line and can be used to wrap around the target object to achieve the grabbing of the target object. It can be understood that "the grabbing arm 2 extends in a straight line in the extended state" means that the extension trajectory of the grabbing arm 2 in the extended state is approximately along a straight line by ignoring the thickness and shape of the grabbing arm 2. "The grabbing arm 2 extends in an arc line in the winding state" means that the extension trajectory of the grabbing arm 2 in the winding state is an arc curve by ignoring the thickness and shape of the grabbing arm 2. It can be simply understood that the extended state of the grabbing arm 2 represents the state that the grabbing arm 2 extends in a straight line, and the winding state of the grabbing arm 2 represents the state that the grabbing arm 2 extends in an arc line. In the schematic diagram shown in the present application, Figure 1 and Figure 3 The state shown in the figure is the extended state of the grabbing arm 2, Figure 2 and Figure 4 The state shown in the figure is the winding state of the grabbing arm 2.

[0036] In the winding state, the extension trajectory of the grabbing arm 2 is an arc line, which can be a part of a circle or a part of an ellipse. In any case, the extension trajectory of the grabbing arm 2 in the winding state is an arc line in a two-dimensional coordinate system, which is different from a helix in a three-dimensional coordinate system or a planar helix (such as a logarithmic spiral) in a two-dimensional coordinate system. Therefore, compared with the bending and gathering of the mechanical fingers to perform the grabbing action of the target object or the clamping of the two ends of the hook to perform the grabbing action of the target object, the grabbing arm 2 provided by the embodiment of the present application extends in a straight line in the extended state, and when the target object is to be grabbed, the grabbing arm 2 bends and winds in an arc line to wrap around the target object.

[0037] The grabbing arm 2 itself does not need to additionally reserve space for the target object to enter (such as the area between the two hooks, the space shaped like a palm after the mechanical fingers are opened), and the grabbing arm 2 extends in a straight line in the stretched state, and can be extended into special scenes such as narrow or long gaps, narrow or long channels, and other special scenes to grab the target object. The portability and flexibility of the grabbing mechanism are higher. In addition, compared with being curved in a spiral line or a planar spiral line, the grabbing arm 2 provided by the present application is curved in an arc line, the extension trajectory line of the grabbing arm 2 for grabbing the target object is relatively simple, the design and processing difficulty of the grabbing arm 2 is reduced, the structure is simple, and the implementation is facilitated. Moreover, the rotating unit (such as the rotating block 25) of the grabbing arm 2 does not need to reduce the cross-sectional area in the direction from the connecting end 21 of the grabbing arm to the free end 22 of the grabbing arm. In this way, the cross-sectional area of the free end 22 of the grabbing arm can be substantially equal to the cross-sectional area of the connecting end 21 of the grabbing arm, and the cross-sectional area of the free end 22 of the grabbing arm is larger, which can press or touch the target object in the stretched state, for example, press the door handle, or press the switch. That is, the grabbing mechanism provided by the embodiment of the present application can not only wind the target object in the wound state to achieve the grabbing of the target object, but also can press or touch the target object in the stretched state, increase the function of the grabbing mechanism, make the grabbing mechanism can be adapted to more scenes, and further improve the flexibility of the grabbing mechanism.

[0038] As shown in Figure 2 , the driving member 3 is connected with the grabbing arm 2 through the connecting arm 1 to drive the grabbing arm 2 to switch between the stretched state and the wound state. Specifically, the driving member 3 can be a traction rope or a chain. It should be noted that since the grabbing arm 2 grabs or releases the target object, the shape of the grabbing arm 2 changes, and therefore the extension direction of the grabbing arm 2 changes with the shape of the grabbing arm 2. That is, the extension direction of the grabbing arm 2 is not a fixed value extending in a vector direction. The extension direction of the grabbing arm 2 does not refer to the extension direction of the connecting arm 1. In the stretched state of the grabbing arm 2, the extension direction of the grabbing arm 2 can be consistent with the extension direction of the connecting arm 1, or can be inclined relative to the extension direction of the connecting arm 1. In any case, the extension direction of the grabbing arm 2 is the length direction of the grabbing arm 2 in the three-dimensional coordinate system, and in the case of ignoring the thickness of the grabbing arm 2, the extension line of the extension direction of the grabbing arm 2 can be simply understood as the contour extension line of the grabbing arm 2. That is, in the stretched state, the extension line of the extension direction of the grabbing arm 2 is a straight line; in the wound state, the extension line of the extension direction of the grabbing arm 2 is an arc line.

[0039] Further, in some possible embodiments, as shown in Figure 1 and Figure 3As shown, in the stretched state, the driving member 3 drives the grabbing arm 2 to extend linearly along the extension direction of the connecting arm 1. That is, the grabbing arm 2 in the stretched state extends linearly relative to the connecting arm 1, which can be simply understood as that the grabbing arm 2 in the stretched state is connected with the connecting arm 1 into a linear assembly. In this way, the grabbing mechanism in the stretched state requires the minimum space, has the minimum width, and is more convenient for the grabbing mechanism to be flexibly extended into a narrow channel or gap to grab, press or touch the target object.

[0040] As shown in Figure 3 and Figure 4 , the reset member 4 is arranged in the connecting arm 1 and connected with the driving member 3, and the movement of the grabbing arm 2 can drive the reset member 4 to change the shape. In the wound state, the reset member 4 is deformed, and the grabbing arm 2 drives the reset member 4 to produce elastic deformation. The elastic force released by the reset member 4 is used to drive the grabbing arm 2 to switch from the wound state to the stretched state. The reset action of the grabbing arm 2 from the wound state to the stretched state can be realized only by the reset member 4, and the reset member 4 stores elastic potential energy by deformation. In this way, the reset member 4 automatically triggers the action of restoring the deformation by relying on the stored elastic potential energy, and can respond more timely, so as to more quickly drive the grabbing arm 2 to switch from the wound state to the stretched state, realize flexible reset. That is, by relying on the reset member 4, the grabbing arm 2 can be reset more quickly, facilitating the grabbing of the next target object, improving the grabbing efficiency and flexibility of the grabbing mechanism, and the structure is simple and convenient to implement.

[0041] It should be noted that, as shown in Figure 3 and Figure 4 , the reset member 4 can be arranged on the central axis Z (refer to Figure 1 and Figure 2 ) of the connecting arm 1 in the first direction; the reset member 4 can also be arranged on one side of the central axis Z of the connecting arm 1 in the first direction; the reset member 4 can also be provided with two, so that the central axis Z of the connecting arm 1 in the first direction is located between the two reset members 4. However, no matter which embodiment the reset member 4 is implemented in, as long as the reset member 4 can be deformed in the wound state of the grabbing arm 2 and can drive the grabbing arm 2 to switch from the wound state to the stretched state by relying on the elastic force released by itself.

[0042] The embodiment provided by the present application comprises a connecting arm 1, a grabbing arm 2, a driving member 3 and a reset member 4. The connecting end 21 of the grabbing arm 2 is connected with one end of the connecting arm 1 in the extending direction. The grabbing arm 2 has an extended state and a winding state. The driving member 3 is connected with the grabbing arm 2 through the connecting arm 1 to drive the grabbing arm 2 to switch between the extended state and the winding state. In the winding state, the driving member 3 drives the grabbing arm 2 to extend in an arc shape. In the extended state, the grabbing arm 2 extends in a straight line. When the target object is to be grabbed, the grabbing arm 2 is switched from the extended state to the winding state, and the grabbing arm 2 extends in an arc shape to wrap and cover the target object, so as to realize the grabbing of the target object. The reset member 4 is arranged in the connecting arm 1 and connected with the driving member 3. In the winding state, the reset member 4 is deformed, and the elastic force released by the reset member 4 is used to drive the grabbing arm 2 to switch from the winding state to the extended state.

[0043] In this way, first, the grabbing arm 2 itself does not need to reserve additional space for the target object to enter, and the grabbing arm 2 can extend into narrow or long gaps, narrow or long channels and other special scenes in the extended state to grab the target object. The grabbing mechanism provided by the embodiment of the present application is more portable and flexible. Second, since the grabbing arm 2 extends in an arc shape in the winding state, on the one hand, the extension trajectory of the grabbing arm 2 in grabbing the target object is relatively simple, which reduces the design and processing difficulty of the grabbing arm 2 and facilitates the implementation. On the other hand, the grabbing arm 2 does not need to reduce the cross-sectional area in the direction from the connecting end to the free end. The cross-sectional area of the free end 22 of the grabbing arm can be substantially equal to that of the connecting end 21 of the grabbing arm. The free end 22 of the grabbing arm can press or touch the target object in the extended state, which increases the function of the grabbing mechanism and makes the grabbing mechanism flexible to adapt to more scenes. Third, since the connecting arm 1 connects the grabbing arm 2, the length of the connecting arm 1 prolongs the force arm of the free end 22 of the grabbing arm, so that the free end 22 of the grabbing arm can extend deeper into the long channel or gap to grab the target object, further enhancing the use flexibility of the grabbing mechanism. Fourth, only the reset member 4 is added on the connecting arm 1, so that the grabbing arm 2 can automatically trigger the recovery deformation action relying on the elastic potential energy stored by the reset member 4, realize flexible and efficient reset, and the structure is simple and convenient to implement. Moreover, the reset member 4 responds relatively timely, which improves the grabbing efficiency of the grabbing arm 2.

[0044] In some embodiments, as Figure 1 and Figure 2As shown, the grabbing arm 2 has a first side 23 and a second side 24 opposite to each other. It can be understood that the "sides" of the components in the embodiments of the present application refer to the sides connected to the opposite ends of the extension direction of the grabbing mechanism. The opposite direction of the first side 23 and the second side 24 is perpendicular to the extension direction of the grabbing arm 2, and the opposite direction of the first side 23 and the second side 24 can be the width direction of the grabbing arm 2 or the thickness direction of the grabbing arm 2. Because the grabbing arm 2 has two states and the radius of the arc in the winding state is adaptively changed based on the diameter of the target object. In order to facilitate explanation, the opposite direction of the first side 23 and the second side 24 in the stretched state is defined as the first direction, and it can be understood that the first direction is a constant relative to the connecting arm 1. In the Figure 1 and Figure 2 As shown in the schematic diagram, N represents the first direction.

[0045] As shown in the schematic diagram, N represents the first direction. Figure 5 As shown, the grabbing arm 2 is provided with a plurality of notches 27, each notch 27 is for the grabbing arm 2 to bend, and each notch 27 is located on the first side 23, so that the grabbing arm 2 is switched from the stretched state to the winding state towards the first side 23. In this way, the grabbing arm 2 can only bend towards the first side 23 with the notches 27, that is, the grabbing arm 2 can only bend in one direction, and the grabbing arm 2 is switched from the winding state to the stretched state towards the second side 24. As shown in Figure 1 As shown, in the stretched state, the bending direction of the grabbing arm 2 is the direction from the center axis Z of the grabbing arm 2 in the first direction N to the position where the first side 23 is located (the N1 direction in Figure 1 and Figure 2 The N2 direction in Figure 1 and Figure 2 The N2 direction in

[0046] The provision of the notches 27 provides a physical basis for the operator to judge, and reduces the control difficulty of the grabbing arm 2. Compared with the embodiment in which the grabbing arm 2 can bend in two opposite directions in the first direction, the grabbing arm 2 only bends towards one side of the opposite sides, which reduces the possibility of the free end 22 of the grabbing arm swinging or shaking in two opposite directions when grabbing the target object, and improves the stability of the grabbing arm 2 when grabbing the target object. And the free end 22 of the grabbing arm only needs operation space in one direction, the required operation space is the smallest, and the flexibility is higher. In addition, the driving member 3 only needs to control the grabbing arm 2 to bend in one direction, which reduces the control difficulty of the grabbing arm 2.

[0047] In some embodiments, as Figure 5As shown, the grabbing arm 2 comprises a plurality of rotating blocks 25, the driving member 3 passes through each rotating block 25, one side of each rotating block 25 is spliced into the first side 23, and the other side of each rotating block 25 is spliced into the second side 24.

[0048] As shown, Figure 5 The rotating block 25 has an inclined surface 251, which is located at opposite ends of the rotating block 25 and extends to the side surface of the rotating block 25 in a direction away from the opposite ends of the rotating block 25. In two adjacent rotating blocks 25, the inclined surface 251 located at the end facing each other of the two rotating blocks 25 extends to the first side 23 of the rotating block 25 in a direction away from each other, and the inclined surface 251 located at the end facing away from each other of the two rotating blocks 25 extends to the first side 23 of the rotating block 25 in a direction close to each other. The inclined surface 251 can be simply understood as the surface at the chamfered position of the opposite ends of the rotating block 25.

[0049] As shown, Figure 5 and Figure 6 One rotating block 25 has two inclined surfaces 251, which are arranged at opposite ends of the rotating block 25 and extend to the side surface of the rotating block 25 spliced into the first side 23 in a direction close to each other from the opposite ends of the rotating block 25. The inclined surfaces 251 of two adjacent rotating blocks 25 are spaced apart from each other in the stretched state to form the above-mentioned gap 27, which reserves space for the inclined surfaces 251 of two adjacent rotating blocks 25 to move in a direction close to each other during switching to the winding state, so that the grabbing arm 2 is bent from the stretched state to the winding state. The inclined surfaces 251 of two adjacent rotating blocks 25 abut each other in the winding state, so that the grabbing arm 2 is curved in an arc in the winding state. In the case of switching the grabbing arm 2 from the stretched state to the winding state, the edges of each rotating block 25 on the first side 23 rotate in a direction close to each other until the gap 27 is closed; the edges of each rotating block 25 on the second side 24 are away from each other and a gap is generated. The gap between the inclined surfaces 251 on the rotating block 25 in the stretched state forms the gap 27 without the need for additional grooves or holes on the rotating block 25, and the structure of the rotating block 25 is relatively simple, so that the structure of the grabbing mechanism is more simple.

[0050] In some possible implementations, each rotating block 25 is provided with a flexible element, which represents an object with a certain degree of elasticity and softness. For example, the flexible element can be silicone, thermoplastic elastomer, polyurethane elastomer, rubber, etc. The flexible element is located at least on one side of the rotating blocks 25 that are spliced ​​together to form the first side 23. That is, the flexible element can be provided on the side of each rotating block 25 that is spliced ​​together to form the first side 23, so that the gripping arm 2 can flexibly contact the target object and increase the friction between the gripping arm 2 and the target object, thereby improving the reliability of the gripping arm 2 in grasping the target object. Of course, the flexible element can also be provided on both the side of each rotating block 25 that is spliced ​​together to form the first side 23 and the other side that is spliced ​​together to form the second side 24, thereby making it easier for the user to grip the gripping arm 2 and improving the user's comfort in holding the gripping arm 2.

[0051] In some embodiments, such as Figure 5 and Figure 6 As shown, the rotating block 25 includes a body 252, a recessed portion 253, and a protruding portion 254. The body 252 is through which the driving member 3 passes and forms the aforementioned inclined surface 251, that is, both opposite ends of the body 252 have an inclined surface 251 in the shape of a chamfer. The recessed portion 253 is recessed relative to the body 252 and is located at one end of the body 252. The recessed portion 253 can be a groove formed at one end of the body 252 and having multiple openings, or it can be a cavity formed at one end of the body 252 and having one opening.

[0052] The protrusion 254 is located at the other end of the body 252 and protrudes from the body 252. An inclined surface 251 is provided between the protrusion 254 and the recess 253 and the first side 23. Specifically, at the end of the body 252 where the recess 253 is located... Figure 5 The lower end of the body 252), the inclined surface 251 is located between the first side 23 and the recess 253; at one end of the body 252 with a protrusion 254 ( Figure 5 The upper end of the main body 252), the inclined surface 251 is located between the first side 23 and the protrusion 254.

[0053] The shape and position of the protrusion 254 are adapted to the recess 253, and the recess 253 on one rotating block 25 is inserted into the protrusion 254 on another rotating block 25. On adjacent rotating blocks 25, the recess 253 on one rotating block 25 forms a limit on the protrusion 254 on the other rotating block 25, which can restrict the position of the protrusion 254 on the other rotating block 25 and reduce the possibility of misalignment between the two rotating blocks 25. Furthermore, since the protrusion 254 rotates within the recess 253, the rotating blocks 25 are nested and mutually limit each other, so that each rotating block 25 can rotate more reliably along the arc trajectory line during the switching to the winding state, thereby improving the reliability of the gripping mechanism in grasping the target object.

[0054] In some embodiments, as shown in Figure 5 and Figure 6 each rotating block 25 is divided into a first rotating block 25a and a second rotating block 25b, the first rotating block 25a is located at the free end 22 of the grabbing arm, and the second rotating block 25b is provided in plurality and located between the first rotating block 25a and the connecting arm 1 and rotationally connected with the first rotating block 25a and the connecting arm 1. That is, one end of the first rotating block 25a is connected with the second rotating block 25b, and the other end of the first rotating block 25a away from the second rotating block 25b forms the free end 22 of the grabbing arm. It can be understood that the structure of each second rotating block 25b is the same. In this way, the second rotating block 25b can be batch processed, and it is also not necessary to distinguish more rotating blocks 25 with different structures during assembly, which is more simple in structure and reduces the assembly difficulty of the grabbing arm 2.

[0055] It should be noted that, as described above, the gap 27 is formed between two rotating blocks 25, and then the first rotating block 25a located at the free end 22 of the grabbing arm can be provided with an inclined surface 251 only at one end close to the second rotating block 25b. In this way, on the one hand, the processing difficulty of the first rotating block 25a is reduced, and on the other hand, the free end 22 of the grabbing arm can maintain a larger end surface area, thereby facilitating the pressing or touching of the target object by the grabbing arm 2 in the stretched state.

[0056] In some embodiments, as shown in Figure 5 and Figure 6 The grabbing arm 2 further comprises a fastener 26, and the fastener 26 is provided in plurality, two adjacent rotating blocks 25 are rotationally connected by at least one fastener 26, that is, two adjacent rotating blocks 25 rotate around the fastener 26. Specifically, one fastener 26 can be connected between two adjacent rotating blocks 25, or a plurality of fasteners 26 can be connected between two adjacent rotating blocks 25, for example, two fasteners 26 are symmetrically arranged between two adjacent rotating blocks 25. The fastener 26 and the rotating block 25 belong to two independent components and can be respectively processed and formed, which reduces the processing difficulty of the rotating block 25, and the connection reliability of the grabbing mechanism can be improved by increasing the structural strength of the fastener 26 or increasing the number of fasteners 26. In this way, the connection reliability of the grabbing arm 2 in the stretched state is higher, so that the target object can be more reliably pressed and touched; the connection reliability of the grabbing arm 2 in the wound state is higher, so that the target object can be more reliably wound, and the reliable grabbing of the target object is achieved. The grabbing mechanism of the embodiment of the present application connects two adjacent rotating blocks 25 through the fastener 26, which is more flexible and reliable.

[0057] In some embodiments, as shown in Figure 5 and Figure 6As shown, two adjacent rotating blocks 25 are connected via a fastener 26, the distance of the fastener 26 to the first side 23 is equal to the distance of the fastener 26 to the second side 24. That is, the fastener 26 is located on the central axis of the rotating blocks 25 in the direction opposite to the first side 23 and the second side 24. The load of the fastener 26 on the side of the rotating blocks 25 spliced to the first side 23 is approximately equal to the load of the fastener 26 on the side of the rotating blocks 25 spliced to the second side 24, which reduces the possibility of the first side 23 and the second side 24 of the grabbing arm 2 breaking due to different loads of the fastener 26, and improves the use reliability of the grabbing arm 2. Moreover, the number of fasteners 26 between two adjacent rotating blocks 25 is small, which simplifies the assembly operation of the grabbing arm 2.

[0058] In some embodiments, as shown in Figure 5 and Figure 6 As shown, the hardness of the fastener 26 is greater than the hardness of the rotating block 25. The fastener 26 can be made of a material with greater hardness, for example, metal; and the rotating block 25 can be made of a material with smaller hardness, for example, plastic. In this way, the connection reliability of the grabbing arm 2 can be improved, and the rotating block 25 can be flexibly contacted with the target object.

[0059] In some embodiments, as shown in Figures 4-6 The driving member 3 includes a first traction rope 31 and a second traction rope 32, and the first traction rope 31 is adjacent to the first side 23. Specifically, the distance of the first traction rope 31 to the first side 23 is less than the distance of the first traction rope 31 to the second side 24. One end of the first traction rope 31 is connected to the free end 22 of the grabbing arm, and the other end of the first traction rope 31 is driven. Specifically, the other end of the first traction rope 31 can be connected to a driving source, which can be an electrical element such as a motor, a pneumatic element such as a pneumatic cylinder, or a manual switch such as a knob or a button. In the case that the driving source is installed on the connecting arm 1, the other end of the first traction rope 31 is indirectly connected to the connecting arm 1. Of course, the other end of the first traction rope 31 can also be a free end without being connected to any component, and the other end of the first traction rope 31 is directly pulled by the user to drive the movement of the one end of the first traction rope 31 and the free end 22 of the grabbing arm.

[0060] As shown in Figure 4 and Figure 6 The second traction rope 32 is adjacent to the second side 24, and specifically, the distance of the second traction rope 32 to the second side 24 is less than the distance of the second traction rope 32 to the first side 23. At least part of the second traction rope 32 is connected between the reset member 4 and the free end 22 of the grabbing arm.

[0061] Specifically, one end of the second traction rope 32 can be connected to the reset member 4, and the other end of the second traction rope 32 can be connected to the free end 22 of the gripping arm, so that the entire second traction rope 32 is connected between the reset member 4 and the free end 22 of the gripping arm. In this embodiment, the end of the reset member 4 that is not connected to the second traction rope 32 is connected to the connecting arm 1.

[0062] Alternatively, a portion of the second traction rope 32 can be connected to one end of the reset member 4. Figure 4 Between the lower end of the reset member 4 and the connecting arm 1, another part of the second traction rope 32 is connected to the other end of the reset member 4. Figure 4 The upper end of the reset member 4 is located between the upper end of the reset member 4 and the free end 22 of the gripping arm. It should be noted that a portion of the second traction rope 32 can be connected between one end of the reset member 4 and the free end of the connecting arm 1, for example, Figure 4 A portion of the second traction rope 32 is connected between the lower end of the reset member 4 and the lower end of the connecting arm 1; a portion of the second traction rope 32 may also be located between one end of the reset member 4 and other positions of the connecting arm 1, for example, in Figure 4 In this embodiment, the lower end of the second traction rope 32 can be connected to the middle of the connecting arm 1 or to the upper end of the connecting arm 1. In this embodiment, the end of the second traction rope 32 that is not connected to the reset member 4 and the gripping arm 2 (in...) Figure 4 The lower end of the second traction rope 32 can be directly connected to the drive source, or it can be a free end that is pulled by the user.

[0063] Regardless of which of the aforementioned embodiments the second traction rope 32 is specifically connected in, as long as at least a portion of the second traction rope 32 is connected between the reset member 4 and the free end 22 of the gripping arm, the reset member 4 can drive the gripping arm 2 to reset. Thus, the gripping arm 2 is bent using the first traction rope 31 adjacent to the first side 23, and reset using the second traction rope 32 adjacent to the second side 24 and the reset member 4. The reset member 4 is located on one side of the central axis Z in the first direction of the connecting arm 1, and is closer to the second side 24 than the first side 23. Since the gripping arm 2 in the extended state is bent towards the direction of the first side 23, it can be understood that the first side 23 in the wound state forms an arc-shaped gripping area, the first traction rope 31 is bent into an arc, and the second side 24 is located outside the first side 23. Because the reset member 4 is closer to the second side 24, the lever arm from the reset member 4 to the center of the gripping area is larger, and the reset member 4 can apply a larger torque to the gripping arm 2 by relying on the larger lever arm. The reset component 4 can store a large amount of elastic potential energy by relying on large deformation, so as to improve the reset efficiency of the gripper arm 2.

[0064] In some embodiments, such as Figure 4As shown, a limiting groove 11 is formed on the connecting arm 1, and the reset member 4 is installed in the limiting groove 11. The limiting groove 11 defines the installation position of the reset member 4, and the position of the reset member 4 can be aligned with the position of the limiting groove 11, so that the assembly of the reset member 4 can be completed. The limiting groove 11 limits the position of the reset member 4, reduces the possibility of the reset member 4 being separated, and can guide the elastic deformation of the reset member 4 by designing the shape of the limiting groove 11. In addition, compared with the embodiment in which the reset member 4 protrudes from the outer contour of the connecting arm 1, the reset member 4 in the embodiment of the present application is installed in the limiting groove 11 without protruding from the outer contour of the connecting arm 1, and the reset member 4 shares the occupied space of the connecting arm 1, thereby reducing the space required by the grabbing mechanism, so that the grabbing mechanism can be deeper into the narrow or long special scene to grab, press and touch the target object, and the flexibility of the grabbing mechanism is improved.

[0065] The embodiment of the present application also provides a robot, which comprises the grabbing mechanism, and the robot further comprises a device body 252, the grabbing mechanism is arranged on the device body 252, and a driving source is installed on the device body 252 or the connecting arm 1, the driving source is connected with the driving member 3, and the driving source drives the grabbing arm 2 to switch from the stretched state to the stretched state at least through the driving member 3. Specifically, the driving source can be an electrical element such as a motor, can be a pneumatic element such as a pneumatic cylinder, or can be a manual switch such as a knob or a button. The grabbing mechanism can switch from the stretched state to the wound state only by relying on the elastic potential energy released by the reset member 4, and of course, the grabbing mechanism can also switch from the stretched state to the wound state by relying on the elastic potential energy released by the reset member 4 and the power of the driving source, that is, the driving source can also drive the grabbing arm 2 together with the reset member 4.

[0066] Since the robot has the above-mentioned grabbing mechanism, the robot has the same technical effects as the above-mentioned grabbing mechanism. That is, the robot can be deeper into the narrow or long gap, the narrow or long channel and other special scenes to grab, press and touch the target object, and the flexibility is higher, and the grabbing arm 2 can maintain a larger area in contact with the target object without gradually reducing the cross-sectional area along the direction from the connecting end 21 of the grabbing arm to the free end 22 of the grabbing arm, so that the reliability is better; the extension trajectory line of the grabbed target object is relatively simple, and the design difficulty and processing difficulty are relatively low; the action of restoring the deformation can be automatically triggered, the response is timely, and the grabbing arm 2 can be flexibly reset. The structure of the robot is simple and convenient to implement.

[0067] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A gripping mechanism, characterized in that, The utility model relates to a kind of grabbing arm and driving device, including: Connecting arm; Grabbing arm, opposite two ends in the extension direction of the grabbing arm are connection end and free end, the connection end of the grabbing arm is connected with one end in the extension direction of the connecting arm;The grabbing arm has the stretched state that is linearly extended for approaching or putting down target object, and the winding state that is curvedly extended in arc for winding target object; Driving member, pass through the connecting arm and the grabbing arm connection, to drive the grabbing arm switches between the stretched state and the winding state; Reset member, pass in the connecting arm, and is connected with the driving member;In the winding state, the reset member is deformed;The elastic force released by the reset member is used to drive the grabbing arm from the winding state to the stretched state.

2. The grasping mechanism of claim 1, wherein, The grabbing arm has opposite first side and second side; Wherein, the grabbing arm is provided with a plurality of notches, each of the notches is for the grabbing arm to bend, and is located on the first side, so that the grabbing arm in the stretched state is switched to the winding state towards the first side.

3. The grasping mechanism of claim 2, wherein, The grabbing arm includes: A plurality of rotating blocks, two adjacent rotating blocks are rotationally connected, the driving member passes through each rotating block, and opposite sides of a plurality of rotating blocks are spliced into the first side and the second side; Wherein, the rotating block has an inclined surface, the inclined surface is located at opposite ends of the rotating block, and extends to the first side away from the opposite ends of the rotating block;The inclined surfaces of two adjacent rotating blocks are spaced apart from each other in the stretched state to form the notches, and abut against each other in the winding state.

4. The grasping mechanism of claim 3, wherein, The rotating block includes: A body for the driving member to pass through; A recess located at one end of the body and recessed relative to the body; A protruding portion located at the other end of the body, the protruding portion protrudes from the body and is adapted to the recess; Wherein, the protruding portion and the recess are provided with the inclined surface between the first side, the recess on one rotating block and the protruding portion on another rotating block are inserted and arranged.

5. The grasping mechanism of claim 3, wherein, A plurality of rotating blocks are divided into first rotating blocks and second rotating blocks, the first rotating blocks are located at the free end of the grabbing arm, and the second rotating blocks are provided in plurality and located between the first rotating blocks and the connecting arm and rotationally connected with the first rotating blocks and the connecting arm.

6. The grasping mechanism of claim 3, wherein, The rotating block is provided with a flexible member, and the flexible member is located on at least one side of the opposite sides of the rotating block spliced into the first side.

7. The grasping mechanism of claim 3, wherein, The grabbing arm further includes: A plurality of fasteners, at least one fastener connects two adjacent rotating blocks to rotationally connect two adjacent rotating blocks.

8. The grasping mechanism of claim 7, wherein, Two adjacent rotating blocks are connected via one fastener, and the distance of the fastener to the first side and the distance of the fastener to the second side are equal;And / or, the hardness of the fastener is greater than the hardness of the rotating block.

9. The grasping mechanism of claim 2, wherein, The driving member includes: A first traction rope adjacent to the first side;One end of the first traction rope is connected with the free end of the grabbing arm and is driven by the other end of the first traction rope. A second traction rope is adjacent to the second side; at least a part of the second traction rope is connected between the reset member and the free end of the grabbing arm.

10. The grasping mechanism of claim 1, wherein, A limiting groove is formed on the connecting arm, and the reset member is installed in the limiting groove.

11. A robot, characterized in that The robot further comprises: A device body, wherein the grabbing mechanism is arranged on the device body; A driving source is installed on the device body or the connecting arm, and the driving source is connected with the driving member and drives the grabbing arm to switch from the stretched state to the wound state at least through the driving member.

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