Clamping jaw structure and carrying equipment

Abstract

The invention discloses a clamping jaw structure and carrying equipment, and relates to the technical field of mechanical carrying. The clamping jaw structure comprises a clamping assembly and a telescopic assembly, the clamping assembly comprises a clamping part and a first transmission part, the clamping part is provided with a clamping cavity and connected with the first transmission part, the clamping part is used for clamping an electrode cylinder, and the first transmission part is used for driving the clamping part and adjusting the size of the clamping cavity; the telescopic assembly is arranged on one side of the clamping assembly, the telescopic assembly is connected with the clamping assembly, and the telescopic assembly is used for installing the clamping assembly on a mechanical arm and driving the clamping assembly to be close to or away from the mechanical arm. The electrode cylinders of different sizes can be stably clamped, the flexibility of the electrode cylinders is improved, and the working efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical handling, and particularly relates to a clamping jaw structure and a handling device. BACKGROUND

[0002] The design of a mechanical arm clamping jaw plays an important role in any handling field, and researches related to the design of a mechanical arm clamping jaw and electrode cylinder handling gradually increase. Existing clamping type clamping jaws are often difficult to accurately grasp objects with complex shapes, different sizes or easy deformation, such as irregular natural objects. The maintenance of the clamping jaw can be complex and costly, especially when fine electronic components and sensors are involved. Accurate control of clamping force is still a big problem that needs to be solved by the mechanical arm clamping jaw, and improper force can cause deformation of the object, and the accurate connection of the subsequent electrode cylinder cannot be completed, causing unnecessary trouble to the subsequent work. SUMMARY

[0003] Therefore, the present application aims to provide a clamping jaw structure and a handling device to solve the technical problems in the prior art.

[0004] To achieve the above-mentioned purpose, the technical scheme adopted by the present application is as follows: In a first aspect, the present application provides a clamping jaw structure, comprising: a clamping assembly, the clamping assembly comprising a clamping part and a first transmission part, the clamping part having a clamping cavity, the clamping part being connected with the first transmission part, the clamping part being used for clamping an electrode cylinder, and the first transmission part being used for driving the clamping part and adjusting the size of the clamping cavity; a telescopic assembly, the telescopic assembly being arranged on one side of the clamping assembly, the telescopic assembly being connected with the clamping assembly, the telescopic assembly being used for mounting the clamping assembly on a mechanical arm, and driving the clamping assembly to approach or move away from the mechanical arm.

[0005] In one of the embodiments of the first aspect, the clamping assembly further comprises: a connecting disc, the connecting disc being arranged on the side of the clamping assembly close to the telescopic assembly, the first transmission part being mounted on the connecting disc, and the clamping part being located on the side of the connecting disc away from the telescopic assembly; a first connecting part, the first connecting part being arranged on the side of the connecting disc close to the telescopic assembly, the first connecting part being connected with the telescopic assembly, and one end of the first connecting part away from the telescopic assembly being connected with the connecting disc.

[0006] In one of the embodiments of the first aspect, the first transmission part comprises: a first transmission member, which is radially mounted on the connecting disc, and which is connected with the clamping part; a second transmission member, which is radially mounted on the connecting disc, and which is spaced apart from the first transmission member, and which is connected with the clamping part; a third transmission member, which is radially mounted on the connecting disc, and which is spaced apart from the first transmission member and the second transmission member, and which is connected with the clamping part.

[0007] In one embodiment of the first aspect, the clamping part comprises: a first clamping piece, which is arranged on the side of the connecting disc away from the telescopic assembly, and which is correspondingly arranged with the first transmission member, and which is connected with the first transmission member, and the first transmission member is used to slide the first clamping piece along the radial direction of the connecting disc; a second clamping piece, which is arranged on the side of the connecting disc away from the telescopic assembly, and which is correspondingly arranged with the second transmission member, and which is connected with the second transmission member, and the second transmission member is used to slide the second clamping piece along the radial direction of the connecting disc, and to make the second clamping piece close to or away from the first clamping piece; a third clamping piece, which is arranged on the side of the connecting disc away from the telescopic assembly, and which is correspondingly arranged with the third transmission member, and which is connected with the third transmission member, and the third transmission member is used to slide the third clamping piece along the radial direction of the connecting disc, and to make the third clamping piece close to or away from the first clamping piece and the second clamping piece; The first clamping piece, the second clamping piece and the third clamping piece jointly enclose the clamping cavity, and the first transmission member, the second transmission member and the third transmission member are collectively used to adjust the size of the clamping cavity.

[0008] In one embodiment of the first aspect, the first transmission member comprises: a first sliding rail, which is arranged radially on the connecting disc, and which is fixedly connected with the connecting disc; a second sliding rail, which is arranged radially on the connecting disc, and which is fixedly connected with the connecting disc, and which is arranged opposite and parallel to the first sliding rail; a first sliding block, which is arranged on the side of the first sliding rail away from the clamping part, and which can slide on the first sliding rail; A second sliding block is arranged on the side of the second sliding rail away from the clamping part, and the second sliding block is slidable on the second sliding rail, and the second sliding block is arranged correspondingly to the first sliding block; A connecting plate is arranged on the side of the first sliding block away from the first sliding rail, and the connecting plate is fixedly connected with the first sliding block and the second sliding block respectively, and the side of the connecting plate away from the telescopic assembly is fixedly connected with the first clamping piece, and the first sliding block and the second sliding block are used to jointly drive the connecting plate to slide along the radial direction of the connecting disc, thereby driving the first clamping piece to move along the radial direction of the connecting disc; A first driving member is arranged between the first sliding rail and the second sliding rail, and the first driving member is mounted on the connecting disc, and the first driving member is in transmission connection with the connecting plate, and the first driving member is used to drive the connecting plate to slide on the first sliding rail and the second sliding rail.

[0009] In one of the embodiments of the first aspect, the first clamping piece has a groove, and the first clamping piece further comprises a magnet arranged in the groove, and the magnet is used to adjust the placement direction of the electrode cylinder in the clamping cavity.

[0010] In one of the embodiments of the first aspect, the telescopic assembly comprises: A connecting table is arranged on the side of the first transmission part away from the clamping part; A second transmission part is mounted on the connecting table in the axial direction of the connecting disc; A second connecting part is arranged on the side of the second transmission part away from the connecting table, and one end of the second connecting part close to the clamping assembly is connected with the first connecting part, and the second transmission part is used to drive the second connecting part to slide in the axial direction of the connecting disc, thereby driving the clamping assembly to approach or move away from the connecting table to realize telescopic movement; A mounting seat is arranged on the end of the connecting table away from the clamping assembly, and the mounting seat is fixedly connected with the connecting table, and the mounting seat is used to mount the connecting table on the mechanical arm.

[0011] In one of the embodiments of the first aspect, the second transmission part comprises: A third sliding rail is arranged on the connecting table in the axial direction of the connecting disc; A fourth sliding rail is arranged on the connecting table in the axial direction of the connecting disc, and the fourth sliding rail is arranged correspondingly and in parallel with the third sliding rail; The third slider is disposed on the side of the third slide rail away from the connecting platform, and the third slider can slide on the third slide rail; The fourth slider is disposed on the side of the fourth slide rail away from the connecting platform. The fourth slider can slide on the fourth slide rail. The fourth slider is disposed corresponding to the third slider. The second connecting part is located on the side of the third slider away from the third slider. The second connecting part is connected to the third slider and the fourth slider respectively. The second driving member is disposed between the third slide rail and the fourth slide rail. The second driving member is connected to the second connecting part in a transmission manner. The second driving member is used to drive the second connecting part to slide along the third slide rail and the fourth slide rail, thereby causing the second connecting part to move the clamping assembly closer to or away from the connecting platform to extend or retract.

[0012] In one embodiment of the first aspect, the connecting portion includes: A connecting seat is disposed on the side of the third slider away from the connecting platform, and the connecting seat is mounted between the third slider and the fourth slider. The connecting seat is connected to the third slider and the fourth slider respectively, and is drivenly connected to the second driving member. The connecting seat can slide along the third slide rail and the fourth slide rail. A connecting rod is disposed on the side of the connecting seat near the clamping assembly. The connecting rod is connected to the connecting seat, and the end of the connecting rod away from the connecting seat is connected to the first connecting part.

[0013] Secondly, embodiments of this application provide a handling device, including the gripper structure described in any of the above embodiments.

[0014] Compared to existing technologies, the advantages of this application are as follows: This application proposes a gripper structure and a handling device. The gripper structure includes a clamping assembly and a telescopic assembly. The clamping assembly includes a clamping part and a first transmission part. The clamping part has a clamping cavity and is connected to the first transmission part. The clamping part is used to clamp an electrode cylinder, and the first transmission part is used to drive the clamping part and adjust the size of the clamping cavity. The telescopic assembly is disposed on one side of the clamping assembly and is connected to the clamping assembly. The telescopic assembly is used to mount the clamping assembly on a robotic arm and to move the clamping assembly closer to or away from the robotic arm. This application uses the first transmission part to drive the clamping part and adjust the size of the clamping cavity, thereby enabling the clamping part to clamp electrode cylinders of different sizes, improving its flexibility of use. Furthermore, this application uses the telescopic assembly to move the clamping assembly closer to or away from the robotic arm, allowing the clamping assembly to extend and retract, thereby adjusting and controlling the length of the entire gripper structure and improving its electrode cylinder handling efficiency. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 A three-dimensional structural schematic diagram of the gripper structure in this application is shown; Figure 2 This paper shows a schematic diagram of the gripper structure from one perspective. Figure 3 A three-dimensional structural schematic diagram of the clamping component in this application is shown; Figure 4 A three-dimensional structural schematic diagram of the telescopic component in this application is shown; Figure 5 A schematic diagram of the telescopic component in this application is shown from one perspective.

[0017] Explanation of key component symbols: 100-Gripper structure; 110-Gripping assembly; 111-Gripping part; 1111-First gripping piece; 1111a-Groove; 1112-Second gripping piece; 1113-Third gripping piece; 1114-Gripping cavity; 112-First transmission part; 1121-First transmission component; 1121a-First slide rail; 1121b-Second slide rail; 1121c-Connecting plate; 1121d-First motor; 1121e-First transmission shaft; 1122- Second transmission component; 1123-Third transmission component; 113-Connecting plate; 114-First connecting part; 120-Telescopic assembly; 121-Connecting platform; 122-Second transmission part; 1221-Third slide rail; 1222-Fourth slide rail; 1223-Third slider; 1224-Fourth slider; 1225-Second motor; 1226-Second transmission shaft; 123-Second connecting part; 1231-Connecting seat; 1232-Connecting rod; 124-Mounting seat. Detailed Implementation

[0018] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0019] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0020] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0021] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0022] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0023] like Figure 1 and Figure 2 As shown, an embodiment of this application provides a gripper structure 100. The gripper structure 100 includes a gripping component 110 and a telescopic component 120.

[0024] The clamping assembly 110 includes a clamping part 111 and a first transmission part 112, wherein the clamping part 111 has a clamping cavity 1114 and the clamping part 111 is connected to the first transmission part 112.

[0025] In this embodiment, the electrode cylinder is clamped in the clamping cavity 1114 by the clamping part 111, and the clamping part 111 is driven by the first transmission part 112 to adjust the size of the clamping cavity 1114, so that the clamping part 111 can clamp electrode cylinders of different sizes, thereby improving its flexibility of use.

[0026] Furthermore, the telescopic component 120 is disposed on one side of the clamping component 110, and the telescopic component 120 is connected to the clamping component 110. In this embodiment, the telescopic component 120 is used to mount the clamping component 110 onto the robotic arm and to move the clamping component 110 closer to or further away from the robotic arm, thereby enabling the clamping component 110 to extend and retract, improving its electrode cylinder handling efficiency.

[0027] In related technologies, a moving block powered by a motor moves downwards, causing flexible fingers to close and grasp objects. While the safety belt's elasticity and flexibility allow it to adapt to different object contours, this robotic arm cannot stably grip objects with continuous curved surfaces, and struggles to accurately grasp objects with complex shapes, varying sizes, or those prone to deformation. Furthermore, when delicate electronic components and sensors are involved, the gripper's maintenance is complex and costly. Accurately controlling the gripping force remains a major challenge for the robotic arm's gripper; inappropriate force can deform the object, hindering the accurate connection of the subsequent electrode cylinder and causing unnecessary problems in subsequent operations.

[0028] In this embodiment, the gripper structure 100 includes a gripping component 110 and a telescopic component 120. The first transmission part 112 drives the gripping part 111 and adjusts the size of the gripping cavity 1114, allowing the gripping part 111 to hold electrode cylinders of different sizes, thus improving its flexibility of use. The telescopic component 120 moves the gripping component 110 closer to or further away from the robotic arm, enabling the gripping component 110 to extend and retract, thereby adjusting and controlling the length of the entire gripper structure 100 and improving its electrode cylinder handling efficiency.

[0029] Optionally, such as Figure 2 and Figure 3 As shown, the clamping assembly 110 also includes a connecting disk 113 and a first connecting portion 114.

[0030] The connecting disk 113 is disposed on the side of the clamping assembly 110 near the telescopic assembly 120, the first transmission part 112 is mounted on the connecting disk 113, and the clamping part 111 is located on the side of the connecting disk 113 away from the telescopic assembly 120.

[0031] Furthermore, the first connecting portion 114 is disposed on the side of the connecting plate 113 near the telescopic assembly 120. The first connecting portion 114 is connected to the telescopic assembly 120, and the end of the first connecting portion 114 away from the telescopic assembly 120 is connected to the connecting plate 113. In this embodiment, the connecting plate 113 and the telescopic assembly 120 are connected through the first connecting portion 114.

[0032] Optionally, the first transmission unit 112 includes a first transmission member 1121, a second transmission member 1122, and a third transmission member 1123.

[0033] The first transmission member 1121 is radially mounted on the connecting disk 113, and the first transmission member 1121 is connected to the connecting disk 113 and the clamping part 111 respectively.

[0034] Furthermore, the second transmission member 1122 is radially mounted on the connecting disk 113 along the connecting disk 113, and the second transmission member 1122 is spaced apart from the first transmission member. The second transmission member 1122 is connected to both the connecting disk 113 and the clamping part 111.

[0035] Furthermore, the third transmission member 1123 is radially mounted on the connecting disk 113, and is spaced apart from the first transmission member 1121 and the second transmission member 1122. The third transmission member 1123 is connected to both the connecting disk 113 and the clamping part 111.

[0036] It should be noted that the first transmission component 1121, the second transmission component 1122, and the third transmission component 1123 are arranged in a triangular pattern on the connecting disk 113, and the first transmission component 1121, the second transmission component 1122, and the third transmission component 1123 are arranged radially from the axis of the connecting disk 113 along the radial direction of the connecting disk 113.

[0037] Optionally, such as Figure 2 and Figure 3 As shown, the clamping part 111 includes a first clamping piece 1111, a second clamping piece 1112, and a third clamping piece 1113.

[0038] The first clamping piece 1111 is disposed on the side of the connecting plate 113 away from the telescopic assembly 120. The first clamping piece 1111 is correspondingly disposed with the first transmission member 1121, and the first clamping piece 1111 is connected to the first transmission member 1121. This connection method is, for example, a screw connection.

[0039] Specifically, in this embodiment, the first clamping piece 1111 slides radially along the connecting disk 113 via the first transmission member 1121.

[0040] In addition, the second clamping piece 1112 is disposed on the side of the connecting plate 113 away from the telescopic assembly 120. The second clamping piece 1112 is correspondingly disposed with the second transmission member 1122, and the second clamping piece 1112 is connected to the second transmission member 1122. This connection method is, for example, a screw connection.

[0041] Specifically, in this embodiment, the second transmission member 1122 causes the second clamping piece 1112 to slide radially along the connecting disk 113, and causes the second clamping piece 1112 to move closer to or further away from the first clamping piece 1111.

[0042] In addition, the third clamping piece 1113 is disposed on the side of the connecting plate 113 away from the telescopic assembly 120. The third clamping piece 1113 is correspondingly disposed with the third transmission member 1123, and the third clamping piece 1113 is connected to the third transmission member 1123. This connection method is, for example, a screw connection.

[0043] Specifically, in this embodiment, the third clamping piece 1113 is made to slide radially along the connecting disk 113 by the third transmission member 1123, and the third clamping piece 1113 is made to move closer to or further away from the first clamping piece 1111 and the second clamping piece 1112.

[0044] It should be noted that the first clamping piece 1111, the second clamping piece 1112, and the third clamping piece 1113 together form the clamping cavity 1114. In this embodiment, the first transmission member 1121, the second transmission member 1122, and the third transmission member 1123 respectively slide the first clamping piece 1111, the second clamping piece 1112, and the third clamping piece 1113, thereby jointly adjusting the size of the clamping cavity 1114.

[0045] Optionally, such as Figure 3 As shown, the first transmission component 1121 includes a first slide rail 1121a, a second slide rail 1121b, a first slider, a second slider, a connecting plate 1121c, and a first driving component.

[0046] The first slide rail 1121a is arranged radially along the connecting plate 113, and the first slide rail 1121a is fixedly connected to the connecting plate 113, for example, by a screw connection.

[0047] Specifically, the first slider is disposed on the side of the first slide rail 1121a away from the clamping part 111, and the first slider can slide on the first slide rail 1121a.

[0048] In addition, the second slide rail 1121b is arranged radially along the connecting plate 113, the second slide rail 1121b is arranged opposite to and parallel to the first slide rail 1121a, and the second slide rail 1121b is fixedly connected to the connecting plate 113, such as by screw connection.

[0049] Specifically, the second slider is disposed on the side of the second slide rail 1121b away from the clamping part 111, the second slider can slide on the second slide rail 1121b, and the second slider is disposed corresponding to the first slider.

[0050] The connecting plate 1121c is disposed on the side of the first slider away from the first slide rail 1121a, and the connecting plate 1121c is disposed on the side of the second slider away from the second slide rail 1121b.

[0051] Specifically, the connecting plate 1121c is fixedly connected to the first slider and the second slider respectively, and the fixed connection method is, for example, screw connection.

[0052] In this embodiment, the side of the connecting plate 1121c opposite to the telescopic assembly 120 is fixedly connected to the first clamping piece 1111, and the fixing method is, for example, screw connection.

[0053] In this embodiment, the first slider and the second slider together drive the connecting plate 1121c to slide radially along the connecting disk 113 on the first slide rail 1121a and the second slide rail 1121b, thereby driving the first clamping piece 1111 to move radially along the connecting disk 113, so that the first clamping piece 1111 moves closer to or away from the axis of the connecting disk 113.

[0054] Furthermore, the first driving member is disposed between the first slide rail 1121a and the second slide rail 1121b, the first driving member is mounted on the connecting plate 113, and the first driving member is drivingly connected to the connecting plate 1121c. In this embodiment, the first driving member drives the connecting plate 1121c to slide on the first slide rail 1121a and the second slide rail 1121b.

[0055] Optionally, such as Figure 3 As shown, the first driving component includes a first motor 1121d, a first coupling, a first transmission shaft 1121e, and a first bearing housing.

[0056] The first motor 1121d is located at one end of the first transmission member 1121 near the axis of the connecting disk 113, and the first motor 1121d is mounted on the connecting disk 113. The first transmission shaft 1121e is located at one end of the first motor 1121d away from the axis of the connecting disk 113, and the first transmission shaft 1121e is located between the first slide rail 1121a and the second slide rail 1121b. The first motor 1121d is used to drive the first transmission shaft 1121e to rotate.

[0057] Specifically, the first motor 1121d and the first drive shaft 1121e are connected by a first coupling, that is, one end of the first coupling is connected to the first motor 1121d, and the end of the first coupling away from the first motor 1121d is connected to the first drive shaft 1121e.

[0058] In addition, the first bearing housing is disposed at the end of the first drive shaft 1121e away from the first motor 1121d, and the first bearing housing is fixed on the connecting plate 113, and the first drive shaft 1121e is rotatably connected to the first bearing housing.

[0059] Optionally, in this embodiment, the connecting plate 1121c includes a second bearing seat, which is sleeved on the first drive shaft 1121e. In this embodiment, the first motor 1121d causes the first drive shaft 1121e to rotate, thereby driving the second bearing seat to move on the first drive shaft 1121e, which in turn drives the entire connecting plate 1121c to move radially along the connecting disk 113 on the first drive shaft 1121e, the first slide rail 1121a, and the second slide rail 1121b.

[0060] It should be noted that the second transmission component 1122 and the third transmission component 1123 in this embodiment have the same specific structure as the first transmission component 1121, and will not be described in detail here.

[0061] Optionally, such as Figure 2 As shown, the first clamping piece 1111 has a groove 1111a along the axial direction of the connecting disk 113, and the first clamping piece 1111 also includes a magnet, which is disposed in the groove 1111a. In this embodiment, the placement direction of the electrode cylinder in the clamping cavity 1114 is adjusted by the magnet, that is, in this embodiment, the magnet ensures the perpendicularity of the electrode cylinder in the clamping cavity 1114 relative to the ground.

[0062] It should be noted that, for example, the first clamping piece 1111 in this embodiment is arc-shaped, and the second clamping piece 1112 and the third clamping piece 1113 in this embodiment have the same specific structure as the first clamping piece 1111, which will not be described in detail here.

[0063] Optionally, such as Figure 2 As shown, the telescopic assembly 120 includes a connecting platform 121, a second transmission part 122, a second connecting part 123, and a mounting base 124.

[0064] The connecting platform 121 is disposed on the side of the first transmission part 112 away from the clamping part 111, and the second transmission part 122 is mounted on the connecting platform 121 along the axial direction of the connecting disk 113.

[0065] In addition, the second connecting part 123 is disposed on the side of the second transmission part 122 away from the connecting platform 121. The end of the second connecting part 123 near the clamping assembly 110 is connected to the first connecting part 114. The second transmission part 122 is used to drive the second connecting part 123 to slide along the axial direction of the connecting plate 113, thereby driving the clamping assembly 110 to move closer to or away from the connecting platform 121 to extend and retract, thereby driving the clamping assembly 110 to move closer to or away from the robotic arm to extend and retract.

[0066] Furthermore, the mounting base 124 is located at the end of the connecting platform 121 away from the clamping assembly 110, and the mounting base 124 is fixedly connected to the connecting platform 121, for example, by a screw. In this embodiment, the connecting platform 121 is mounted on the robotic arm via the mounting base 124.

[0067] Optionally, such as Figure 4 and Figure 5 As shown, the second transmission unit 122 includes a third slide rail 1221, a fourth slide rail 1222, a third slider 1223, a fourth slider 1224, and a second driving member.

[0068] The third slide rail 1221 is arranged on the connecting platform 121 along the axial direction of the connecting plate 113, and the third slider 1223 is arranged on the side of the third slide rail 1221 away from the connecting platform 121, and the third slider 1223 can slide on the third slide rail 1221.

[0069] In addition, the fourth slide rail 1222 is arranged on the connecting platform 121 along the axial direction of the connecting plate 113, and the fourth slide rail 1222 is parallel to and corresponding to the third slide rail 1221.

[0070] Specifically, the fourth slider 1224 is disposed on the side of the fourth slide rail 1222 away from the connecting platform 121, the fourth slider 1224 can slide on the fourth slide rail 1222, and the fourth slider 1224 is disposed corresponding to the third slider 1223.

[0071] The second connecting part 123 is located on the side of the third slider 1223 away from the third slider 1223, and the second connecting part 123 is connected to the third slider 1223 and the fourth slider 1224 respectively.

[0072] Furthermore, the second driving member is disposed between the third slide rail 1221 and the fourth slide rail 1222, and the second driving member is connected to the second connecting part 123 in a transmission manner.

[0073] In this embodiment, the second driving member drives the second connecting part 123 to slide along the third slide rail 1221 and the fourth slide rail 1222, thereby causing the second connecting part 123 to drive the clamping assembly 110 to extend or retract towards the connecting platform 121, thus realizing the extension or retraction of the clamping assembly 110 towards or away from the robotic arm.

[0074] Optionally, the second drive component includes a first motor 1121d, a second coupling, a second drive shaft 1226, and a third bearing housing.

[0075] The second motor 1225 is disposed at the end of the second transmission part 122 away from the connecting plate 113, and the second motor 1225 is mounted on the connecting platform 121. The second transmission shaft 1226 is disposed at the end of the second motor 1225 away from the mounting base 124, and the second transmission shaft 1226 is located between the third slide rail 1221 and the fourth slide rail 1222. The second motor 1225 is used to drive the second transmission shaft 1226 to rotate.

[0076] Specifically, the second motor 1225 and the second drive shaft 1226 are connected by a second coupling, that is, one end of the second coupling is connected to the second motor 1225, and the end of the second coupling away from the second motor 1225 is connected to the second drive shaft 1226.

[0077] In addition, the third bearing housing is disposed at the end of the second drive shaft 1226 away from the second motor 1225, and the third bearing housing is fixed on the connecting platform 121, and the second drive shaft 1226 is rotatably connected to the third bearing housing.

[0078] Optionally, the connecting part includes a connecting seat 1231 and a connecting rod 1232.

[0079] The connecting seat 1231 is disposed on the side of the third slider 1223 away from the connecting platform 121, and the connecting seat 1231 is mounted between the third slider 1223 and the fourth slider 1224. The connecting seat 1231 is connected to the third slider 1223 and the fourth slider 1224 respectively by screws.

[0080] Specifically, the connecting seat 1231 is drive-connected to the second driving member, that is, the connecting seat 1231 is sleeved on the second drive shaft 1226 and drive-connected to the second drive shaft 1226. The connecting seat 1231 can slide along the third slide rail 1221 and the fourth slide rail 1222.

[0081] Optionally, the second transmission part 122 further includes urethane adhesive, which is sleeved on one end of the second transmission shaft 1226 near the third bearing seat. In this embodiment, the urethane adhesive is used to limit the movement of the connecting seat 1231 on the second transmission shaft 1226, thereby preventing the connecting seat 1231 from colliding with the third bearing seat.

[0082] In addition, the connecting rod 1232 is disposed on the side of the connecting seat 1231 near the clamping assembly 110, and the connecting rod 1232 is connected to the connecting seat 1231, for example by welding or integral molding.

[0083] Furthermore, the end of the connecting rod 1232 away from the connecting seat 1231 is connected to the first connecting portion 114. Optionally, the end of the connecting rod 1232 near the first connecting portion 114 is a spherical connecting end.

[0084] Optionally, the first connecting part 114 is a connecting block, and the side of the connecting block near the connecting rod 1232 is provided with a spherical connecting groove. In this embodiment, the rotatable connection between the connecting rod 1232 and the first connecting part 114 can be achieved by inserting the spherical connecting end of the connecting rod 1232 into the spherical connecting groove. This embodiment provides a handling device having the gripper structure 100 described in any of the above embodiments, and therefore has all the beneficial effects of the gripper structure 100, which will not be elaborated here.

[0085] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0086] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A gripper structure, characterized in that, include: A clamping assembly includes a clamping part and a first transmission part. The clamping part has a clamping cavity and is connected to the first transmission part. The clamping part is used to clamp an electrode cylinder, and the first transmission part is used to drive the clamping part and adjust the size of the clamping cavity. A telescopic assembly is disposed on one side of the clamping assembly and connected to the clamping assembly. The telescopic assembly is used to mount the clamping assembly onto the robotic arm and to move the clamping assembly closer to or away from the robotic arm.

2. The gripper structure according to claim 1, characterized in that, The clamping assembly further includes: A connecting plate is provided on the side of the clamping assembly near the telescopic assembly, the first transmission part is mounted on the connecting plate, and the clamping part is located on the side of the connecting plate away from the telescopic assembly. A first connecting part is disposed on the side of the connecting plate near the telescopic component. The first connecting part is connected to the telescopic component, and the end of the first connecting part away from the telescopic component is connected to the connecting plate.

3. The gripper structure according to claim 2, characterized in that, The first transmission unit includes: A first transmission component is mounted radially on the connecting disk along the connecting disk, and the first transmission component is connected to the clamping part; The second transmission component is radially mounted on the connecting disk along the connecting disk, and the second transmission component is spaced apart from the first transmission component. The second transmission component is connected to the clamping part. The third transmission component is radially mounted on the connecting disk, and is spaced apart from the first transmission component and the second transmission component. The third transmission component is connected to the clamping part.

4. The gripper structure according to claim 3, characterized in that, The clamping part includes: A first clamping piece is disposed on the side of the connecting disk opposite to the telescopic assembly. The first clamping piece is correspondingly disposed with the first transmission member, and the first clamping piece is connected to the first transmission member. The first transmission member is used to make the first clamping piece slide radially along the connecting disk. The second clamping piece is disposed on the side of the connecting plate away from the telescopic assembly. The second clamping piece is correspondingly disposed with the second transmission member, and the second clamping piece is connected to the second transmission member. The second transmission member is used to make the second clamping piece slide radially along the connecting plate and to make the second clamping piece move closer to or away from the first clamping piece. The third clamping piece is disposed on the side of the connecting plate away from the telescopic assembly. The third clamping piece is correspondingly disposed with the third transmission member and is connected to the third transmission member. The third transmission member is used to make the third clamping piece slide radially along the connecting plate and to make the third clamping piece move closer to or further away from the first clamping piece and the second clamping piece. The first clamping piece, the second clamping piece, and the third clamping piece together form the clamping cavity, and the first transmission member, the second transmission member, and the third transmission member are used together to adjust the size of the clamping cavity.

5. The gripper structure according to claim 4, characterized in that, The first transmission component includes: A first slide rail is arranged radially along the connecting plate and is fixedly connected to the connecting plate; The second slide rail is arranged radially along the connecting plate and is fixedly connected to the connecting plate. The second slide rail is opposite to and parallel to the first slide rail. A first slider is disposed on the side of the first slide rail away from the clamping part, and the first slider can slide on the first slide rail; The second slider is disposed on the side of the second slide rail away from the clamping part. The second slider can slide on the second slide rail. The second slider is disposed corresponding to the first slider. A connecting plate is disposed on the side of the first slider away from the first slide rail. The connecting plate is fixedly connected to the first slider and the second slider respectively. The side of the connecting plate away from the telescopic assembly is fixedly connected to the first clamping piece. The first slider and the second slider are used to jointly drive the connecting plate to slide radially along the connecting disk, thereby driving the first clamping piece to move radially along the connecting disk. A first driving component is disposed between the first slide rail and the second slide rail, and is mounted on the connecting plate. The first driving component is connected to the connecting plate in a transmission manner, and is used to drive the connecting plate to slide on the first slide rail and the second slide rail.

6. The gripper structure according to claim 4, characterized in that, The first clamping piece has a groove, and the first clamping piece also includes a magnet, which is disposed in the groove and is used to adjust the placement direction of the electrode cylinder in the clamping cavity.

7. The gripper structure according to claim 2, characterized in that, The telescopic component includes: A connecting platform is disposed on the side of the first transmission part away from the clamping part; The second transmission unit is mounted on the connecting platform along the axial direction of the connecting disc. The second connecting part is disposed on the side of the second transmission part away from the connecting table. The end of the second connecting part near the clamping assembly is connected to the first connecting part. The second transmission part is used to drive the second connecting part to slide along the axial direction of the connecting plate, thereby driving the clamping assembly to move closer to or away from the connecting table to extend and retract. A mounting base is disposed at the end of the connecting platform away from the clamping assembly. The mounting base is fixedly connected to the connecting platform and is used to mount the connecting platform onto the robotic arm.

8. The gripper structure according to claim 7, characterized in that, The second transmission unit includes: The third slide rail is disposed on the connecting platform along the axial direction of the connecting disc; A fourth slide rail is provided on the connecting platform along the axial direction of the connecting disc, and the fourth slide rail is parallel to and corresponding to the third slide rail; The third slider is disposed on the side of the third slide rail away from the connecting platform, and the third slider can slide on the third slide rail; The fourth slider is disposed on the side of the fourth slide rail away from the connecting platform. The fourth slider can slide on the fourth slide rail. The fourth slider is disposed corresponding to the third slider. The second connecting part is located on the side of the third slider away from the third slider. The second connecting part is connected to the third slider and the fourth slider respectively. The second driving member is disposed between the third slide rail and the fourth slide rail. The second driving member is connected to the second connecting part in a transmission manner. The second driving member is used to drive the second connecting part to slide along the third slide rail and the fourth slide rail, thereby causing the second connecting part to move the clamping assembly closer to or away from the connecting platform to extend or retract.

9. The gripper structure according to claim 8, characterized in that, The connecting part includes: A connecting seat is disposed on the side of the third slider away from the connecting platform, and the connecting seat is mounted between the third slider and the fourth slider. The connecting seat is connected to the third slider and the fourth slider respectively, and is drivenly connected to the second driving member. The connecting seat can slide along the third slide rail and the fourth slide rail. A connecting rod is disposed on the side of the connecting seat near the clamping assembly. The connecting rod is connected to the connecting seat, and the end of the connecting rod away from the connecting seat is connected to the first connecting part.

10. A handling device, characterized in that, Includes the gripper structure according to any one of claims 1 to 9.

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