Clamping jaw, mechanical arm and robot

Abstract

The invention provides a clamping jaw, a mechanical arm and a robot, relates to the technical field of robots, and aims at solving the problems that an existing clamping jaw can only clamp objects and is single in function. The clamping jaw comprises a base, two clamping mechanisms, a first driving mechanism and a rotating piece. The two clamping mechanisms are movably connected with the base and used for clamping objects. The first driving mechanism is installed on the base. The rotating piece is connected with the first driving mechanism. The first driving mechanism is used for driving the rotating piece to rotate relative to the base. The clamping jaw can be used for clamping articles.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a gripper, a robotic arm, and a robot. Background Technology

[0002] A robot is an artificial machine that assists humans in working and performing tasks. With the continuous development of technology, robots are able to perform more and more functions, and their applications are becoming more widespread.

[0003] Generally, a robot includes a robotic arm, and the robotic arm includes grippers. The grippers are capable of grasping objects. However, these grippers typically only grasp objects, and their function is relatively limited. Summary of the Invention

[0004] This application provides a gripper, a robotic arm, and a robot to solve the problem that existing grippers can only grasp objects and have a relatively limited function.

[0005] In one aspect, this application provides a gripper, including a base, two gripping mechanisms, a first drive mechanism, and a rotating component. The two gripping mechanisms are movably connected to the base for gripping articles. The first drive mechanism is mounted on the base. The rotating component is connected to the first drive mechanism. The first drive mechanism drives the rotating component to rotate relative to the base.

[0006] The gripper provided in this application has two clamping mechanisms that are movably connected to the base. When it is necessary to use the gripper to hold an item, the two clamping mechanisms can move relative to the base, allowing the item to be clamped and fixed between the two clamping mechanisms. Simultaneously, since the first drive mechanism is mounted on the base, and the rotating component is connected to the first drive mechanism, when an item is placed on and connected to the rotating component, the first drive mechanism can drive the rotating component to rotate, thereby causing the item to rotate. This allows the gripper to both clamp and rotate the item, increasing the application scenarios of the gripper and making it multifunctional.

[0007] In some embodiments, two clamping mechanisms are arranged along a first direction. Along this first direction, a rotating member is located between the two clamping mechanisms.

[0008] In some embodiments, the rotating member includes a docking portion. The docking portion is configured to dock with an article and cause the article to rotate. The clamping mechanism includes a clamping portion. The clamping portion is configured to clamp an article to position the rotating article.

[0009] In some embodiments, the docking portion and the clamping portion are located at different heights relative to the base, so that the docking portion and the clamping portion respectively contact different positions of the article.

[0010] In some embodiments, one end of the clamping mechanism is rotatably connected to the base, and the axis of rotation intersects the first direction. The axis of rotation of the rotating component is perpendicular to both the first direction and the axis of rotation of the clamping mechanism.

[0011] In some embodiments, the base has a mounting groove. A rotating element is rotatably connected to the mounting groove.

[0012] In some embodiments, the rotating member is located inside the mounting groove. One end of the rotating member near the opening of the mounting groove is flush with the opening of the mounting groove or located on the side of the opening of the mounting groove near the bottom of the groove.

[0013] In some embodiments, the gripper further includes a first bearing. The first bearing is sleeved on the rotating member.

[0014] In some embodiments, the first drive mechanism includes a first drive motor and a first transmission mechanism. The first drive motor is mounted on a base. The first transmission mechanism is connected to the first drive motor and to a rotating component.

[0015] In some embodiments, the first transmission mechanism includes a first gear and a second gear. The first gear is sleeved on the output end of the first drive motor. The second gear meshes with the first gear and is sleeved on the rotating member.

[0016] In some embodiments, the number of teeth of the first gear is less than the number of teeth of the second gear.

[0017] In some embodiments, the mating portion is provided with mounting holes.

[0018] In some embodiments, the mounting hole includes a first hole segment and a second hole segment. One end of the first hole segment has an opening. One end of the second hole segment communicates with the other end of the first hole segment. The hole wall of the first hole segment is inclined. The port size of the first hole segment near the end of the second hole segment is smaller than the port size of the first hole segment away from the second hole segment.

[0019] In some embodiments, the mounting hole further includes a third hole segment. One end of the third hole segment communicates with the other end of the second hole segment. The wall of the third hole segment is cylindrical.

[0020] In some embodiments, the mounting hole further includes a fourth hole segment. One end of the fourth hole segment communicates with the other end of the third hole segment. The hole wall of the fourth hole segment is inclined. The port size of the fourth hole segment near the end of the third hole segment is larger than the port size of the fourth hole segment away from the third hole segment.

[0021] In some embodiments, the mounting hole further includes a fifth hole segment. One end of the fifth hole segment communicates with the other end of the fourth hole segment. The hole wall of the fifth hole segment is cylindrical, and the diameter of the hole wall of the fifth hole segment is smaller than the diameter of the hole wall of the third hole segment.

[0022] In some embodiments, two clamping mechanisms are arranged at a distance from each other. Each clamping mechanism includes a first connector and a clamping member. One end of the first connector is movably connected to a base, and the other end is connected to the clamping member. At least one clamping mechanism further includes a deformable assembly. The deformable assembly is located between the two first connectors and is configured to deform to conform to the article upon contact with it. In some embodiments, one end of the deformable component is rotatably connected to the base, and the other end is rotatably connected to the clamping member.

[0023] In some embodiments, the deformable assembly includes a second connector and a third connector. One end of the second connector is rotatably connected to the base. One end of the third connector is rotatably connected to the other end of the second connector, and the other end is rotatably connected to the clamping member.

[0024] In some embodiments, the connection position between the clamping member and the third connector is different from the connection position between the clamping member and the first connector.

[0025] In some embodiments, the connection positions between the base and the first connector are different from those between the base and the second connector.

[0026] In some embodiments, the first connector and the base have a first rotation axis, the second connector and the base have a second rotation axis, the first connector and the clamping member have a third rotation axis, and the third connector and the clamping member have a fourth rotation axis. The first rotation axis, the second rotation axis, the third rotation axis, and the fourth rotation axis are parallel.

[0027] In some embodiments, a fifth rotation axis is provided between the second connector and the third connector. The fifth rotation axis is parallel to the first rotation axis.

[0028] In some embodiments, the deformable assembly has a first end rotatably connected to the base, and a second end rotatably connected to the clamping member. A first connector has a third end rotatably connected to the base, and a fourth end rotatably connected to the clamping member. The distance between the first and third ends is equal to the distance between the second and fourth ends. The line connecting the first and third ends is parallel to the connection between the second and fourth ends.

[0029] In some embodiments, the distance between the end of the third connector connected to the clamping member and the end of the third connector connected to the second connector is less than the distance between the end of the second connector connected to the third connector and the end of the second connector connected to the base.

[0030] In some embodiments, the deformable assembly further includes an elastic element. The elastic element is connected to the second connector and the third connector. The elastic element is used to generate an elastic force that aligns the end of the second connector connected to the base, the end of the second connector connected to the third connector, and the end of the third connector connected to the clamping member in a straight line.

[0031] In some embodiments, the second connector has a first mounting hole, and the third connector has a second mounting hole. One end of the elastic member is installed in the first mounting hole, and the other end is installed in the second mounting hole.

[0032] In some embodiments, the gripper further includes a second drive mechanism. The second drive mechanism is mounted on a base and connected to the gripping mechanism. The second drive mechanism is used to drive the gripping mechanism to grip or release an article.

[0033] In some embodiments, the second drive mechanism includes a second drive motor and a second transmission mechanism. The second drive motor is mounted on a base. The second transmission mechanism is connected to the second drive motor and to one end of the first connecting member.

[0034] In some embodiments, the second transmission mechanism includes a worm, two worm wheels, and two sets of rotating gears. The worm is connected to the output end of a drive motor. The two worm wheels mesh with the worm. The two sets of rotating gears are each connected to one of the worm wheels for synchronous rotation with the worm wheels. One end of a first connecting member is connected to one of the sets of rotating gears.

[0035] In some embodiments, the rotating gear set includes a first connecting shaft, a second connecting shaft, a first rotating gear, and a second rotating gear. One end of the first connecting shaft passes through a worm gear. The first rotating gear is sleeved on the other end of the first connecting shaft. The second rotating gear meshes with the first rotating gear. One end of the second connecting shaft passes through the second rotating gear, and the other end is connected to one end of the first connecting member.

[0036] In some embodiments, the number of teeth of the second rotating gear is greater than the number of teeth of the first rotating gear.

[0037] In some embodiments, the operation of the first drive mechanism and the second drive mechanism is independent of each other.

[0038] In some embodiments, the deformable assembly further includes a flexible element. The flexible element is disposed on at least one of the second and third connectors for contacting the article.

[0039] In some embodiments, the clamping member has a clamping surface. The gripper also includes a detection device. The detection device is disposed on the clamping surface for detecting the clamping state of the clamping surface.

[0040] In some embodiments, the clamping surface has a device mounting groove. The detection device is located within the device mounting groove.

[0041] In some embodiments, the base includes a first base and a second base. The first base has a first groove on one side. The second base is connected to the first base, and the second base has a second groove on one side. The side of the first base with the first groove and the side of the second base with the second groove fit together to form a mounting groove.

[0042] In some embodiments, the second base includes a second base body and a second fixing part. The second base body is connected to the first base, and the side of the second base body closest to the first base has a second groove. The second fixing part is located on the side of the second base body away from the first base. The second fixing part has a second fixing groove. The second fixing groove communicates with the second groove. At least a portion of the first driving mechanism is located within the second groove and connected to the second fixing part.

[0043] Secondly, this application provides a robotic arm, including any of the grippers described in the first aspect.

[0044] Since the robotic arm provided in this application includes any of the grippers in the first aspect, it can solve the same technical problems as the grippers described above and achieve the same technical effects, it will not be described in detail here.

[0045] Thirdly, embodiments of this application provide a robot, including the robotic arm of the second aspect.

[0046] Since the robot provided in this application includes the robotic arm of the second aspect, it can solve the same technical problems as the robotic arm described above and achieve the same technical effects, it will not be described again here. Attached Figure Description

[0047] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0048] Figure 1 This is a schematic diagram of the structure of a robotic arm provided in an embodiment of this application; Figure 2 This is a schematic diagram of the structure of a gripper provided in an embodiment of this application; Figure 3 for Figure 2 The diagram shows the structure of the gripper inside the outer casing; Figure 4 for Figure 3 The diagram shows the structure of the gripper on the other side; Figure 5 for Figure 2The diagram shows the structure of the gripper removing the detection device. Figure 6 for Figure 2 A schematic diagram of the internal structure of the gripper shown; Figure 7 for Figure 2 A magnified view of a portion of the rotating component; Figure 8 An exploded view of the rotating component and the first bearing provided in an embodiment of this application; Figure 9 A cross-sectional view of a rotating component provided in an embodiment of this application; Figure 10 for Figure 2 A schematic diagram of the internal structure of the gripper at another angle; Figure 11 for Figure 10 The diagram shows the structure on the other side.

[0049] Figure label: 1000 - Robotic arm; 100 - Gripper; 10 - Base; 101 - Mounting groove; 1011 - First groove; 1012 - Second groove; 11 - First base; 111 - First base body; 1111 - First fixing hole; 1112 - Second fixing hole; 112 - First fixing part; 12 - Second base; 121 - Second base body; 122 - Second fixing part; 20 - Clamping mechanism; 21 - First connecting piece; 211 - Third end; 212 - Fourth end; 22-Clamping component; 221-Clamping surface; 2211-Device mounting slot; 23-Deformable assembly; 231-Second connector; 2311-First end; 2312-First mounting hole; 232-Third connector; 2321-Second end; 2322-Second mounting hole; 233-Elastic component; 234-Flexible component; 30-Outer shell; 31-First outer shell; 32-Second outer shell; 40-Second drive mechanism; 41-Second drive motor; 42-Second transmission mechanism; 421-Worm; 422-Worm wheel; 423-Rotating gear set; 4231-First connecting shaft; 4232-Second connecting shaft; 4233-First rotating gear; 4234 - Second rotating gear; 43 - Second bearing; 50 - Rotating component; 501 - Mounting hole; 502 - First hole segment; 5021 - First planar sidewall; 5022 - First arcuate sidewall; 503 - Second hole segment; 5031 - Second planar sidewall; 5032 - Second arcuate sidewall; 504 - Third hole segment; 505 - Fourth hole segment; 506 - Fifth hole segment; 60 - First drive mechanism; 61 - First drive motor; 62 - First transmission mechanism; 621 - First gear; 622 - Second gear; 63 - Third bearing; 70 - Detection device; 80 - First bearing; 200 - Robotic arm body; 210 - Robotic arm joint. Detailed Implementation

[0050] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0051] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system 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 system. 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 system that includes that element.

[0052] In the following description, the terms "first," "second," etc., are used for descriptive convenience only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0053] In this application, unless otherwise expressly specified and limited, the term "connection" shall be interpreted broadly. For example, "connection" may be a fixed mechanical connection, a detachable mechanical connection, or an integral part; or, "connection" may be a direct connection or an indirect connection through an intermediate medium.

[0054] Furthermore, in the embodiments of this application, directional terms such as "up," "down," "left," "right," "horizontal," and "vertical" may be defined relative to the orientation in which the components are schematically placed in the accompanying drawings. It should be understood that these directional terms can be relative concepts, used for relative description and clarification, and can change accordingly depending on the orientation in which the components are placed in the accompanying drawings.

[0055] The terms "parallel," "perpendicular," and "identical" (e.g., identical length, identical width, etc.) mentioned in the embodiments of this application are all relative to the current technological level, and not absolute and strict mathematical definitions. There can be a predetermined angular deviation between two mutually parallel or perpendicular components. In one embodiment, the predetermined angle can be within the range of ±10°, for example, a predetermined angular deviation of ±5°.

[0056] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0057] This application provides a robot that can be of different types and can be used in industrial, commercial or household fields to perform different operations. This application does not specifically limit the specific type of robot.

[0058] For example, the robot provided in this application embodiment can be a embodied robot or a non-embodied robot. Depending on the walking method, the robot provided in this application embodiment can be a wheeled robot, a tracked robot, or a legged robot.

[0059] The robot provided in this application embodiment may include a torso mechanism and a robotic arm. The robotic arm can be movably connected to the torso mechanism for picking up and placing items.

[0060] It is understood that the robot provided in this application embodiment may also include other components. The composition of the robot provided in this application embodiment may vary depending on the application field and the functions to be implemented; this is merely an example and is not intended to further limit the scope.

[0061] For example, the robot provided in this application embodiment may further include a walking mechanism and a control mechanism. The walking mechanism can be used to drive the robot to move, and the control mechanism can control the robot to enable it to perform different operations.

[0062] The robotic arm in the robot provided in the embodiments of this application will now be described with reference to the accompanying drawings. Figure 1 As shown, the robotic arm 1000 may include a gripper 100 and a robotic arm body 200. The gripper 100 is mounted on one end of the robotic arm body 200 and can be used to pick up and put down items. The other end of the robotic arm body 200 can be movably connected to a torso mechanism (not shown in the figure).

[0063] like Figure 1 As shown, in some embodiments, the robotic arm body 200 may include multiple robotic arm joints 210. These multiple robotic arm joints 210 are rotatably connected in sequence. Thus, by rotating the multiple robotic arm joints 210, the robotic arm body 200 can move the gripper 100 to different positions.

[0064] In some embodiments, the rotation axes of at least two robotic arm joints 210 can be in different directions. In this way, two robotic arm joints 210 with rotation axes in different directions can rotate in different directions, thereby making the position adjustment of the gripper 100 more flexible.

[0065] It is understood that the specific composition and form of the robotic arm body 200 provided in this application embodiment can be adjusted according to the actual situation. It is only used as an example for illustration and is not further limited.

[0066] The gripper 100 in the robotic arm 1000 provided in the embodiments of this application will be described below, such as Figure 2 As shown, the gripper 100 may include a base 10 and two gripping mechanisms 20.

[0067] In some embodiments, the gripper 100 further includes a housing 30. The interior of the housing 30 may form a receiving space, within which at least a portion of the base 10 and the clamping mechanism 20 may be located.

[0068] In this way, the outer shell 30 can play a protective role, preventing some structures of the gripper 100 from being directly exposed to the outside and damaged, while also improving the overall shape of the gripper 100.

[0069] The specific structure of the outer casing 30 can be designed according to actual conditions. For example, such as... Figure 2 As shown, the outer casing 30 may include a first outer casing 31 and a second outer casing 32. The first outer casing 31 and the second outer casing 32 can be interlocked to form a receiving space, and the base 10 can be located between the first outer casing 31 and the second outer casing 32.

[0070] Continue to refer to Figure 2 The two clamping mechanisms 20 can be movably connected to the base 10 respectively for clamping items. When it is necessary to use the gripper 100 to clamp an item, the two clamping mechanisms 20 can move relative to the base 10, so that the item can be clamped and fixed between the two clamping mechanisms 20.

[0071] The two clamping mechanisms 20 can be arranged at intervals. For example, such as... Figure 2 As shown, the two clamping mechanisms 20 can be arranged along the first direction X, that is, the clamping mechanisms 20 can be arranged along... Figure 2 The arrangement is shown in the left-right direction. One end of each of the two clamping mechanisms 20 can be movably connected to the base 10.

[0072] Based on this, when the clamping mechanism 20 needs to clamp an item, the other ends of the two clamping mechanisms 20 can move toward each other or toward each other to adjust the distance between the other ends of the two clamping mechanisms 20, so that items of different sizes can be clamped.

[0073] In order to achieve the movement of the clamping mechanism 20, in some embodiments, such as Figure 3 As shown, the gripper 100 may include a second drive mechanism 40. The second drive mechanism 40 is mounted on the base 10 and connected to one end of the gripping mechanism 20.

[0074] The second drive mechanism 40 is used to drive the clamping mechanism 20 to clamp or release an item. Thus, the clamping mechanism 20 can move relative to the base 10 under the drive of the second drive mechanism 40, thereby clamping and releasing the item.

[0075] Of course, in some other embodiments, the gripper 100 may not include the second drive mechanism 40. In this case, the user can manually move the position of the gripping mechanism 20, and can grip the item more accurately according to the user's set position when gripping the item.

[0076] Furthermore, to enhance the versatility of the gripper 100, in some embodiments, reference is made to... Figure 2 and Figure 4 The gripper 100 may also include a rotating member 50 and a first drive mechanism 60. The first drive mechanism 60 is mounted on the base 10 and connected to the rotating member 50.

[0077] The first drive mechanism 60 is used to drive the rotating component 50 to rotate relative to the base 10. Thus, when an item is placed on and connected to the rotating component 50, the first drive mechanism 60 can drive the rotating component 50 to rotate, thereby causing the item to rotate. This increases the application scenarios of the gripper 100, enabling the gripper to not only grip the item but also rotate it.

[0078] For example, the rotating component 50 can be connected to a linkage to which a cleaning component (such as a rag, brush, etc.) is attached. In this way, the rotating component 50 can drive the cleaning component to rotate, thereby allowing the cleaning component to be used to wipe items such as glass.

[0079] In some embodiments, the operation of the first drive mechanism 60 and the second drive mechanism 40 is independent of each other. Therefore, the movement of the clamping mechanism 20 driven by the second drive mechanism 40 and the movement of the rotating component 50 driven by the first drive mechanism 60 are independent of each other, allowing the user to independently adjust the movement of the clamping mechanism 20 and the rotating component 50 as needed without mutual interference.

[0080] Of course, in some other embodiments, the first drive mechanism 60 and the second drive mechanism 40 can also operate in conjunction. In this case, the synchronization between the first drive mechanism 60 and the second drive mechanism 40 is better.

[0081] The clamping mechanism 20 in the gripper 100 provided in the embodiments of this application will be further described below with reference to the accompanying drawings.

[0082] In some embodiments, one end of the clamping mechanism 20 can be rotatably connected to the base 10. In this way, when one end of the two clamping mechanisms 20 rotates about the rotation axis, the other ends of the two clamping mechanisms 20 can move away from or towards each other.

[0083] In some embodiments, such as Figure 2 As shown, the rotation axis of the clamping mechanism 20 and the base 10 can intersect with the first direction X. In this way, along the first direction X, the other ends of the two clamping mechanisms 20 can move away from or closer to each other, so that the article can be clamped between the two clamping mechanisms 20.

[0084] For example, such as Figure 2 As shown, the clamping mechanism 20 is arranged along the first direction X, and the rotation axis of the clamping mechanism 20 can be perpendicular to the first direction X, that is, the rotation axis of the clamping mechanism 20 can be... Figure 2 The front-back direction is shown. Alternatively, the rotation axis of the clamping mechanism 20 may form an angle with the first direction X, which is less than 90°.

[0085] Alternatively, in some other embodiments, the rotation axis of the clamping mechanism 20 and the base 10 may also be parallel to the first direction X. In this case, along a direction perpendicular to the first direction X, the other ends of the two clamping mechanisms 20 may move away from or closer to each other, so that the article can be clamped between the two clamping mechanisms 20.

[0086] In other embodiments, in order to achieve a movable connection between the clamping mechanism 20 and the base 10, one end of the clamping mechanism 20 can also be slidably connected to the base 10. In this way, when one end of the two clamping mechanisms 20 slides relative to the base 10, the other ends of the two clamping mechanisms 20 can also move closer to or further away from each other.

[0087] It is understandable that the sliding direction of the clamping mechanism 20 can be set according to actual needs. For example, the sliding direction of the clamping mechanism 20 can be parallel to the arrangement direction of the clamping mechanism 20, or it can intersect with the arrangement direction of the clamping mechanism 20.

[0088] In some embodiments, such as Figure 2 As shown, the clamping mechanism 20 may include a first connector 21 and a clamping member 22. One end of the first connector 21 may be movably connected to the base 10, and the other end is connected to the clamping member 22. For example, as shown... Figure 2 As shown, the first connector 21 can be rotatably connected to the base 10. The plane containing the rotation direction of the first connector 21 can be perpendicular to the first direction X.

[0089] The clamping member 22 can be used to clamp and hold an item. Thus, when one end of the two first connecting members 21 moves, the other end can move away from or towards each other, thereby allowing the clamping member 22 to hold the item.

[0090] It is understandable that the specific shape and structure of the clamping component 22 can be designed according to actual needs, as long as it can achieve a good clamping effect, without further limitations.

[0091] For example, such as Figure 2 As shown, the clamping member 22 may have a clamping surface 221. The clamping surface 221 can be used to abut against an article. Wherein, as... Figure 2 As shown, the clamping surface 221 can be a rough surface. In this case, the clamping surface 221 can generate a large frictional force with the object, so that the clamping member 22 can clamp the object more stably.

[0092] In order to detect the clamping status of the item, in some embodiments, such as Figure 2 As shown, the gripper 100 may further include a detection device 70. The detection device 70 may be disposed on the gripping surface 221 for detecting the gripping state of the gripping surface 221. This gripping state may include at least one of gripping position and gripping force. Thus, through the detection of the detection device 70, it is possible to detect whether the gripper 22 is properly gripping the item, so as to change the gripping position or the gripping force accordingly.

[0093] For example, the detection device 70 may include a pressure sensor. The pressure value detected by the pressure sensor can be used to detect the clamping state of the item. For instance, if the pressure sensor does not detect a pressure value, it indicates that the item is not clamped to the position of the detection device 70, and the clamping position of the item can be adjusted. When the pressure sensor detects a certain pressure value, it indicates that the item is clamped to the position of the detection device 70. At this time, the clamping force of the clamping member 22 on the item can also be confirmed by the pressure value of the pressure sensor, and the clamping force can be adjusted accordingly.

[0094] Alternatively, for example, the detection device 70 may also include an infrared sensor. In this case, the clamping state of the item can be detected by the infrared signals emitted and received by the infrared sensor. For example, if the infrared sensor does not receive an infrared signal, it means that the item is not clamped to the position of the detection device 70, and the clamping position of the item can be adjusted. When the infrared sensor receives an infrared signal, it means that the item is clamped to the position of the detection device 70.

[0095] In some embodiments, such as Figure 5 As shown, the clamping surface 221 may have a device mounting groove 2211. Detection device 70 ( Figure 3It can be located in the device mounting slot 2211.

[0096] In this way, the detection device 70 can be located in the device mounting slot 2211 through the device mounting slot 2211, so that the clamping surface 221 is relatively flat as a whole, and the detection device 70 is prevented from protruding too much from the clamping surface 221, which would affect the clamping effect on the item.

[0097] In order for the detection device 70 to be better and more completely disposed inside the device mounting slot 2211, the detection device 70 may, for example, be a surface mount type detection device 70.

[0098] To better hold items, such as Figure 2 As shown, at least one clamping mechanism 20 may further include a deformable component 23. The deformable component 23 may be located between the two first connectors 21. The deformable component 23 is configured to deform to conform to the article upon contact with it.

[0099] The deformable component 23 is in a first state when it is not in contact with the object, and in a second state when it comes into contact with the object. The deformable component 23 is configured to switch from the first state to the second state to conform to the object when it comes into contact with the object.

[0100] It should be noted that the term "fitting" in this article does not refer to complete fitting, but rather to partial fitting; compared to the clamping mechanism 20 with deformable component 23, the clamping mechanism 20 with deformable component 23 can improve the fitting degree with the object.

[0101] Therefore, when the clamping member 22 is clamping an item, the deformable component 23 can deform to fit the item, so that the item can be more securely clamped and fixed by the clamping member 22 and the deformable component 23; it also allows the gripper to deform more according to the size of different items to adjust the clamping space, thereby clamping different items.

[0102] In some embodiments, both clamping mechanisms 20 may include deformable components 23. In this case, the article can fit against the two deformable components 23, resulting in a higher degree of fit and better clamping effect.

[0103] In other embodiments, one of the two clamping mechanisms 20 may include a deformable component 23, while the other may not include a deformable component 23. In this case, the item can also fit with a single deformable component 23, resulting in a better fit and clamping effect.

[0104] In some embodiments, such as Figure 2As shown, one end of the deformable component 23 can be rotatably connected to the base 10, and the other end can be rotatably connected to the clamping member 22. In this way, as the clamping member 22 moves with the first connecting member 21, the deformable component 23 can also change position to better move closer to the object to be clamped and achieve a better fit.

[0105] Alternatively, in order to enable the deformable component 23 to move with the clamping member 22, in some other embodiments, one end of the deformable component 23 may be slidably connected to the base 10 and the other end may be slidably connected to the clamping member 22.

[0106] At this time, the deformable component 23 can achieve synchronous movement by sliding relative to the base 10 and the clamping member 22. The specific sliding direction of the deformable component 23 can be designed according to the actual situation, as long as it can achieve the effect of following the movement of the first connecting member 21 and the clamping member 22. No further explanation is given here.

[0107] Alternatively, in some embodiments, the deformable component 23 may be connected only to the base 10. In this case, the position of the deformable component 23 can be relatively fixed. The deformable component 23 is in a first state when not in contact with the object; when the object comes into contact with the deformable component 23, the deformable component 23 can transform into a second state through its own deformation, thus better conforming to the object.

[0108] It is understandable that, based on the above-described scheme where the deformable component 23 is only connected to the base 10, the specific type of the deformable component 23 can be selected according to the actual situation, as long as the deformable component 23 can produce shape changes and achieve switching between the first state and the second state. For example, the deformable component 23 may include an elastic component, which has elasticity and can achieve switching between different states through its own deformation.

[0109] In some embodiments, such as Figure 6 As shown, Figure 6 As shown, the deformable assembly 23 has a first end 2311 rotatably connected to the base 10 and a second end 2321 rotatably connected to the clamping member 22. The first connecting member 21 has a third end 211 rotatably connected to the base 10 and a fourth end 212 rotatably connected to the clamping member 22. The distance between the first end 2311 and the third end 211 is equal to the distance between the second end 2321 and the fourth end 212. The line connecting the first end 2311 and the third end 211 is parallel to the connection between the second end 2321 and the fourth end 212. It should be noted that the distance here refers to the distance between the center points of each end (e.g., the corresponding axes). Figure 6 The distance between each projection point shown is a vertical projection onto a plane perpendicular to the first rotation axis L1.

[0110] Furthermore, if the rotation axes of the first end 2311, the second end 2321, the third end 211, and the fourth end 212 are parallel, the two ends of the deformable component 23 and the two ends of the first connecting member 21 can form a parallelogram structure. In this way, the second end 2321 and the fourth end 212, which are connected to the clamping member 22, serve as one side of the parallelogram. During the movement of the clamping member 22 with the first connecting member 21, the clamping member 22 can translate its position without rotating.

[0111] For example, such as Figure 6 As shown, the two clamping members 22 are generally in the shape of... Figure 6 As shown in the diagram, the clamping member 22 maintains its vertical position during movement. Therefore, the two clamping members 22 can remain parallel to each other in different positions, allowing for direct clamping of the object in the middle at each location.

[0112] Of course, there can be other positional relationships between the deformable component 23 and the first connector 21 and the connection positions of the base 10 and the clamping member 22. For example, in some embodiments, the distance between the first end 2311 and the third end 211 can be different from the distance between the second end 2321 and the fourth end 212. The connection between the first end 2311 and the third end 211 does not have to be parallel to the line connecting the second end 2321 and the fourth end 212, as long as the deformable component 23 can move with the first connector 21 and the clamping member 22.

[0113] In order to enable the deformable component 23 to change between a first state and a second state, in some embodiments, such as Figure 6 As shown, the deformable assembly 23 may include a second connector 231 and a third connector 232. One end of the second connector 231 may be rotatably connected to the base 10. One end of the third connector 232 may be rotatably connected to the other end of the second connector 231, and the other end may be rotatably connected to the clamping member 22.

[0114] Therefore, since the second connector 231 and the third connector 232 are rotatably connected, they can rotate relative to each other. Thus, when the clamping member 22 clamps an item, the item can abut against the second connector 231 and the third connector 232, causing the second connector 231 and the third connector 232 to rotate relative to each other, thereby improving the fit with the item and achieving the transition from the first state to the second state.

[0115] Alternatively, as mentioned above, in some other embodiments, the deformable component 23 may also include an elastic element. In this case, the deformable component 23 can switch between the first and second states through its own elastic deformation, thereby achieving a better fit with the object and a better fit effect.

[0116] In some embodiments, such as Figure 6 As shown, the connection position between the clamping member 22 and the third connecting member 232 (i.e., the second end 2321) is different from the connection position between the clamping member 22 and the first connecting member 21 (i.e., the fourth end 212). Therefore, during the movement and clamping process with the first connecting member 21, the clamping member 22 can adjust its posture and position by rotating the connection point between the first connecting member 21 and the third connecting member 232 due to the different connection positions of the first connecting member 21 and the third connecting member 232.

[0117] In some embodiments, such as Figure 6 As shown, the connection positions of the base 10 and the first connector 21 (i.e., the third end 211) and the connection positions of the base 10 and the second connector 231 (i.e., the first end 2311) can also be different. Similarly, as the clamping member 22 moves with the first connector 21, the connection positions of the first connector 21 and the second connector 231 are different. In some cases, the clamping member 22 can be adjusted in posture and position by rotating at the connection point between the second connector 231 and the base 10.

[0118] Of course, in other embodiments, the connection positions of the clamping member 22 and the third connecting member 232 and the clamping member 22 and the first connecting member 21 can also be the same. Similarly, in some embodiments, the connection positions of the base 10 and the first connecting member 21 and the base 10 and the second connecting member 231 can also be the same.

[0119] The specific settings of the above connection positions can be adjusted according to the actual situation. Different connection positions can be selected for connection based on different connection methods and size structures. No further restrictions are made here.

[0120] In some embodiments, such as Figure 6 As shown, the first connecting member 21 and the base 10 have a first rotation axis L1, the second connecting member 231 and the base 10 have a second rotation axis L2, the first connecting member 21 and the clamping member 22 have a third rotation axis L3, and the third connecting member 232 and the clamping member 22 have a fourth rotation axis L4. The first rotation axis L1, the second rotation axis L2, the third rotation axis L3, and the fourth rotation axis L4 can be parallel.

[0121] For example, such as Figure 6As shown, the first rotation axis L1, the second rotation axis L2, the third rotation axis L3, and the fourth rotation axis L4 are all perpendicular to each other. Figure 6 The second direction Y is parallel, i.e. Figure 6 The front and back directions.

[0122] Therefore, since the first rotation axis L1, the second rotation axis L2, the third rotation axis L3 and the fourth rotation axis L4 are parallel, during the rotation of the first connecting member 21 relative to the base 10 around the first rotation axis L1, the clamping member 22 and the second connecting member 231 and the third connecting member 232 that make up the deformation assembly 23 can move with the rotation of the first connecting member 21, thereby completing the overall position change of the clamping mechanism 20.

[0123] Alternatively, in some other embodiments, one end of the first connector 21 can be slidably connected to the base 10, and the other end can be slidably connected to the clamping member 22. In this case, the first connector 21 can drive the clamping member 22 to move by sliding. At the same time, the end of the second connector 231 that is rotatably connected to the base 10, and the end of the third connector 232 that is rotatably connected to the clamping member 22, can rotate synchronously by rotation, thereby realizing the overall movement of the clamping mechanism 20.

[0124] In some embodiments, the second connector 231 and the third connector 232 have a fifth rotation axis L5. The fifth rotation axis L5 is parallel to the first rotation axis L1. Thus, during rotation, since the fifth rotation axis L5 is parallel to the first rotation axis L1, the second connector 231 and the third connector 232 can easily rotate relative to each other at the connection point.

[0125] Alternatively, in some embodiments, the second connector 231 and the third connector 232 can also be slidably connected. In this case, the second connector 231 and the third connector 232 can also achieve relative movement. The specific direction and implementation method of the sliding connection can be adjusted according to the actual situation, and will not be further explained here.

[0126] In some embodiments, the distance between the end of the third connector 232 connected to the clamping member 22 (i.e., the second end 2321) and the end of the third connector 232 connected to the second connector 231 is less than the distance between the end of the second connector 231 connected to the third connector 232 and the end of the second connector 231 connected to the base 10 (i.e., the first end 2311).

[0127] At this time, the length of the third connector 232 is shorter than that of the second connector 231. During the relative rotation of the third connector 232 and the second connector 231 and the deformation of the deformation component 23 (from the first state to the second state), the movement stroke of the third connector 232 is small. This allows the end of the third connector 232 connected to the clamping member 22 to have a smaller stroke, thus avoiding large movements of the clamping member 22 and affecting the clamping effect.

[0128] Of course, in other embodiments, the distance between the end of the third connector 232 connected to the clamping member 22 and the end of the third connector 232 connected to the second connector 231 may be greater than or equal to the distance between the end of the second connector 231 connected to the third connector 232 and the end of the second connector 231 connected to the base 10.

[0129] In some embodiments, such as Figure 6 As shown, the deformable assembly 23 also includes an elastic element 233. The elastic element 233 is connected to the second connector 231 and the third connector 232. The elastic element 233 is used to generate elastic force, so that the end of the second connector 231 connected to the base 10, the end of the second connector 231 connected to the third connector 232, and the end of the third connector 232 connected to the clamping member 22 are in a straight line.

[0130] It is understandable that when the deformable component 23 is in the first state, the end of the second connector 231 connected to the base 10, the end of the second connector 231 connected to the third connector 232, and the end of the third connector 232 connected to the clamping member 22 are all in a straight line. Therefore, through the elastic member 233, after the clamped item is separated from the deformable component 23, the deformable component 23 can return to the first state, and after the deformable component 23 comes into contact with the item, it can overcome the elastic force and become in the second state with a higher degree of matching.

[0131] In some embodiments, such as Figure 6 As shown, the second connector 231 has a first mounting hole 2312, and the third connector 232 has a second mounting hole 2322. One end of the elastic member 233 is installed in the first mounting hole 2312, and the other end is installed in the second mounting hole 2322.

[0132] For example, the elastic element 233 can be a spring. Along the extension direction of the spring, one end of the spring is installed in the first mounting hole 2312, and the other end is installed in the second mounting hole 2322. Alternatively, the elastic element 233 can also be a sheet, a rubber component, or other elastic components.

[0133] Alternatively, to facilitate the installation of the elastic member 233, in some embodiments, the second connector 231 may be formed with a first mounting post, and the third connector 232 may be formed with a second mounting post. One end of the elastic member 233 is connected to the first mounting post, and the other end of the elastic member 233 is connected to the second mounting post.

[0134] In some embodiments, such as Figure 6 As shown, the deformable component 23 may further include a flexible element 234. The flexible element 234 is disposed on at least one of the second connector 231 and the third connector 232 for contacting the article. Thus, by providing the flexible element 234, direct contact between the second connector 231 or the third connector 232 and the article can be avoided, and the contact between the flexible element 234 and the article can act as a buffer, reducing the probability of damage to the article.

[0135] The specific number of flexible components 234 can be designed according to actual conditions. For example, such as... Figure 6 As shown, a flexible member 234 is provided on each of the second connector 231 and the third connector 232.

[0136] Therefore, the clamping mechanisms 20 of the different embodiments provided in the above-described embodiments of this application can achieve a good clamping effect on the items. The following, with reference to the accompanying drawings, will further describe the relevant structure of the rotating member 50 in the gripper 100 provided in the embodiments of this application.

[0137] In some embodiments, the rotating member 50 may include a docking portion. The docking portion is configured to dock with an article and drive the article to rotate. Thus, the rotating member 50 can connect to the article through the docking portion and drive the article to rotate.

[0138] In some embodiments, the clamping mechanism 20 may include a clamping portion. This clamping portion is configured to clamp an article to position a rotating article. For example, the clamping portion may be either the clamping member 22 or the clamping surface 221 on the clamping member 22. Thus, the clamping surfaces 221 on the two clamping members 22 can effectively position the rotating article, allowing it to maintain a more stable state during rotation.

[0139] It should be noted that positioning the rotating item by the clamping mechanism 20 does not mean that the item is absolutely clamped and positioned by the clamping mechanism 20 so that the item cannot rotate. In the embodiments of this application, the rotating item can be positioned from the outside by the clamping mechanism 20, such as forming a barrier around the rotating item. In this case, the clamping mechanism 20 may not be in direct contact with the item, but can form a barrier at close range; or the clamping mechanism 20 may be in contact with the rotating item, without generating much resistance to the rotation of the item; or the clamping mechanism 20 may clamp the first part of the item, and the second part of the item may be able to rotate relative to the first part, with the second part docking with the rotating component 50.

[0140] In other embodiments, the rotating member 50 can also directly and effectively secure the item. In this case, the item rotated by the rotating member 50 can be held without the clamping mechanism 20, which can hold other items.

[0141] In some embodiments, the mating part and the clamping part can be located at different heights relative to the base 10, so that the mating part and the clamping part respectively contact different positions of the article. Therefore, by contacting different positions with the article, the article can be better fixed, ensuring that there is no mutual interference between the clamping part and the mating part.

[0142] In some embodiments, such as Figure 6 As shown, the two clamping mechanisms 20 are arranged along the first direction X. Along the first direction X, the rotating member 50 is located between the two clamping mechanisms 20. In this way, since the rotating member 50 is located between the two clamping mechanisms 20, when the rotating member 50 is connected to the item, the item can also be located between the two clamping mechanisms 20, which facilitates clamping by the two clamping mechanisms 20.

[0143] Of course, in other embodiments, the rotating member 50 may also be located in other positions. For example, when the rotating member 50 can independently and effectively secure the article, such as... Figure 6 As shown, two clamping mechanisms 20 are arranged horizontally above the base 10. At this time, the rotating component 50 can be located in front of or behind the base 10.

[0144] As mentioned above, one end of the clamping mechanism 20 can be rotatably connected to the base 10. Two clamping mechanisms 20 are arranged along the first direction X, and the rotation axis of the clamping mechanism 20 can intersect the first direction X. In some embodiments, the rotation axis of the rotating member 50 can be perpendicular to both the first direction X and the rotation axis of the clamping mechanism 20. For example,... Figure 6 As shown, the clamping mechanism 20 is wrapped around Figure 6 The rotation is shown in the forward and backward direction. At this time, the axis of rotation of the rotating component 50 can be... Figure 6 The up and down directions are shown.

[0145] In this way, when the rotating component 50 is connected to the rotating object, the two clamping mechanisms 20 can clamp the object from both sides of the circumference. The direction of the applied force is perpendicular to the rotation axis of the rotating component 50, which can achieve a good clamping effect on the object.

[0146] In some embodiments, such as Figure 7 As shown, the base 10 has a mounting groove 101. The rotating component 50 is rotatably connected to the mounting groove 101. The mounting groove 101 provides a mounting position for the rotating component 50, which facilitates the installation and positioning of the rotating component 50.

[0147] In some embodiments, the rotating member 50 is located inside the mounting groove 101. One end of the rotating member 50 is close to the opening of the mounting groove 101, flush with the opening of the mounting groove 101 or located on the side of the opening of the mounting groove 101 near the bottom. In this case, the rotating member 50 can be completely located inside the mounting groove 101, thus achieving the concealment of the rotating member 50.

[0148] Of course, in some other embodiments, the rotating member 50 may also be partially located outside the mounting slot 101. In this case, it facilitates the installation of the item to be rotated with the rotating member 50.

[0149] In some embodiments, such as Figure 8 As shown, the gripper 100 also includes a first bearing 80. The first bearing 80 is sleeved on the rotating member 50. Thus, the first bearing 80 can reduce the friction generated by the rotating member 50 during rotation, thereby ensuring the service life and rotation effect of the rotating member 50.

[0150] Depending on the length and shape of the rotating member 50, the number of first bearings 80 can be selected according to the actual situation. In some embodiments, there can be multiple first bearings 80, which can be spaced apart and sleeved on the rotating member 50 along the rotation axis of the rotating member 50.

[0151] Therefore, the rotating component 50 can be relatively long. By setting multiple first bearings 80, the service life and rotation effect of the rotating component 50 can be further guaranteed. For example, as shown... Figure 8 As shown, there can be two first bearings 80, and the size of the first bearing 80 can be designed according to the dimensions of the corresponding position of the rotating part 50.

[0152] Of course, in some other embodiments, there may be only one first bearing 80. In this case, the length of the rotating member 50 can be shorter, and a single first bearing 80 is sufficient to ensure a good friction reduction effect.

[0153] As described above, the rotating component 50 can be connected to the article via the mating portion. In some embodiments, such as Figure 8 As shown, the docking part may be provided with a mounting hole 501. In this case, a rotating item can be inserted into the mounting hole 501 to connect with the rotating component 50. For example, a cleaning component with a connecting rod can be connected to the rotating component 50 by inserting an operating rod into the mounting hole 501.

[0154] Of course, in some other embodiments, the docking part may also be provided with a docking post. In this case, the docking post can extend into the hole structure designed for the rotating article, and the connection between the rotating part 50 and the article can also be realized.

[0155] Regarding the aforementioned mounting hole 501, in some embodiments, such as Figure 9 As shown, the mounting hole 501 may include a first hole segment 502 and a second hole segment 503. One end of the first hole segment 502 has an opening. One end of the second hole segment 503 can communicate with the other end of the first hole segment 502. The hole wall of the first hole segment 502 may be inclined. The port size of the first hole segment 502 near the second hole segment 503 may be smaller than the port size of the first hole segment 502 away from the second hole segment 503.

[0156] Therefore, as Figure 9 As shown, the wall of the first hole segment 502 can form a guiding surface. When an external object (such as a rod-shaped object) is inserted, the wall of the first hole segment 502 can guide it, making it easier for the object to be inserted. The wall of the second hole segment 503 can act as a limit, preventing the object from shaking within the mounting hole 501.

[0157] In some embodiments, such as Figure 9 As shown, the hole wall of the first hole segment 502 may include multiple first planar sidewalls 5021 and multiple first arcuate sidewalls 5022. The multiple first planar sidewalls 5021 and multiple first arcuate sidewalls 5022 are connected end to end alternately in the circumferential direction. When an object of a corresponding shape is inserted into the first hole segment 502, the multiple first planar sidewalls 5021 can act as a limit to prevent relative movement between the object and the rotating component 50, thereby allowing the object to rotate with the rotating component 50.

[0158] Similarly, in some embodiments, the wall of the second hole segment 503 may include a plurality of second planar sidewalls 5031 and a plurality of second arcuate sidewalls 5032. The plurality of second planar sidewalls 5031 and the plurality of second arcuate sidewalls 5032 are connected end to end alternately in the circumferential direction. In this case, when an item of a corresponding shape is inserted into the second hole segment 503, the plurality of second planar sidewalls 5031 can act as a limit to prevent relative movement between the item and the rotating member 50, thereby allowing the item to rotate with the rotating member 50.

[0159] In some embodiments, continue to refer to Figure 9 The mounting hole 501 may further include a third hole segment 504. One end of the third hole segment 504 communicates with the other end of the second hole segment 503. The end of the third hole segment 504 that connects to the second hole segment 503 extends at least partially into the mounting hole 501 beyond the second hole segment 503 to form a support for an article inserted into the mounting hole 501. The wall of the third hole segment 504 is cylindrical.

[0160] In some embodiments, the mounting hole 501 may further include a fourth hole segment 505. One end of the fourth hole segment 505 communicates with the other end of the third hole segment 504. The hole wall of the fourth hole segment 505 is inclined. The port size of the fourth hole segment 505 near the third hole segment 504 is larger than the port size of the fourth hole segment 505 away from the third hole segment 504.

[0161] In some embodiments, the mounting hole 501 may further include a fifth hole segment 506. One end of the fifth hole segment 506 communicates with the other end of the fourth hole segment 505. The hole wall of the fifth hole segment 506 is cylindrical, and the diameter of the hole wall of the fifth hole segment 506 is smaller than the diameter of the hole wall of the third hole segment 504.

[0162] Depending on the different structural compositions of the gripper 100, the base 10 provided in this application embodiment can have different structures. The following, with reference to the accompanying drawings, will further describe the relevant structures of the base 10 in the gripper 100 provided in this application embodiment, as well as the second drive mechanism 40 and the first drive mechanism 60 mounted on the base 10.

[0163] like Figure 3 and 4 As shown, in some embodiments, the base 10 includes a first base 11 and a second base 12. The first base 11 and the second base 12 can be connected to each other, and an installation space communicating with the outside can be formed between the first base 11 and the second base 12.

[0164] Therefore, the mounting space formed between the first base 11 and the second base 12 can provide mounting positions for other components. For example, such as... Figure 3 As shown, a portion of the deformable component 23 may be located within the mounting space, while another portion extends beyond the base 10.

[0165] In some embodiments, such as Figure 7 As shown, the first base 11 has a first groove 1011 on one side. The second base 12 is connected to the first base 11, and the second base 12 has a second groove 1012 on one side. The side of the first base 11 with the first groove 1011 and the side of the second base 12 with the second groove 1012 fit together to form a mounting groove 101.

[0166] In this way, when installing the rotating component 50, it can be first inserted into the first groove 1011 or the second groove 1012, and then the first base 11 and the second base 12 can be installed and connected, making the operation more convenient. At the same time, when disassembling, the first base 11 and the second base 12 can be removed, and the rotating component 50 can be taken out directly.

[0167] To make the installation of the second drive mechanism 40 and the first drive mechanism 60 more reasonable, such as Figure 3 and Figure 4 As shown, in some embodiments, the second drive mechanism 40 can be mounted on the first base 11, and the first drive mechanism 60 can be mounted on the second base 12. Thus, the second drive mechanism 40 and the first drive mechanism 60 can be mounted on the first base 11 and the second base 12, respectively.

[0168] The first drive mechanism 60 and the second drive mechanism 40 will be further described below.

[0169] In some embodiments, such as Figure 10 and Figure 11 As shown, the second drive mechanism 40 may include a second drive motor 41 and a second transmission mechanism 42. The second drive motor 41 is mounted on the base 10. The second transmission mechanism 42 is connected to the second drive motor 41 and to one end of the first connecting member 21.

[0170] Therefore, the second drive motor 41 can drive the second transmission mechanism 42 to move, and the second transmission mechanism 42 is connected to the first connecting member 21. The second transmission mechanism 42 can drive the first connecting member 21 to rotate, thereby realizing the overall movement of the clamping mechanism 20.

[0171] Of course, in some other embodiments, the second drive mechanism 40 may also include only the second drive motor 41, which can directly drive the first connecting member 21 to rotate.

[0172] like Figure 10 and Figure 11 As shown, in some embodiments, the second transmission mechanism 42 may include a worm 421, two worm wheels 422, and two sets of rotating gears 423.

[0173] The worm gear 421 is connected to the output end of the second drive motor 41. Two worm wheels 422 mesh with the worm gear 421 respectively. Two rotating gear sets 423 are each connected to one of the worm wheels 422 for synchronous rotation with the worm wheels 422. One end of a first connecting member 21 is connected to one of the rotating gear sets 423.

[0174] Therefore, the second drive motor 41 can drive the worm 421 to rotate, and the worm 421 can drive the two worm wheels 422 to rotate. Simultaneously, the rotation of the two worm wheels 422 can drive the two rotating gear sets 423 to rotate, thereby driving the two first connecting members 21 to rotate. Thus, through the cooperation of the worm wheels 422, worm 421, and rotating gear sets 423, a single second drive motor 41 can synchronously drive the two first connecting members 21 to rotate.

[0175] Of course, in other embodiments, the second transmission mechanism 42 may also include an output gear set. The output gear set is connected to the output end of the second drive motor 41 and to the first connecting member 21. In this case, the output gear set can also drive the first connecting member 21 to rotate under the drive of the second drive motor 41.

[0176] It is understood that the specific composition of the output gear set can be designed according to actual conditions, as long as it can drive the movement of the first connecting member 21. For example, the output gear set may include a first output gear, a second output gear, and a third output gear. The first output gear is sleeved on the output end of the second drive motor 41. The second and third output gears mesh with the first output gear, and each of the second and third output gears is connected to a first connecting member 21.

[0177] In some embodiments, the rotating gear set 423 includes a first connecting shaft 4231, a second connecting shaft 4232, a first rotating gear 4233, and a second rotating gear 4234. One end of the first connecting shaft 4231 passes through the worm gear 422. The first rotating gear 4233 is sleeved on the other end of the first connecting shaft 4231. The second rotating gear 4234 meshes with the first rotating gear 4233. One end of the second connecting shaft 4232 passes through the second rotating gear 4234, and the other end is connected to one end of the first connecting member 21.

[0178] Therefore, the first connecting shaft 4231 can rotate under the drive of the worm gear 422, and drive the first rotating gear 4233 to rotate, so that the first rotating gear 4233 can drive the second rotating gear 4234 to rotate synchronously, thereby driving the second connecting shaft 4232 to rotate, and finally driving the first connecting piece 21 to rotate.

[0179] Of course, in some other embodiments, the rotating gear set 423 may only include the first connecting shaft 4231 and the first rotating gear 4233. In this case, one end of the first connecting member 21 may have a toothed structure. In this case, the first rotating gear 4233 can mesh with the toothed structure at one end of the first connecting member 21. In this way, the first rotating gear 4233 can directly drive the first connecting member 21 to rotate.

[0180] In some embodiments, the number of teeth of the second rotating gear 4234 is greater than the number of teeth of the first rotating gear 4233. Because the second rotating gear 4234 has a larger number of teeth than the first rotating gear 4233, and its size is relatively larger than the first rotating gear 4233, it can output greater torque, reduce the peak force on a single tooth, improve service life, and make the transmission more stable.

[0181] Of course, in some other embodiments, the number of teeth of the second rotating gear 4234 may be equal to or less than the number of teeth of the first rotating gear 4233, and the specific design can be made according to the actual situation.

[0182] It is understandable that, such as Figure 10 and Figure 11 As shown, to protect the rotatably connected components, the second drive mechanism 40 may further include a second bearing 43. The second bearing 43 provides protection. The position and number of the second bearing 43 can be set according to actual conditions. For example, the output end of the second drive motor 41 may be provided with a second bearing 43.

[0183] The structure of the first drive mechanism 60 will be further described below. In some embodiments, such as... Figure 6 As shown, the first drive mechanism 60 may include a first drive motor 61 and a first transmission mechanism 62. The first drive motor 61 is mounted on the base 10. The first transmission mechanism 62 is connected to the first drive motor 61 and to the rotating member 50.

[0184] Therefore, the first drive motor 61 can drive the first transmission mechanism 62 to move, and the first transmission mechanism 62 is connected to the rotating part 50, so the first transmission mechanism 62 can drive the rotating part 50 to rotate.

[0185] Of course, in some other embodiments, the first drive mechanism 60 may also include only the first drive motor 61, which can directly drive the rotating part 50 to rotate.

[0186] In some embodiments, such as Figure 6 As shown, the first transmission mechanism 62 may include a first gear 621 and a second gear 622. The first gear 621 is sleeved on the output end of the first drive motor 61. The second gear 622 meshes with the first gear 621 and is sleeved on the rotating member 50.

[0187] Therefore, the first drive motor 61 can drive the first gear 621 to rotate, the first gear 621 can drive the second gear 622 to rotate synchronously, and finally drive the rotating part 50 to rotate.

[0188] Of course, in other embodiments, the first transmission mechanism 62 may also include a rotating worm gear and a rotating worm. The rotating worm is connected to the output end of the first drive motor 61. The rotating worm gear can mesh with the rotating worm and is sleeved on the rotating component 50. In this way, the first drive motor 61 can drive the rotating worm to rotate, thereby driving the rotating worm gear meshing with the rotating worm to rotate, ultimately driving the rotating component 50 to rotate.

[0189] In some embodiments, the number of teeth of the first gear 621 is less than the number of teeth of the second gear 622. Since the number of teeth of the second gear 622 is greater than the number of teeth of the first gear 621, and the size of the second gear 622 is relatively larger than that of the first gear 621, it can output greater torque, reduce the peak force on a single tooth, improve service life, and make the transmission more stable.

[0190] Of course, in some other embodiments, the number of teeth of the first gear 621 may be greater than or equal to the number of teeth of the second gear 622, and the specific design can be made according to the actual situation.

[0191] Based on the above composition, in some embodiments, such as Figure 3 and Figure 4 As shown, the first base 11 may include a first base body 111 and a first fixing part 112. The second base 12 may include a second base body 121 and a second fixing part 122.

[0192] The first base body 111 and the second base body 121 are connected, and the first base body 111 near the second base body 121 may have the aforementioned first groove 1011 ( Figure 7 The second base body 121 may have the aforementioned second groove 1012 formed on the side near the first base body 111. Figure 7 ).

[0193] The first fixing part 112 may be located on the side of the first base body 111 away from the second base body 121 and connected to the first base body 111. The second fixing part 122 may be located on the side of the second base body 121 away from the first base body 111 and connected to the second base body 121.

[0194] In some embodiments, such as Figure 3 As shown, the second drive motor 41 can be located on the same side as the first fixing part 112 and connected to the first fixing part 112. The second transmission mechanism 42 ( Figure 10 It is installed on the first base body 111 and connected to the second drive motor 41.

[0195] In some embodiments, the first fixing part 112 may have a first fixing groove (not shown in the figure), and the output end of the second drive motor 41 extends into the interior of the first fixing part 112. The first fixing groove has an opening on the side facing closer to the first base body 111. A portion of the second transmission mechanism 42 is located within the first fixing groove and connected to the output end of the second drive motor 41, while the other portion is mounted on the first base body 111.

[0196] For example, the worm gear 422 and the worm 421 can be located within the first fixing part 112. The other end of the first connecting shaft 4231 extends out of the interior of the first fixing part 112. Meanwhile, as... Figure 11 As shown, the first base body 111 has a first fixing hole 1111 and a second fixing hole 1112 that are interconnected. The first rotating gear 4233 is located in the first fixing hole 1111, and the second rotating gear 4234 is located in the second fixing hole 1112.

[0197] Similarly, in some embodiments, such as Figure 4 As shown, the first drive motor 61 can be located on the same side as the second fixing part 122 and connected to the second fixing part 122. In this way, the second drive motor 41 and the first drive motor 61 can be located on different sides of the first base body 111 and the second base body 121, avoiding excessive concentration of their components.

[0198] To achieve the connection between the first drive mechanism 60 and the rotating member 50, in some embodiments, the second fixing part 122 is provided with a second fixing groove (not shown in the figure). The second fixing groove and the second recess 1012 ( Figure 7 The first transmission mechanism 62 is connected to the second fixed part 122 by at least a portion of it located within the second fixed groove. Thus, the connection between the first transmission mechanism 62, the first drive motor 61, and the rotating component 50 can be achieved through the second fixed groove.

[0199] For example, the first gear 621 can be located in the second fixing groove and sleeved on the output end of the first drive motor 61. At the same time, the second gear 622 is located in the mounting groove 101 and meshes with the first gear 621.

[0200] It is understood that, as shown in Figure 6, the first drive mechanism 60 may also include a third bearing 63 to protect the rotating parts. The third bearing 63 provides protection. The position and number of the third bearing 63 can be set according to the actual situation. For example, the output end of the first drive motor 61 may be provided with a third bearing 63.

[0201] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. The above descriptions are merely specific implementations of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A gripper, characterized in that, include: Base; Two clamping mechanisms are movably connected to the base, and the two clamping mechanisms are used to clamp the item; The first drive mechanism is mounted on the base; as well as, A rotating component is connected to the first drive mechanism; The first driving mechanism is used to drive the rotating component to rotate relative to the base.

2. The gripper according to claim 1, characterized in that, The two clamping mechanisms are arranged along a first direction; along the first direction, the rotating member is located between the two clamping mechanisms.

3. The gripper according to claim 1 or 2, characterized in that, The rotating component includes a docking portion; the docking portion is configured to dock with the article and drive the article to rotate; the clamping mechanism includes a clamping portion configured to clamp the article to position the rotating article.

4. The gripper according to claim 3, characterized in that, The docking part and the clamping part are located at different heights relative to the base, so that the docking part and the clamping part respectively contact different positions of the article.

5. The gripper according to claim 2, characterized in that, One end of the clamping mechanism is rotatably connected to the base, and the rotation axis intersects the first direction; the rotation axis of the rotating component is perpendicular to both the first direction and the rotation axis of the clamping mechanism.

6. The gripper according to claim 5, characterized in that, The base has a mounting groove; the rotating component is rotatably connected to the mounting groove.

7. The gripper according to claim 6, characterized in that, The rotating component is located inside the mounting groove; one end of the rotating component near the opening of the mounting groove is flush with the opening of the mounting groove or located on the side of the opening of the mounting groove near the bottom of the groove.

8. The gripper according to claim 1, characterized in that, The first driving mechanism includes: A first drive motor is mounted on the base; and, The first transmission mechanism is connected to the first drive motor and to the rotating component.

9. The gripper according to claim 1, characterized in that, The two clamping mechanisms are arranged at intervals; each clamping mechanism includes a first connector and a clamping member; one end of the first connector is movably connected to the base, and the other end is connected to the clamping member. At least one clamping mechanism further includes a deformation component; the deformation component is located between the two first connectors and is configured to deform to conform to the article upon contact with it.

10. The gripper according to claim 9, characterized in that, The deformable component includes: The second connector, one end of which is rotatably connected to the base; and, The third connector has one end rotatably connected to the other end of the second connector, and the other end rotatably connected to the clamping member.

11. The gripper according to claim 10, characterized in that, The connection position between the clamping member and the third connecting member is different from the connection position between the clamping member and the first connecting member; and / or, The connection positions of the base and the first connector are different from those of the base and the second connector.

12. The gripper according to claim 10, characterized in that, The first connector has a first axis of rotation with respect to the base; the second connector has a second axis of rotation with respect to the base; the first connector has a third axis of rotation with respect to the clamping member; and the third connector has a fourth axis of rotation with respect to the clamping member. The first axis of rotation, the second axis of rotation, the third axis of rotation, and the fourth axis of rotation are parallel.

13. The gripper according to claim 12, characterized in that, The second connector and the third connector have a fifth rotation axis; the fifth rotation axis is parallel to the first rotation axis.

14. A robotic arm, characterized in that, Includes the gripper as described in any one of claims 1-13.

15. A robot, characterized in that, Includes the robotic arm as described in claim 14.

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