actuators, robotic arms and robots

Abstract

The application discloses an actuating mechanism, a mechanical arm and a robot. The clamping mechanism comprises a base, a first clamping piece, a second clamping piece, a movable piece and a transmission piece. The first clamping piece and the movable piece are rotatably connected to the base. The first end of the second clamping piece is rotatably connected to the movable piece. When the movable piece and the first clamping piece rotate relative to the base, the first clamping piece and the second clamping piece can approach each other, thereby clamping an object. One end of the connecting piece is rotatably connected to the first end. The connecting piece and the movable piece are connected to the first end at different positions. The other end of the connecting piece is movably connected to the base. When the first clamping piece and the second clamping piece approach each other, the connecting piece can further drive the second clamping piece and make the second end rotate around the first end to approach the base, so that the second end of the second clamping piece can be retracted towards the base, thereby holding the object from the top end of the object, and the clamping stability of the actuating mechanism to the object can be improved.

Description

Technical Field

[0001] This application belongs to the field of robotics technology, specifically relating to an actuator, a robotic arm, and a robot. Background Technology

[0002] The robot's actuator, as an end effector, is responsible for replacing human hands in grasping, moving, positioning, and releasing objects. Its performance directly affects the operational capability of the entire system.

[0003] In related technologies, the actuator is prone to falling off when gripping objects, resulting in poor stability. Summary of the Invention

[0004] This application aims to provide an actuator, robotic arm, and robot that can solve the problem in related technologies where actuators are prone to dropping objects and have poor stability when gripping them.

[0005] To solve the above-mentioned technical problems, this application is implemented as follows: In a first aspect, embodiments of this application provide a clamping mechanism, including: a base; A first clamping member is rotatably connected to the base; The system comprises a second clamping member, a movable member, and a connecting member. The movable member is rotatably connected to the base. The second clamping member has a first end and a second end opposite to each other. The first end is rotatably connected to the movable member. One end of the connecting member is rotatably connected to the first end, and the other end is movably connected to the base. The movable member and the connecting member are connected to the first end at different positions. The movable member is capable of rotating relative to the base to move the second clamping member closer to the first clamping member. During the rotation of the movable member relative to the base, the connecting member further moves the second clamping member and causes the second end to rotate around the first end to move closer to the base.

[0006] Optionally, the movable component includes a first link connected to the base and rotatable relative to the base, with one end of the first link away from the base rotatably connected to a first end; the connecting component includes a second link, one end of the second link rotatably connected to the first end and the other end rotatably connected to the base; the first link and the second link are connected to the first end at different positions, and the first link and the second link are connected to the base at different positions.

[0007] Optionally, the first link and the second link are staggered.

[0008] Optionally, the first link is configured to be driveably connected to the drive member; the connection point between the second link and the base is farther away from the first clamping member than the connection point between the first link and the base.

[0009] Optionally, the base includes a base body and a fixing member, one end of the fixing member is connected to the base body, the other end of the fixing member extends away from the first clamping member and is exposed outside the base body, and the end of the second connecting rod away from the second clamping member is rotatably connected to the other end of the fixing member. The first clamping member is rotatably connected to the base body, and the first connecting rod is rotatably connected to the base body. The first connecting rod and the first clamping member are connected to the base body at different positions.

[0010] Optionally, it further includes a driving member and a transmission assembly, the transmission assembly being movably connected to the base, and the first clamping member and the movable member being respectively drivenly connected to the transmission assembly; the driving member is drivenly connected to the transmission assembly and is used to drive the transmission assembly to move, so as to drive the first clamping member and the movable member to rotate relative to the base through the transmission assembly.

[0011] Optionally, the transmission assembly includes a gear pair, a first rotating member and a second rotating member, the first rotating member and the second rotating member being rotatably connected to the base, the first clamping member being fixedly connected to the first rotating member, and the end of the movable member away from the second clamping member being fixedly connected to the second rotating member; The gear pair is rotatably connected to the base. The first rotating member and the second rotating member are respectively meshed with the gear pair. The driving member is connected to the gear pair and is used to drive the gear pair to rotate, so as to drive the first rotating member and the second rotating member to rotate through the gear pair. The rotation directions of the first rotating member and the second rotating member are opposite.

[0012] Optionally, the base is provided with a first limiting part, and the first rotating member is provided with a second limiting part. The first limiting part and the second limiting part cooperate to limit the rotation stroke of the first rotating member. And / or, the base is provided with a third limiting part, and the second rotating member is provided with a fourth limiting part, the third limiting part and the fourth limiting part are mutually limiting to limit the rotation stroke of the second rotating member.

[0013] Optionally, the gear pair includes a first gear and a second gear, the first gear being connected to the output end of the drive member, the second gear being rotatably connected to the base, and the second gear meshing with the first gear; Both the first rotating member and the second rotating member are provided with a gear platform. The gear platform of the first rotating member meshes with the first gear, and the gear platform of the second rotating member meshes with the second gear.

[0014] Optionally, the first rotating member includes a first connecting part and a first engaging part, the first engaging part is connected to the first connecting part, the first connecting part is rotatably connected to the base, the first clamping member is fixedly connected to the first connecting part, and the first engaging part is provided with the toothed platform; And / or, the second rotating member includes a second connecting part and a second engaging part, the second engaging part is connected to the second connecting part, the second connecting part is rotatably connected to the base, and the end of the movable member away from the second clamping member is fixedly connected to the second connecting part, and the second engaging part is provided with the toothed platform.

[0015] Optionally, the transmission ratio between the first gear and the first rotating member is equal to the transmission ratio between the first gear and the second rotating member.

[0016] Optionally, the first clamping member and the second clamping member form a clamping space. The first clamping member has a first curved surface on the side facing the clamping space, and the first curved surface is at least partially recessed in a direction away from the clamping space. The second clamping member has a second curved surface on the side facing the clamping space, and the second curved surface is located between the first end and the second end. The second curved surface is at least partially recessed in a direction away from the clamping space.

[0017] Optionally, the first clamping member has an abutment portion at one end away from the base, and the abutment portion can abut against the second end; And / or, the dimension of the second end along the rotation axis of the second clamping member is greater than the dimension of the end of the first clamping member along the rotation axis of the first clamping member.

[0018] Secondly, embodiments of this application provide a robotic arm, including: an actuator as described in any of the preceding claims.

[0019] Thirdly, embodiments of this application propose a robot, including: an actuator as described in any of the preceding claims; or including: a robotic arm as described in the preceding claims.

[0020] In the embodiments of this application, the clamping mechanism includes: a base, a first clamping member, a second clamping member, a movable member, and a transmission member. The first clamping member and the movable member are rotatably connected to the base. The first end of the second clamping member is rotatably connected to the movable member. When both the movable member and the first clamping member rotate relative to the base, the first clamping member and the second clamping member can move closer to each other to clamp the object. One end of the connecting member is rotatably connected to the first end. The connecting member and the movable member are connected to the first end at different positions. The other end of the connecting member is movably connected to the base. When the first clamping member and the second clamping member move closer to each other, the connecting member can further drive the second clamping member and make the second end rotate around the first end to move closer to the base. This allows the second end of the second clamping member to retract towards the base, thereby grabbing the object from the top of the object and improving the clamping stability of the actuator.

[0021] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0022] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram from one perspective of the execution mechanism according to an embodiment of this application; Figure 2 This is a schematic diagram of the actuator from another perspective according to an embodiment of this application; Figure 3 This is an exploded view of the actuator according to an embodiment of this application; Figure 4 This is a partial schematic diagram of the actuator according to an embodiment of this application; Figure 5 This is a schematic diagram of the connection of the execution mechanism in an embodiment of this application; Figure 6 This is a schematic diagram of the connection of the active component according to an embodiment of this application; Figure 7 This is a schematic diagram of the first link according to an embodiment of this application; Figure 8 This is a schematic diagram of the second link according to an embodiment of this application; Figure 9 This is a schematic diagram of a fastener according to an embodiment of this application; Figure 10 This is a connection diagram of the first clamping member according to an embodiment of this application; Figure 11 This is a connection diagram of the second clamping member according to an embodiment of this application; Figure 12This is a schematic diagram of the second clamping member according to an embodiment of this application; Figure 13 This is a schematic diagram of the base body according to an embodiment of this application; Figure 14 This is a schematic diagram of the first rotating member according to an embodiment of this application; Figure 15 This is a schematic diagram of the second rotating member according to an embodiment of this application.

[0023] Figure label: 1: Base; 11: Base body; 12: Fixing member; 121: Clearance groove; 13: First limiting part; 14: Third limiting part; 2: First clamping member; 21: First curved surface; 22: Abutting part; 3: Second clamping member; 31: First end; 311: First mounting part; 312: Second mounting part; 32: Second end; 33: Second curved surface; 4: Moving part; 41: First connecting rod; 411: Through hole; 5: Connecting member; 51: Second connecting rod; 6: Driving member; 7: Transmission assembly; 71: Gear pair; 711: First gear; 712: Second gear; 72: First rotating member; 721: Second limiting part; 722: First connecting part; 723: First meshing part; 73: Second rotating member; 731: Fourth limiting part; 732: Second connecting part; 733: Second meshing part; 8: First cover; 9: Second cover. Detailed Implementation

[0024] The embodiments of this application will now be described in detail. Examples of these embodiments are illustrated 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. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0025] The terms "first" and "second" in the specification and claims of this application may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise stated, "multiple" means two or more. Furthermore, "and / or" in the specification and claims indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0026] 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.

[0027] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0028] Before explaining the actuator, robotic arm, and robot provided in the embodiments of this application, the application scenarios of the actuator, robotic arm, and robot provided in the embodiments of this application will be specifically described: The actuator is the end-effector of a robotic system, its basic function being to replace the human hand in performing a series of operations such as grasping, transporting, positioning, and releasing objects. During execution, the actuator directly contacts the object, making it a crucial link in the robot's physical interaction with its working environment. Therefore, the actuator's operational capabilities, adaptability, and reliability fundamentally determine the applicability and overall performance of the entire robotic system in specific tasks.

[0029] In related technologies, actuators generally include two symmetrically arranged grippers. These two grippers can move closer or further apart to clamp or release an object. However, because the stroke, rotation angle, and movement trajectory of the two grippers are symmetrical, the object is easily "squeezed out" between the tips of the two grippers when clamping it, causing the object to fall or even be damaged. Furthermore, the movement trajectory of the two symmetrically arranged grippers is singular, making it impossible to form a stable clamping for objects of different shapes and sizes, resulting in poor applicability of the entire actuator.

[0030] In addition, in related technologies, the two symmetrically arranged grippers usually adopt a multi-motor split drive or pneumatic drive structure, which makes the overall structure of the actuator complicated, the weight relatively large, the wiring and piping cumbersome, the operation and maintenance cost relatively high, and it also relies on an external air source, which limits its adaptability.

[0031] Therefore, this application provides an actuator, a robotic arm, and a robot. The actuator, robotic arm, and robot provided in this application will be described in detail below with reference to the accompanying drawings and through specific embodiments and application scenarios.

[0032] like Figures 1 to 5 As shown, in some embodiments of this application, an actuator is proposed including: a base 1, a first clamping member 2, a second clamping member 3, a movable member 4, and a connecting member 5. The first clamping member 2 is rotatably connected to the base 1; the movable member 4 is rotatably connected to the base 1; the second clamping member 3 has a first end 31 and a second end 32 opposite to each other; the first end 31 is rotatably connected to the movable member 4; one end of the connecting member 5 is rotatably connected to the first end 31, and the other end is movably connected to the base 1; the movable member 4 and the connecting member 5 are connected to the first end 31 at different positions; wherein, the movable member 4 can rotate relative to the base 1 to drive the second clamping member 3 closer to the first clamping member 2; during the rotation of the movable member 4 relative to the base 1, the connecting member 5 further drives the second clamping member 3 and causes the second end 32 to rotate around the first end 31 to approach the base 1.

[0033] The second end 32 rotating around the first end 31 to approach the base 1 means that the second end 32 rotates around the axis between the first end 31 and the movable member 4 to approach the base 1.

[0034] In some embodiments, the actuator may be a gripper, a dexterous hand, a robotic arm, etc.

[0035] In this embodiment, both the first clamping member 2 and the movable member 4 are rotatably connected to the base 1. The first end 31 of the second clamping member 3 is rotatably connected to the movable member 4. When the first clamping member 2 rotates relative to the base 1, the movable member 4 can drive the second clamping member 3 to rotate relative to the base 1, so that the first clamping member 2 and the second clamping member 3 can move closer to each other, thereby clamping the object. Furthermore, when the first clamping member 2 and the second clamping member 3 move closer to each other, that is, during the rotation of the movable member 4 relative to the base 1, the connecting member 5 can further drive the second clamping member 3 and cause the second end 32 of the second clamping member 3 to rotate around the first end 31 of the second clamping member 3 to move closer to the base 1, thus enabling the first clamping member 2 and the second clamping member 3 to clamp the object. While clamping, the second end 32 of the second clamping member 3 can move closer to the base 1, so that the second end 32 of the second clamping member 3 clamps and limits the object in the height direction of the base 1. That is, the second end 32 of the second clamping member 3 can hug the object towards the base 1. In this way, during the clamping process, the second clamping member 3 can form an adaptive envelope action on the object, thereby improving the clamping stability of the actuator on the object. Similarly, when the first clamping member 2 and the movable member 4 move in the opposite direction relative to the base 1, the first clamping member 2 and the second clamping member 3 can release the clamping of the object. In this process, the second end 32 of the second clamping member 3 can rotate relative to the first end 31 in a direction away from the base 1, thereby releasing the clamping and limiting of the object in the height direction of the base 1.

[0036] Furthermore, in practical applications, the first clamping member 2 resembles a human thumb, and the second clamping member 3 resembles the other fingers. The second end 32 of the second clamping member 3 can simulate the fingertips of the other fingers to clamp and limit the object. In other words, the second clamping member 3 can form an adaptive envelope action on the workpiece, increasing the contact area between the second clamping member 3 and the object, thereby improving the clamping stability of the workpiece. Moreover, since the first clamping member 2 rotates directly relative to the base 1, while the second clamping member 3 is driven by the movable member 4 to rotate relative to the base 1, the movement and sweep range of the second clamping member 3 can be different from those of the first clamping member 2, thus forming asymmetrical clamping. This avoids or reduces the phenomenon of "squeezing out" the object caused by symmetrical clamping in related technologies, enabling a tighter and more stable adaptive fit for objects of different shapes and sizes, thereby improving the applicability of the actuator.

[0037] In specific applications, the base 1 is the mounting platform for the actuator. The base 1 can be made of materials with a certain strength, such as plastic or alloy. The first clamping member 2 is rotatably connected to the base 1, allowing the first clamping member 2 to move closer to or further away from the second clamping member 3 relative to the base 1. The movable member 4 is rotatably connected to the base 1, and the first end 31 of the second clamping member 3 is rotatably connected to the movable member 4, so that when the movable member 4 rotates relative to the base 1, it can drive the second clamping member 3 to move closer to or further away from the first clamping member 2, thereby clamping or releasing the object. Thus, the actuator can complete actions such as grasping and positioning the object. The first clamping member 2 and the second clamping member 3 can rotate simultaneously, rotate separately, or one can rotate while the other remains fixed. Those skilled in the art can configure them according to actual needs, and this application does not impose any restrictions on this.

[0038] It should be noted that, since one end of the connector 5 is rotatably connected to the first end 31 and the other end is movably connected to the base 1, the different connection positions of the movable part 4 and the connector 5 to the first end 31 allow the connector 5 to form a motion constraint on the first end 31 of the second clamping part 3. When the movable part 4 drives the second clamping part 3 to rotate relative to the base 1, the movable part 4 inputs a driving force to the first end 31 through the connection point A of the first end 31, driving the first end 31 to move along the motion trajectory determined by the movable part 4. Meanwhile, the connector 5 applies a constraint force to the first end 31 through the connection point B of the first end 31, restricting the movement of the connection point B of the first end 31 along an arc trajectory centered on the connection point between the connector 5 and the base 1. In other words, the connector 5 forms an arc trajectory constraint on the other connection point B of the first end 31.

[0039] Thus, the two connection points (connection point A and connection point B) at the first end 31 are subjected to the combined action of the driving force of the movable part 4 and the constraint force of the connecting part 5 (or the driving force of the connecting part 5 and the constraint force of the movable part 4). Because connection points A and B are located at different positions on the first end 31, and the directions of the driving and constraint forces they experience are different, connection points A and B move along different trajectories during the motion. That is, connection point A moves along the first trajectory driven by the movable part 4, and connection point B moves along the second trajectory constrained by the connecting part 5. Under the combined action of the different motion trajectories of connection point A and connection point B, a deflection-type compound motion of the second clamping member 3 as a whole is formed, which not only realizes the clamping effect of the two clamping members moving closer to each other, but also realizes the hugging motion of the second end 32 toward the base; under the action of this compound motion, the swing amplitude, motion stroke and sweep range of the second end 32 of the second clamping member 3 relative to the base 1 are all greater than the swing amplitude, motion stroke and sweep range of the rotational connection shaft between the first end 31 and the movable member 4 relative to the base 1, thus realizing the rotation of the second end 32 relative to the first end 31.

[0040] Understandably, because the second clamping member 3 is rotated relative to the base 1 by the simultaneous action of the movable member 4 and the connecting member 5, and the movement of the second clamping member 3 is amplified by the movable member 4 and the connecting member 5, while the first clamping member 2 rotates directly relative to the base 1, the stroke, sweep range, and swing angle of the second clamping member 3 are all greater than those of the first clamping member 2. That is, the first clamping member 2 and the second clamping member 3 of the actuator of this application form an asymmetrical clamping. Compared with the symmetrical clamping method in related technologies, the second end 32 can further clamp the object in the height direction (vertical) of the base 1. The arrangement direction of the first clamping member 2 and the second clamping member 3 is limited, thereby reducing the risk of the object being "squeezed out" from the ends of the first clamping member 2 and the second clamping member 3 when it is clamped. At the same time, compared with the point contact or line contact clamping method of symmetrical grippers in related technologies, the second end 32 of the second clamping member 3 rotates around the first end 31, so that the contact area between the second clamping member 3 and the object is larger, that is, a surface contact clamping method is formed, which improves the clamping stability of the actuator, reduces the damage caused to the object when clamping, and can adapt to objects of different shapes and sizes.

[0041] Specifically, the first clamping member 2 and the movable member 4 can be driven by the same driving member. For example, the same driving member can simultaneously drive the first clamping member 2 and the movable member 4 to rotate relative to the base 1 through a transmission member; alternatively, the first clamping member 2 and the movable member 4 can be driven by different driving members. Those skilled in the art can make the settings according to actual needs, and this application does not limit them.

[0042] In specific applications, the moving part 4 can be a connecting rod or a cam, and the connecting part 5 can be a connecting rod or a slider. Those skilled in the art can make the settings according to actual needs, and this application does not limit them.

[0043] For example, such as Figure 4 As shown, the movable part 4 is the first connecting rod 41, and the connecting part 5 is the second connecting rod 51. The first connecting rod 41 and the second connecting rod 51 are respectively hinged to the first end 31 of the second clamping member 3, and the hinge points are different. In this way, one of them can drive the second clamping member 3 to rotate, and the other can constrain the running trajectory of the second clamping member 3. Thus, the first connecting rod 41 and the second connecting rod 51 work together to make the second clamping member 3 form the above-mentioned compound motion, so that the swing amplitude of the second end 32 is greater than that of the first end 31, and the second end 32 produces a hugging action towards the first clamping member 2.

[0044] For example, the movable part 4 is the first connecting rod 41, the connecting part 5 is the slider, and the base 1 is provided with an arc-shaped slide rail. The track profile of the arc-shaped slide rail is adapted to the preset motion trajectory of the first end 31 of the second clamping part 3. One end of the slider is rotatably connected to the first end 31, and the other end of the slider is slidably connected to the arc-shaped slide rail. In this way, when the first connecting rod 41 drives the second clamping part 3 to rotate, the slider slides within the arc-shaped slide rail, constraining the motion trajectory of the second clamping part 3. The slider is rotatably connected to the first end 31, so that the second end 32 can rotate relative to the first end 31. That is, the first connecting rod 41, the slider, and the arc-shaped slide rail work together to make the second clamping part 3 form the above-mentioned composite motion. Of course, the movable part 4 and the connecting part 5 can also be other structural forms, which can make the second clamping part 3 rotate relative to the base 1 while the second end 32 can rotate around the first end 31 to move closer to or away from the base 1. Those skilled in the art can set it according to actual needs, and this application does not limit it.

[0045] It should be noted that the second clamping member 3 is a rigid component, with the first end 31 and the second end 32 fixedly connected. When the first end 31 is driven, the second end 32 can move accordingly. When the first end 31 is driven by the movable member 4, the second end 32, as the cantilever extension end, moves accordingly. Under the action of the combined motion, the swing amplitude of the second end 32 is greater than that of the first end 31, so that the second end 32 exhibits a swing behavior independent of the first end 31 in space, and the movement trajectory of the second end 32 is controllable, which facilitates the operator to accurately design the action of the actuator.

[0046] like Figures 2 to 8 , Figure 11 As shown, in some embodiments of this application, the movable member 4 includes a first connecting rod 41, which is connected to the base 1 and can rotate relative to the base 1. The end of the first connecting rod 41 away from the base 1 is rotatably connected to the first end 31. The connecting member 5 includes a second connecting rod 51, which is rotatably connected to the first end 31 at one end and to the base 1 at the other end. The first connecting rod 41 and the second connecting rod 51 are connected to the first end 31 at different positions, and the first connecting rod 41 and the second connecting rod 51 are connected to the base 1 at different positions.

[0047] In this embodiment, the first link 41 and the second link 51 are rotatably connected to the first end 31 of the second clamping member 3, and the positions of the two rotatable connection points are different. At the same time, the first link 41 and the second link 51 are rotatably connected to the base 1, and the positions of the two rotatable connection points are also different. Thus, the first link 41, the second link 51, the second clamping member 3, and the base 1 together constitute a four-bar linkage. The first link 41 and the second link 51 rotate around their respective connection points with the base 1, and drive the second clamping member 3 to move through their respective connection points with the first end 31. During the movement of the second clamping member 3, the position and posture of the first end 31 in space change, so that the second clamping member 3 as a whole forms a swaying motion. As a result, the second end 32 of the second clamping member 3 can swing relative to the first end 31, so that the second end 32 can hug the first clamping member 2 during the clamping process to form an adaptive envelope clamping of the object. This increases the contact area with the object compared to related technologies and improves the stability when clamping the object.

[0048] In specific applications, one of the first link 41 and the second link 51 serves as the driving link, and the other as the driven link. For example, the first link 41 can serve as the driving link, with one end connected to the driving member and driven to rotate relative to the base 1. The other end of the first link 41 inputs power to the second clamping member 3 through the first end 31. The second link 51 serves as the driven link, with one end rotatably connected to the first end 31 and the other end rotatably connected to the base 1. The second link 51 constrains the movement trajectory of the second clamping member 3. Of course, the second link 51 can also serve as the driving link and the first link 41 as the driven link; or the first link 41 and the second link 51 can be driven by different driving members. Those skilled in the art can set it according to actual needs, and this application does not limit it in this regard.

[0049] It should be explained that the first link 41 and the second link 51 are connected to the first end 31 at different positions. Specifically, the first link 41 and the second link 51 are connected to different positions on the first end 31, and both are rotatably connected. In this way, the first link 41 and the second link 51 transmit driving force and apply motion constraints to the second clamping member 3 through the two different positions on the first end 31, so that the second clamping member 3 can generate a compound motion under the combined action of the first link 41 and the second link 51. For example, the first end 31 is provided with two hinge holes at intervals. One hinge hole is rotatably connected to the first link 41, and the other hinge hole is rotatably connected to the second link 51. The distance between the two hinge holes on the first end 31 determines the distance between the points of action of the first link 41 and the second link 51 on the second clamping member 3. The larger the distance, the more obvious the rotation component of the second clamping member 3 is during the movement, the greater the swing amplitude of the second end 32, and the more significant the clamping effect.

[0050] like Figure 5 , Figure 11 , Figure 12 As shown, in some embodiments of this application, the first end 31 of the second clamping member 3 is provided with a first mounting portion 311 and a second mounting portion 312, the second mounting portion 312 being located on the side of the first mounting portion 311 away from the first clamping member 2; one end of the first connecting rod 41 is rotatably connected to the second mounting portion 312, and the first connecting rod 41 is also rotatably connected to the base 1; one end of the second connecting rod 51 is rotatably connected to the first mounting portion 311, and the other end is rotatably connected to the base 1. Thus, when the first link 41 is driven to rotate, the first link 41 drives the second clamping member 3 to move through the second mounting part 312. The second link 51 constrains the movement trajectory of the second clamping member 3 through the first mounting part 311, so that the first mounting part 311 moves along an arc trajectory with the connection point of the base 1 as the center under the constraint of the second link 51, while the second mounting part 312 moves along another trajectory under the drive of the first link 41. The two mounting parts are constrained by different trajectories at the same time, so that the second clamping member 3 as a whole produces a compound movement, thereby causing the second end 32 to perform a hugging action towards the first clamping member 2, realizing adaptive envelope clamping of the object.

[0051] Understandably, the first mounting part 311 and the second mounting part 312 may specifically be a rotating shaft, a hinge hole, etc. The first connecting rod 41 and the second connecting rod 51 are adapted to the structure of the first mounting part 311 and the second mounting part 312 to achieve a rotatable connection. Those skilled in the art can make the settings according to actual needs, and this application does not limit them.

[0052] In specific applications, the first link 41 and the second link 51 are connected to the base 1 at different positions, that is, the first link 41 and the second link 51 rotate around two different positions on the base 1, so that the first link 41 and the second link 51 each have an independent rotation center, so that the second clamping member 3 can move according to a preset trajectory under the cooperative drive of the first link 41 and the second link 51.

[0053] Understandably, the cross-sectional shape of the first link 41 and the second link 51 can be circular, square, I-shaped, or hollow tubular. This ensures that the first link 41 and the second link 51 have sufficient structural strength while reducing the overall weight of the moving part 4, thereby reducing the load on the drive component, making the actuator lighter, facilitating its installation on the robot end effector, and improving the dynamic response performance of the actuator. Of course, those skilled in the art can also make choices according to actual needs, and this application does not impose any restrictions on this.

[0054] like Figures 4 to 6 , Figure 11As shown, in some embodiments of this application, the first link 41 and the second link 51 are arranged alternately.

[0055] In this embodiment, by staggering the first link 41 and the second link 51, the sweep range of the second clamping member 3 is larger when the first link 41 and the second link 51 drive the second clamping member 3 to move. This results in a larger clamping range of the actuator, enabling it to adapt to more objects of different sizes and shapes, and improving the versatility and adaptability of the actuator.

[0056] In specific applications, the staggered arrangement of the first link 41 and the second link 51 can be such that the first link 41 and the second link 51 are located in different planes in space, that is, the motion plane of the first link 41 and the motion plane of the second link 51 are parallel to each other and do not coincide; or the first link 41 and the second link 51 can be arranged in a cross shape in space, so that the first link 41 and the second link 51 can avoid each other during the movement and avoid motion interference. Those skilled in the art can choose according to actual needs, and this application does not limit this.

[0057] Understandably, when the first link 41 and the second link 51 rotate around their respective connection points with the base 1, since the first link 41 and the second link 51 are staggered, they will not collide or interfere during the movement. Therefore, the first link 41 and the second link 51 each have a larger range of rotation angles. As a result, the second clamping member 3 has a larger stroke and sweep range under the drive of the first link 41 and the second link 51, which allows the second clamping member 3 to open at a larger angle to accommodate larger objects, or to form a tighter envelope around the object when closed, thereby improving the clamping range and adaptability of the actuator.

[0058] like Figure 6 and Figure 7 As shown, in some embodiments of this application, the first connecting rod 41 is provided with a through hole 411, and the second connecting rod 51 passes through the through hole 411 to be rotatably connected to the first end 31 of the second clamping member 3. This makes the overall structure of the movable member 4 more compact. In a limited space, the through hole 411 spatially offsets the first connecting rod 41 and the second connecting rod 51, which can make full use of the space between the base 1 and the second clamping member 3, reduce the size of the movable member 4 in a single direction, facilitate the installation of the actuator in a space-constrained working environment, and improve the applicability of the actuator.

[0059] like Figures 3 to 6 As shown, in some embodiments of this application, the first link 41 is configured to be driveably connected to the drive member 6; the connection point of the second link 51 and the base 1 is farther away from the first clamping member 2 than the connection point of the first link 41 and the base 1.

[0060] In this embodiment, by configuring the first link 41 to be connected to the drive member 6, the drive member 6 can drive the first link 41 to rotate relative to the base 1. The connection point between the second link 51 and the base 1 is farther away from the first clamping member 2 than the connection point between the first link 41 and the base 1. In this way, the first link 41 acts as the active link to drive the second clamping member 3 to move. Since the connection point between the first link 41 and the base 1 is closer to the first clamping member 2, the first link 41 has a better force application angle, which facilitates the more efficient transmission of driving force to the second clamping member 3. This improves the transmission efficiency of the drive member 6, reduces the load on the drive member 6, and allows the drive member 6 to use a smaller drive source, thereby reducing the cost and energy consumption of the actuator.

[0061] In practical applications, the connection point between the second link 51 and the base 1 is far from the first clamping member 2, so that the second link 51 can form a longer constraint arm during the movement of the second clamping member 3, which forms a more stable and precise constraint on the movement trajectory of the second clamping member 3. This makes it less likely for the second clamping member 3 to wobble or shake during the movement, thereby improving the movement smoothness and clamping stability of the second clamping member 3, and thus reducing the risk of damage when clamping objects.

[0062] Understandably, the line connecting the connection point of the first link 41 to the base 1 and the connection point of the second link 51 to the base 1, the line connecting the two connection points on the first end 31, and the effective lengths of the first link 41 and the second link 51 together constitute the initial configuration of the four-bar linkage. By reasonably configuring the positions of the above connection points, the movement trajectory and clamping angle of the second clamping member 3 can be precisely controlled, so that when the second clamping member 3 approaches the first clamping member 2, it can form a hugging action towards the first clamping member 2, thereby forming an adaptive envelope clamping of the object.

[0063] like Figure 1 , Figure 2 , Figures 4 to 9 As shown, in some embodiments of this application, the base 1 includes a base body 11 and a fixing member 12. One end of the fixing member 12 is connected to the base body 11, and the other end of the fixing member 12 extends away from the first clamping member 2 and is exposed outside the base body 11. The end of the second connecting rod 51 away from the second clamping member 3 is rotatably connected to the other end of the fixing member 12. The first clamping member 2 is rotatably connected to the base body 11, and the first connecting rod 41 is rotatably connected to the base body 11. The first connecting rod 41 and the first clamping member 2 are connected to the base body 11 at different positions.

[0064] In this embodiment, the other end of the fixing member 12 extends away from the first clamping member 2 and is exposed on the base body 11. The end of the second connecting rod 51 away from the second clamping member 3 is rotatably connected to the other end of the fixing member 12, thereby increasing the effective length of the second connecting rod 51 and further increasing the sweeping range of the second clamping member 3, that is, increasing the clamping range of the second clamping member 3, so that the actuator can clamp objects of a larger size range.

[0065] In specific applications, the other end of the fixing member 12 extends away from the first clamping member 2 and protrudes from the base body 11, causing the connection point between the second link 51 and the base 1 to shift outward relative to the base body 11, which is equivalent to extending the effective lever arm length of the second link 51; at the same time, it allows the second link 51 to have a larger swing space during movement; it also allows the first end 31 of the second clamping member 3 to have a larger radius of motion under the constraint of the second link 51, thereby increasing the sweep range and stroke of the second end 32 of the second clamping member 3, enabling the second clamping member 3 to open at a larger angle to accommodate larger objects, and at the same time, to form a tighter envelope on the object when closed, thereby improving the clamping range and clamping effect of the actuator.

[0066] It should be noted that the fastener 12 can be integrally formed with the base body 11, or it can be fixedly connected to the base body 11 as an independent component. For example, one end of the fastener 12 is fixedly connected to the base body 11 by means of screws, rivets or welding; or one end of the fastener 12 is integrally injection molded, integrally cast or integrally machined with the base body 11. Those skilled in the art can make the settings according to actual needs, and this application does not limit them.

[0067] Understandably, when the fixing member 12 is an independent component, the relative position between the fixing member 12 and the base body 11 can be adjusted as needed to adjust the position of the connection point between the second link 51 and the base 1, thereby flexibly adjusting the sweep range and movement trajectory of the second clamping member 3.

[0068] like Figure 6 and Figure 9 As shown, in some embodiments of this application, the fixing member 12 is provided with a relief groove 121, and the first link 41 and the second link 51 can swing within the relief groove 121; thereby enabling the first link 41 and the second link 51 to have a larger swing angle, which in turn enables the second clamping member 3 to have a larger movement stroke and sweep range, further improving the clamping range and adaptability of the actuator.

[0069] In a specific application, the clearance groove 121 is provided on the fixing member 12 and is located on the swing path of the first link 41 and the second link 51. The contour of the clearance groove 121 is adapted to the sweep trajectory of the first link 41 and the second link 51 during the swing process, so that the first link 41 and the second link 51 can partially enter the clearance groove 121 during the swing process, thereby avoiding collision or friction between the first link 41 and the second link 51 and the fixing member 12. Moreover, the first link 41 and the second link 51 can partially pass through the fixing member 12, thereby reducing the exposed part of the first link 41 and the second link 51 on the outside of the fixing member 12, so that the size of the moving part 4 can be reduced and the structure is more compact.

[0070] like Figures 3 to 5 , Figure 10 and Figure 11 As shown, in some embodiments of this application, the actuator further includes a drive member 6 and a transmission assembly 7. The transmission assembly 7 is movably connected to the base 1, and the first clamping member 2 and the movable member 4 are respectively connected to the transmission assembly 7. The drive member 6 is connected to the transmission assembly 7 and is used to drive the transmission assembly 7 to move, so as to drive the first clamping member 2 and the movable member 4 to rotate relative to the base 1 through the transmission assembly 7.

[0071] In this embodiment, the drive member 6 is connected to the transmission component 7 and can drive the first clamping member 2 and the movable member 4 to rotate relative to the base 1 through the transmission component 7. Therefore, it is not necessary to set separate drive members for the first clamping member 2 and the movable member 4, thereby reducing the number of parts of the actuator, reducing manufacturing costs, and reducing the size and weight of the actuator, making the structure of the actuator more compact, which is conducive to the miniaturization and lightweight design of the actuator.

[0072] In a specific application, taking the first link 41 as an example, the transmission assembly 7 converts the output of the drive component 6 into two outputs with different directions or different motion characteristics, respectively adapting to the rotation requirements of the first clamping component 2 and the first link 41; thus, the drive component 6 does not need to directly drive the first clamping component 2 and the first link 41, but achieves power transmission and motion transformation through the transmission assembly 7, making the layout of the actuator more flexible, facilitating the reasonable arrangement of various components in a limited space, and also reducing the requirements for the installation position and output direction of the drive component 6.

[0073] Understandably, the driving component 6 can be a rotary motor (such as a stepper motor, servo motor, DC motor, etc.) that drives the transmission component 7 through the rotational motion of the output shaft; it can also be a fluid driving element such as a rotary cylinder or hydraulic motor; as long as it can output driving force and drive the transmission component 7 to move, it is acceptable. Those skilled in the art can make the settings according to actual needs, and this application does not impose any restrictions on this.

[0074] It should be noted that the transmission assembly 7 can transmit the power of the driving member 6 to the first clamping member 2 and the moving member 4 simultaneously. Specifically, the transmission assembly 7 can be a gear set or a synchronous belt transmission mechanism; of course, it can also be other transmission mechanisms. Those skilled in the art can choose according to actual needs, and this application does not limit it.

[0075] It should be explained that the drive component 6 can be mounted on the base 1, and the transmission component 7 can be movably connected to the base 1. In this way, the drive component 6 and the transmission component 7 form an integral structure with the base 1, which facilitates the overall installation and transportation of the actuator, and also improves the integration and structural compactness of the actuator. Of course, the drive component 6 can also be mounted in other positions, as long as the drive component 6 can be connected to the transmission component 7.

[0076] like Figure 1 and Figure 2 As shown, the actuator also includes a first cover 8 and a second cover 9. The first cover 8 is connected to the base 1 and can cover the drive component 6, thereby protecting the drive component 6. The second cover 9 is connected to the base 1 and can cover the transmission assembly 7, thereby protecting the transmission assembly 7. This reduces the possibility of external damage to the drive component 6 and the transmission assembly 7.

[0077] like Figures 3 to 5 , Figure 10 and Figure 11 As shown, in some embodiments of this application, the transmission assembly 7 includes a gear pair 71, a first rotating member 72, and a second rotating member 73. The first rotating member 72 and the second rotating member 73 are rotatably connected to the base 1, the first clamping member 2 is fixedly connected to the first rotating member 72, and the end of the movable member 4 away from the second clamping member 3 is fixedly connected to the second rotating member 73. The gear pair 71 is rotatably connected to the base 1, the first rotating member 72 and the second rotating member 73 are respectively meshed with the gear pair 71, and the driving member 6 is connected to the gear pair 71. The driving member 6 is used to drive the gear pair 71 to rotate, so as to drive the first rotating member 72 and the second rotating member 73 to rotate through the gear pair 71, and the rotation directions of the first rotating member 72 and the second rotating member 73 are opposite.

[0078] In this embodiment, the first rotating member 72 and the second rotating member 73 mesh with the gear pair 71 respectively, and the rotation directions of the first rotating member 72 and the second rotating member 73 are opposite, so that the rotation directions of the first clamping member 2 and the second clamping member 3 are opposite. Thus, the first clamping member 2 and the second clamping member 3 can move closer or further away from each other synchronously. Compared with related technologies, the actuator of this application is simple to control, has a fast response, and has no electrical control delay error, which improves the consistency of the actuator's action and the reliability of clamping. At the same time, the gear pair 71 is meshed with the first rotating member 72 and the second rotating member 73, and the transmission ratio is accurate and there is no slippage loss, which improves the clamping accuracy and repeatability of the actuator.

[0079] In specific applications, the gear pair 71 can have one, two, or more gears, as long as they can drive the first rotating member 72 and the second rotating member 73 to rotate in opposite directions. For example, when the gear pair 71 has a driving gear, the driving gear is fixedly connected to the output end of the driving member 6. The first rotating member 72 and the second rotating member 73 are located on opposite sides of the driving gear and both mesh with the driving gear. In this way, when the driving gear is driven by the driving member 6, the first rotating member 72 and the second rotating member 73 rotate at the same speed and in opposite directions. Alternatively, the gear pair 71 can have a driving gear and a driven gear. The output end of the driving member 6 is fixedly connected to the driving gear, and the driven gear is rotatably connected to the base 1 and meshes with the driving gear. The first rotating member 72 meshes with the driving gear, and the second rotating member 73 meshes with the driven gear. Those skilled in the art can configure it according to actual needs, and this application does not limit it.

[0080] Understandably, both the first rotating member 72 and the second rotating member 73 are provided with teeth, which mesh with the gear pair 71. The teeth can be complete gears or sector gears. Sector gears can reduce processing costs. At the same time, the first rotating member 72 and the second rotating member 73 are rotatably connected to the base 1. Specifically, the base 1 is provided with a rotating shaft at the corresponding position of the first rotating member 72 and the second rotating member 73. The first rotating member 72 and the second rotating member 73 are rotatably connected to the rotating shaft through bearings, so that the first rotating member 72 and the second rotating member 73 can rotate smoothly relative to the base 1, reducing frictional resistance and improving transmission efficiency and response speed.

[0081] It should be noted that, taking the first connecting rod 41 as an example, the first clamping member 2 is fixedly connected to the first rotating member 72, and the end of the first connecting rod 41 away from the second clamping member 3 is fixedly connected to the second rotating member 73. Specifically, the connection can be fixed by screws, welding, or integral molding, or the first clamping member 2 and the first rotating member 72 can be integrally molded, and the first connecting rod 41 and the second rotating member 73 can be integrally molded. Those skilled in the art can make the settings according to actual needs, and this application does not limit them.

[0082] It should be explained that the first rotating member 72 and the second rotating member 73 rotate in opposite directions, and their rotation speeds can be the same or different. Simultaneously, since the second rotating member 73 drives the second clamping member 3 to rotate through the movable member 4 and the connecting member 5, the movable member 4 and the connecting member 5 work together to amplify the motion of the second clamping member 3. When the rotational motion output by the second rotating member 73 is transmitted to the second clamping member 3 through the movable member 4, the movable member 4 and the connecting member 5 work together to amplify the rotation angle of the second rotating member 73 into a large-amplitude swing of the second clamping member 3. This allows the stroke and sweep range of the second clamping member 3 to be greater than those of the first clamping member 2. Thus, the first clamping member 2 can simulate the thumb of a human hand to position and clamp an object, while the second clamping member 3 can simulate the other fingers of a human hand to clamp and envelop an object, thereby improving the adaptability of the actuator to different objects and the clamping stability.

[0083] like Figures 13 to 15 As shown, in some embodiments of this application, the base 1 is provided with a first limiting part 13, the first rotating member 72 is provided with a second limiting part 721, the first limiting part 13 and the second limiting part 721 cooperate to limit the rotation stroke of the first rotating member 72; and / or, the base 1 is provided with a third limiting part 14, the second rotating member 73 is provided with a fourth limiting part 731, the third limiting part 14 and the fourth limiting part 731 cooperate to limit the rotation stroke of the second rotating member 73.

[0084] In this embodiment, the first limiting part 13 and the second limiting part 721 cooperate to limit the rotation stroke of the first rotating member 72, and the third limiting part 14 and the fourth limiting part 731 cooperate to limit the rotation stroke of the second rotating member 73. This reduces the possibility of the first rotating member 72 and the second rotating member 73 exceeding their rotation stroke, causing damage to the object, or damage to the first clamping member 2 and / or the second clamping member 3 and the moving member 4, thereby improving the safety and reliability of the actuator.

[0085] In specific applications, it may be that only the first limiting part 13 and the second limiting part 721 are provided, or only the third limiting part 14 and the fourth limiting part 731 are provided, or all of the first limiting part 13 and the second limiting part 721, as well as the third limiting part 14 and the fourth limiting part 731 are provided. Those skilled in the art can make the settings according to actual needs, and this application does not limit them.

[0086] It should be noted that the first limiting part 13 and the second limiting part 721 can be a limiting post and a limiting groove, respectively; the third limiting part 14 and the fourth limiting part 731 are similarly configured, and will not be described in detail here; wherein, the contour of the limiting groove needs to be adapted to the movement trajectory of the limiting post. For example, when the movement trajectory of the limiting post is arc-shaped, the contour of the limiting groove is also set to arc-shaped, thereby ensuring the normal rotation of the first rotating member 72 and the second rotating member 73.

[0087] Understandably, a buffer can also be provided between the limiting post and the limiting groove. For example, a rubber pad or spring is provided on the end wall of the limiting groove. When the limiting post abuts against the end wall of the limiting groove, the buffer can absorb the impact energy, reduce the impact force between the limiting post and the limiting groove, thereby reducing the noise and wear during the limiting engagement, and extending the service life of the limiting part and the first rotating part 72.

[0088] like Figures 3 to 5 As shown, in some embodiments of this application, the gear pair 71 includes a first gear 711 and a second gear 712. The first gear 711 is connected to the output end of the drive member 6, and the second gear 712 is rotatably connected to the base 1. The second gear 712 meshes with the first gear 711. The first rotating member 72 and the second rotating member 73 are both provided with a toothed platform. The toothed platform of the first rotating member 72 meshes with the first gear 711, and the toothed platform of the second rotating member 73 meshes with the second gear 712.

[0089] In this embodiment, the first rotating member 72 and the second rotating member 73 rotate in opposite directions through the first gear 711 and the second gear 712, so that the first clamping member 2 and the second clamping member 3 can move closer or further away from each other; and the toothed platform of the first rotating member 72 meshes with the first gear 711, and the toothed platform of the second rotating member 73 meshes with the second gear 712, so that the transmission path is shorter, the transmission efficiency is higher, and the response speed is faster.

[0090] In practical applications, both the first rotating component 72 and the second rotating component 73 are provided with toothed platforms. That is, the first rotating component 72 and the second rotating component 73 are provided with teeth only in the areas where they mesh with the first gear 711 or the second gear 712, and no teeth are provided in the other areas. By providing a toothed platform structure, the processing area and material consumption of the first rotating component 72 and the second rotating component 73 can be reduced, thereby reducing manufacturing costs and weight. At the same time, the toothed platform structure can flexibly design the number of teeth according to the required rotation angle of the first rotating component 72 and the second rotating component 73, thereby improving the design flexibility.

[0091] Specifically, both the gear platform of the first rotating member 72 and the gear platform of the second rotating member 73 are sector gear structures. That is, the gear platforms of the first rotating member 72 and the second rotating member 73 have meshing teeth on the arc surface. The sector angle of the sector gear is determined according to the required rotation angle of the first rotating member 72 and the second rotating member 73. For example, when the first rotating member 72 needs to rotate 30°, the sector angle of its gear platform can be designed to be 30° (considering a certain margin), eliminating the need to machine teeth on the entire circumference, reducing the amount of machining, and lowering costs.

[0092] It should be noted that the first gear 711 is fixedly connected to the output end of the drive component 6. The first gear 711 can be fixed to the output shaft of the drive component 6 by means of key connection, spline connection or interference fit, etc.; the second gear 712 is rotatably connected to the base 1. The base 1 is provided with a rotating shaft, and the second gear 712 is rotatably connected to the rotating shaft through a bearing, so that the second gear 712 can rotate smoothly relative to the base 1, reducing frictional resistance and improving transmission efficiency and response speed.

[0093] In practical applications, the first gear 711 is the driving gear and the second gear 712 is the driven gear. The actuator has two power transmission paths: the first transmission path is: driving member 6 → first gear 711 → first rotating member 72 → first clamping member 2; the second transmission path is: driving member 6 → second gear 712 → second rotating member 73 → moving member 4 → second clamping member 3. As a result, the motion transmission path of the first clamping member 2 is shorter and the response speed is faster, which can serve as a positioning reference when clamping an object. The second clamping member 3 can be amplified by the moving member 4, so that the second clamping member 3 can form an envelope clamping of the object. Thus, the first clamping member 2 and the second clamping member 3 can form a biomimetic clamping coordinated action of "positioning + envelope", thereby improving the applicability of the actuator and making the structure simpler and the layout more flexible.

[0094] like Figures 3 to 5 , Figure 10 , Figure 11 , Figure 14 and Figure 15As shown, in some embodiments of this application, the first rotating member 72 includes a first connecting portion 722 and a first engaging portion 723. The first engaging portion 723 is connected to the first connecting portion 722. The first connecting portion 722 is rotatably connected to the base 1. The first clamping member 2 is fixedly connected to the first connecting portion 722. The first engaging portion 723 is provided with the toothed platform. And / or, the second rotating member 73 includes a second connecting portion 732 and a second engaging portion 733. The second engaging portion 733 is connected to the second connecting portion 732. The second connecting portion 732 is rotatably connected to the base 1. The end of the movable member 4 away from the second clamping member 3 is fixedly connected to the second connecting portion 732. The second engaging portion 733 is provided with the toothed platform.

[0095] In this embodiment, the first connecting part 722 is rotatably connected to the base 1 and fixedly connected to the first clamping member 2. The first meshing part 723 is connected to the first connecting part 722 and is provided with a gear plate that meshes with the first gear 711. Thus, when the first gear 711 rotates, the gear plate of the first meshing part 723 drives the first clamping member 2 to rotate relative to the base 1 through the first connecting part 722, thereby making the motion transmission efficiency of the driving member 6 higher. The arrangement of the second rotating member 73 is similar and will not be described in detail here.

[0096] In specific applications, the first rotating member 72 may include only the first connecting portion 722 and the first engaging portion 723 connected to each other, or the second rotating member 73 may include only the second connecting portion 732 and the second engaging portion 733 connected to each other, or the first rotating member 72 may include the first connecting portion 722 and the first engaging portion 723 connected to each other, and the second rotating member 73 may include the second connecting portion 732 and the second engaging portion 733 connected to each other; those skilled in the art can make the settings according to actual needs, and this application does not limit them.

[0097] It should be noted that the connection between the first connecting part 722 and the first engaging part 723 can be integrally formed, or it can be fixedly connected by welding, riveting, screwing, or other methods; the second connecting part 732 and the second engaging part 733 are similarly configured, and will not be described in detail here; those skilled in the art can configure it according to actual needs, and this application does not impose any restrictions on it.

[0098] like Figures 3 to 5 As shown, in some embodiments of this application, the transmission ratio between the first gear 711 and the first rotating member 72 is equal to the transmission ratio between the first gear 711 and the second rotating member 73.

[0099] In this embodiment, by setting the transmission ratio between the first gear 711 and the first rotating member 72 to be equal to the transmission ratio between the first gear 711 and the second rotating member 73, the first rotating member 72 and the second rotating member 73 rotate at the same speed and in opposite directions. This ensures that the first clamping member 2 and the second clamping member 3 remain synchronized during clamping or releasing, further improving the consistency of the actuator's actions and the stability of the clamping.

[0100] In practical applications, the transmission ratio between the first gear 711 and the first rotating member 72 is equal to the transmission ratio between the first gear 711 and the second rotating member 73, making the rotation speeds of the first rotating member 72 and the second rotating member 73 the same. The second rotating member 73 drives the second clamping member 3 to move through the movable member 4 and the connecting member 5. The movable member 4 and the connecting member 5 work together to amplify the motion of the second clamping member 3, making the sweep range and stroke of the second clamping member 3 greater than those of the first clamping member 2. Thus, when the actuator clamps an object, the first clamping member 2, as a positioning reference, can quickly and accurately contact the object, while the second end 32 of the second clamping member 3 can generate a larger grasping action and envelope range, forming an adaptive envelope clamping of the object, achieving a biomimetic grasping effect of "positioning + envelope". At the same time, the second clamping member 3 can also keep synchronized with the first clamping member 2 (starting or stopping simultaneously), thus taking into account both synchronization and clamping range performance indicators.

[0101] Understandably, in order to make the transmission ratio between the first gear 711 and the first rotating member 72 equal to the transmission ratio between the first gear 711 and the second rotating member 73, the number of teeth and the module of the first gear 711 and the second gear 712 can be set to be equal, and the number of teeth and the module of the first meshing part 723 and the second meshing part 733 can be set to be equal, thereby facilitating processing.

[0102] like Figure 1 , Figure 2 , Figure 4 , Figure 5 , Figure 10 and Figure 11 As shown, in some embodiments of this application, a clamping space is formed between the first clamping member 2 and the second clamping member 3. The first clamping member 2 has a first curved surface 21 on the side facing the clamping space, and the first curved surface 21 is at least partially recessed in the direction away from the clamping space. The second clamping member 3 has a second curved surface 33 on the side facing the clamping space. The second curved surface 33 is located between the first end 31 and the second end 32, and the second curved surface 33 is at least partially recessed in the direction away from the clamping space.

[0103] In this embodiment of the application, by providing a first curved surface 21 on the first clamping member 2 and a second curved surface 33 on the second clamping member 3, the clamping space between the first clamping member 2 and the second clamping member 3 can be increased; at the same time, the first curved surface 21 and the second curved surface 33 are at least partially recessed in the direction away from the clamping space, so that the first curved surface 21 and the second curved surface 33 can form a "hug" on the object when clamping it, thereby improving the clamping stability and reliability of the actuator.

[0104] In practical applications, both the first curved surface 21 and the second curved surface 33 are concave, facing away from the clamping space. That is, both the first curved surface 21 and the second curved surface 33 are concave, and the concave direction is away from the clamping space. Thus, when clamping an object, the concave areas of the first curved surface 21 and the second curved surface 33 can at least partially conform to the outer surface of the object. This changes the contact between the first clamping member 2 and the second clamping member 3 and the object from point or line contact to surface contact. This allows the clamping force to be distributed more evenly on the object surface, reducing the risk of localized stress concentration and object damage. Simultaneously, the increased contact area also increases friction, further enhancing clamping stability and reducing the risk of object slippage.

[0105] In some embodiments of this application, a flexible layer is also provided on the first curved surface 21 and the second curved surface 33. The flexible pad layer can be a silicone layer, a rubber layer, or a polyurethane layer, etc. In this way, when clamping an object, the flexible layer can undergo elastic deformation, further increasing the contact area with the object, while playing a buffering role to avoid excessive clamping force and damage to the surface of the object.

[0106] Understandably, the specific shape and size of the first surface 21 and the second surface 33 can be designed according to actual needs. For example, parameters such as the radius of curvature of the arc surface, the depth of the recess, and the extension length of the arc surface can be adjusted to adapt to objects of different shapes and sizes. This application does not impose any restrictions on this.

[0107] like Figure 1 , Figure 2 , Figure 4 , Figure 5 , Figure 10 and Figure 11 As shown, in some embodiments of this application, the first clamping member 2 has an abutment portion 22 at one end away from the base 1, and the abutment portion 22 can abut against the second end 32.

[0108] In this embodiment of the application, the abutting portion 22 of the first clamping member 2 can abut against the second end 32, thereby reducing the possibility of excessive tightening of the first clamping member 2 and the second clamping member 3, which may cause damage to the object. At the same time, when the abutting portion 22 abuts against the second end 32, a signal of the end of movement can be fed back, which improves the operability of the actuator.

[0109] In specific applications, such as Figure 1 , Figure 2 and Figure 10 As shown, the first clamping member 2 has an abutment portion 22 at the end away from the base 1. Specifically, the abutment portion 22 is formed by the end of the first clamping member 2 away from the base 1 protruding away from the clamping space and simultaneously protruding towards the second clamping member 3. This allows the abutment portion 22 to simulate the "pad" of a human thumb. Compared to other parts of the first clamping member 2, the abutment portion 22 protrudes more. Thus, when the first clamping member 2 and the second clamping member 3 approach each other, the abutment portion 22 first abuts against the second end 32, thereby forming a tighter fit. In this way, the action of the actuator when clamping an object is closer to the natural grasping action of a human hand, improving the biomimicry and operational stability of the actuator.

[0110] It should be explained that since the abutting portion 22 of the first clamping member 2 can abut against the second end 32 of the second clamping member 3, the actuator can also clamp objects through the abutting portion 22 and the second end 32. For example, it can clamp thinner or smaller objects, thereby increasing the types of objects that the actuator can clamp. For example, the first clamping member 2 and the second clamping member 3 can use "non-finger-tip clamping" (the first curved surface 21 and the second curved surface 33 cooperate to clamp) larger objects, or they can use "finger-tip clamping" (the abutting portion 22 and the second end 32 cooperate to clamp) smaller objects. This increases the types, shapes, and sizes of objects that can be clamped, thereby improving the applicability of the actuator.

[0111] In some embodiments, at least one of the actuator, robotic arm, and robot further includes a sensing device that can sense the size of the object being gripped and then control the actuator to move to a corresponding position based on the information about the size of the object being gripped, so as to select whether to use a fingertip gripping mode or a non-fingertip gripping mode.

[0112] It should be noted that when the abutting part 22 abuts against the second end 32, there is mechanical contact between the abutting part 22 and the second end 32, which will generate a perceptible physical signal, such as vibration, sound or force change. For example, when the abutting part 22 abuts against the second end 32, the load of the drive member 6 will suddenly increase. By detecting the change in current or torque of the drive member 6, it can be determined that the clamping action has been completed. Alternatively, a contact sensor (such as a micro switch, pressure sensor, etc.) can be provided on the abutting part 22 and / or the second end 32. When the two abut against each other, the contact sensor is triggered and sends an electrical signal. After the control system receives the signal, it can confirm that the clamping action has been completed, thereby improving the operability of the actuator.

[0113] Understandably, the second end 32 of the second clamping member 3 may also be provided with a protrusion to simulate the fingertips of the other fingers of a human hand, so as to facilitate the clamping of objects. Those skilled in the art can make such a setting according to actual needs, and this application does not limit it.

[0114] like Figure 5 As shown, in some embodiments of this application, the dimension of the second end 32 along the rotation axis direction of the second clamping member 3 is greater than the dimension of the end of the first clamping member 2 along the rotation axis direction of the first clamping member 2.

[0115] In this embodiment, by setting the dimension of the second end 32 along the rotation axis of the second clamping member 3 to be greater than the dimension of the end of the first clamping member 2 along the rotation axis of the first clamping member 2, the contact area between the second end 32 of the second clamping member 3 and the object is larger, which can form a better hugging and wrapping effect on the object during the clamping process, and further improve the clamping stability and reliability.

[0116] In specific applications, the dimension of the second end 32 along the rotation axis direction of the second clamping member 3 specifically refers to the width of the second end 32 of the second clamping member 3 along the rotation axis direction of the second clamping member 3; the dimension of the end of the first clamping member 2 along the rotation axis direction of the first clamping member 2 specifically refers to the width of the end of the first clamping member 2 along the rotation axis direction of the first clamping member 2; the end of the first clamping member 2 specifically refers to the end of the first clamping member 2 facing away from the base 1, that is, the end of the first clamping member 2 provided with the abutment portion 22.

[0117] It should be noted that the rotation axis direction of the second clamping member 3 is parallel to that of the first clamping member 2, specifically referring to the extension direction of their rotation centers, which is also the thickness direction of the base 1.

[0118] Understandably, the second end 32 of the second clamping member 3 has a wider width in the thickness direction of the base 1 than the end of the first clamping member 2. When the actuator clamps the object, the contact area between the end of the first clamping member 2 and the object is smaller, which facilitates precise positioning of the object and achieves a precise contact effect similar to the tip of a thumb. The contact area between the second end 32 of the second clamping member 3 and the object is larger, which can form a larger wrapping range for the object and achieve a fitting effect similar to the tip of four fingers. Through this asymmetrical design of "narrow at one end and wide at the other end", the functional differentiation of the first clamping member 2 as a positioning reference and the second clamping member 3 as an enveloping clamping member is further strengthened.

[0119] In some embodiments of this application, a robotic arm is also proposed, comprising: an actuator as described in any of the above embodiments.

[0120] In the embodiments of this application, the robotic arm includes the execution mechanism described in any of the above embodiments, thereby having the beneficial effects of the execution mechanism described in any of the above embodiments, which will not be repeated here.

[0121] In practical applications, there are two robotic arms, each equipped with an actuator. Each robotic arm can pick up and put down items through the actuator.

[0122] In some embodiments of this application, a robot is also proposed that includes: an actuator as described in any of the above embodiments; or includes an actuator as described in the above embodiments.

[0123] In specific applications, robots can be of different types, used in industrial, commercial, or household fields, to perform different operations. This application does not specifically limit the type of robot; for example, the robot can be a embodied robot or a non-embodied robot. Depending on the mode of locomotion, the robot provided in this application can be a wheeled robot, a tracked robot, or a legged robot.

[0124] Understandably, a robot can include a torso and a robotic arm. The robotic arm can be movably connected to the torso for picking up and placing objects. Of course, a robot can also include other components. The composition of a robot varies depending on the application and the functions it performs.

[0125] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is 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.

[0126] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. An actuator, characterized by include: Base; A first clamping member is rotatably connected to the base; The second clamping member, the movable member, and the connecting member are provided. The movable member is rotatably connected to the base. The second clamping member has a first end and a second end opposite to each other. The first end is rotatably connected to the movable member. One end of the connecting member is rotatably connected to the first end, and the other end is movably connected to the base. The movable member and the connecting member are connected to the first end at different positions. The movable member is rotatable relative to the base to move the second clamping member closer to the first clamping member. During the rotation of the movable member relative to the base, the connecting member further moves the second clamping member and causes the second end to rotate around the first end to move closer to the base.

2. The actuator according to claim 1, characterized in that, The movable component includes a first link connected to the base and rotatable relative to the base, with one end of the first link away from the base rotatably connected to a first end; the connecting component includes a second link, one end of the second link rotatably connected to the first end and the other end rotatably connected to the base; the first link and the second link are connected to the first end at different positions, and the first link and the second link are connected to the base at different positions.

3. The actuator according to claim 2, characterized in that, The first link and the second link are staggered.

4. The actuator according to claim 3, characterized in that, The first link is configured to be driveably connected to the drive member; the connection point of the second link with the base is farther away from the first clamping member than the connection point of the first link with the base.

5. The actuator according to claim 2, characterized in that, The base includes a base body and a fixing member. One end of the fixing member is connected to the base body, and the other end of the fixing member extends away from the first clamping member and is exposed outside the base body. The end of the second connecting rod away from the second clamping member is rotatably connected to the other end of the fixing member. The first clamping member is rotatably connected to the base body, and the first connecting rod is rotatably connected to the base body. The first connecting rod and the first clamping member are connected to the base body at different positions.

6. The actuator according to any one of claims 1-5, characterized in that, It also includes a driving component and a transmission assembly, the transmission assembly being movably connected to the base, and the first clamping member and the movable member being respectively drivenly connected to the transmission assembly; the driving component is drivenly connected to the transmission assembly and is used to drive the transmission assembly to move, so as to drive the first clamping member and the movable member to rotate relative to the base through the transmission assembly.

7. The actuator according to claim 6, characterized in that, The transmission assembly includes a gear pair, a first rotating member and a second rotating member, the first rotating member and the second rotating member being rotatably connected to the base, the first clamping member being fixedly connected to the first rotating member, and the end of the movable member away from the second clamping member being fixedly connected to the second rotating member. The gear pair is rotatably connected to the base. The first rotating member and the second rotating member are respectively meshed with the gear pair. The driving member is connected to the gear pair and is used to drive the gear pair to rotate, so as to drive the first rotating member and the second rotating member to rotate through the gear pair. The rotation directions of the first rotating member and the second rotating member are opposite.

8. The actuator according to claim 7, characterized in that, The base is provided with a first limiting part, and the first rotating member is provided with a second limiting part. The first limiting part and the second limiting part cooperate to limit the rotation stroke of the first rotating member. And / or, the base is provided with a third limiting part, and the second rotating member is provided with a fourth limiting part, the third limiting part and the fourth limiting part are mutually limiting to limit the rotation stroke of the second rotating member.

9. The actuator according to claim 7, characterized in that, The gear pair includes a first gear and a second gear. The first gear is connected to the output end of the drive component, and the second gear is rotatably connected to the base. The second gear meshes with the first gear. Both the first rotating member and the second rotating member are provided with a gear platform. The gear platform of the first rotating member meshes with the first gear, and the gear platform of the second rotating member meshes with the second gear.

10. The actuator according to claim 9, characterized in that, The first rotating member includes a first connecting part and a first engaging part. The first engaging part is connected to the first connecting part. The first connecting part is rotatably connected to the base. The first clamping member is fixedly connected to the first connecting part. The first engaging part is provided with the toothed platform. And / or, the second rotating member includes a second connecting part and a second engaging part, the second engaging part is connected to the second connecting part, the second connecting part is rotatably connected to the base, and the end of the movable member away from the second clamping member is fixedly connected to the second connecting part, and the second engaging part is provided with the toothed platform.

11. The actuator according to claim 9, characterized in that, The transmission ratio between the first gear and the first rotating component is equal to the transmission ratio between the first gear and the second rotating component.

12. The actuator according to any one of claims 1-5, characterized in that, The first clamping member and the second clamping member form a clamping space. The first clamping member has a first curved surface on the side facing the clamping space, and the first curved surface is at least partially recessed in the direction away from the clamping space. The second clamping member has a second curved surface on the side facing the clamping space, and the second curved surface is located between the first end and the second end, and the second curved surface is at least partially recessed in the direction away from the clamping space.

13. The actuator according to any one of claims 1-5, characterized in that, The first clamping member has an abutment portion at one end away from the base, and the abutment portion can abut against the second end; And / or, the dimension of the second end along the rotation axis of the second clamping member is greater than the dimension of the end of the first clamping member along the rotation axis of the first clamping member; and / or, the rotation of the second end about the first end includes the rotation of the second end about the rotation axis between the first end and the movable member.

14. A robotic arm, characterized in that, include: The executing agency as described in any one of claims 1-13.

15. A robot, characterized in that, It includes the actuator as described in any one of claims 1-13; or it includes the robotic arm as described in claim 14.

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