Clamping jaw device, mechanical arm and robot

Abstract

The utility model relates to the technical field of robots, and provides a clamping jaw device, a mechanical arm and a robot, the clamping jaw device comprises a clamping jaw body, a protection pad and a sensor, the clamping jaw body comprises a palm part and a finger part, and the finger part is connected to the palm part; the protection pad is arranged on the palm part and / or the finger part; the sensor is arranged between the protection pad and the clamping jaw body. According to the clamping jaw device, the mechanical arm and the robot, the protection pad is arranged on the palm component or the finger component, and the protection pad provides a physical barrier for the palm component or the finger component; the sensor is arranged between the protection pad and the clamping jaw body, and when the clamping jaw device grabs a target operation object, the sensor can detect the target operation object to obtain the state of the target operation object; in addition, the protection pad can fix the sensor, so that the sensor is prevented from being in direct contact with a target operation object, and the risk that the sensor falls off is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a clamping claw device, a mechanical arm and a robot. Background Art

[0002] Most of the existing robotic arms are equipped with a gripper for grabbing the target object. Generally, the robotic arms are equipped with a camera to obtain the specific position of the target object. However, most robotic arms cannot monitor the state of the target object after grabbing it. If a sensor is directly set on the gripper to detect the state of the target object, the sensor is in direct contact with the target object, which may cause the sensor to fall off. Utility Model Content

[0003] The utility model aims to solve at least one of the technical problems existing in the related art. To this end, the utility model provides a gripper device, a mechanical arm and a robot, which can prevent the sensor from falling when detecting the grasped state of the target operation object.

[0004] The utility model provides a clamping claw device, comprising:

[0005] The clamp body comprises a palm part and a finger part, wherein the finger part is connected to the palm part;

[0006] A protection pad, disposed on the palm part and / or the finger part;

[0007] The sensor is arranged between the protection pad and the clamp body.

[0008] According to the clamping device of the embodiment of the utility model, a fixing groove is provided on the inner side of the finger component, and the protection pad is provided in the fixing groove;

[0009] and / or,

[0010] The sensor includes at least one of a pressure sensor and a temperature sensor.

[0011] According to the clamping jaw device of the embodiment of the utility model, a threading hole is provided on the clamping jaw body, the wires of the sensor are passed through the threading hole, and the protective pad covers the threading hole.

[0012] According to the clamping device of the embodiment of the utility model, the palm part includes a palm seat, the finger part includes a connecting knuckle and a movable knuckle, the connecting knuckle is rotatably connected to the movable knuckle; the connecting knuckle is transversely arranged on the palm seat.

[0013] According to the clamping device of the embodiment of the utility model, the palm component further includes a palm cover, and the palm cover is arranged on the palm seat;

[0014] The connecting knuckle is arranged between the palm cover and the palm seat;

[0015] and / or,

[0016] The protection pad is arranged on the palm cover;

[0017] and / or,

[0018] The palm cover is round.

[0019] According to the clamping device of the embodiment of the utility model, the movable knuckles are provided with at least two, and the movable knuckles located at the end are fingers;

[0020] The fingertips are in the form of sheets;

[0021] and / or,

[0022] The protection pad is arranged on the finger.

[0023] According to the clamping device of the embodiment of the utility model, at least one of the finger parts is rotatably connected to the palm part; a first mounting groove is provided on the palm side of the palm part, and a first connecting shaft is provided on the finger part, and the first connecting shaft can be rotatably installed in the first mounting groove through a bearing.

[0024] According to the clamping device of the embodiment of the utility model, the clamping device also includes a transmission component and a driving component, the transmission component includes an active component and a driven component, the driving component, the active component and the driven component are power-coupled in sequence; the output shaft of the driving component is connected to the active component, and the driven component is connected to the finger component; the clamping device also includes an encoder, and the encoder is fixed to the driven component.

[0025] The utility model also provides a mechanical arm, comprising a clamping claw device.

[0026] The utility model also provides a robot, comprising a clamping claw device or a mechanical arm.

[0027] The above one or more technical solutions in the embodiments of the utility model have at least one of the following technical effects:

[0028] The finger part is connected to the palm part, and the target operating object is grasped by opening and closing the finger part; the protection pad is set on the palm part or the finger part, and the protection pad provides a physical barrier for the palm part or the finger part. As a buffer layer between the clamp body and the target operating object, the protection pad can prevent the palm part or the finger part from being scratched; the sensor is set between the protection pad and the clamp body. When the clamp device grasps the target operating object, the sensor can detect the target operating object to obtain the state of the target operating object; in addition, the protection pad can also fix the sensor to prevent the sensor from directly contacting the target operating object and reduce the risk of the sensor falling off.

[0029] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the utility model or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0031] Figure 1 It is a three-dimensional structural schematic diagram of the clamping jaw device provided by the embodiment of the utility model in the state of folding fingers;

[0032] Figure 2 is an exploded view of the clamping jaw device provided by an embodiment of the utility model;

[0033] Figure 3 It is an exploded view of the movable knuckle of the clamping jaw device provided in the embodiment of the utility model;

[0034] Figure 4 It is an exploded view of the connecting knuckle of the clamping jaw device provided by the embodiment of the utility model;

[0035] Figure 5 It is a three-dimensional structural schematic diagram of the clamping jaw device provided by the embodiment of the utility model in the finger-facing state;

[0036] Figure 6 It is a three-dimensional structural schematic diagram of the clamping jaw device provided by the embodiment of the utility model in the enveloping finger state;

[0037] Figure 7 It is a three-dimensional structural schematic diagram of the clamping claw device provided by the embodiment of the utility model in the T-finger state;

[0038] Figure 8It is a schematic diagram of the three-dimensional structure of the palm cover of the clamping jaw device provided in an embodiment of the utility model.

[0039] Reference numerals:

[0040] 100, clamp body; 110, palm part; 111, palm seat; 1111, mounting port; 1112, connecting plate; 112, palm cover; 1121, through hole; 1122, second mounting slot; 120, finger part; 121, fixed slot; 122, connecting knuckle; 1221, first cavity; 1222, first drive motor; 123, movable knuckle; 1231, second cavity; 1232, second drive motor; 124, first mounting slot; 125, finger; 126, first connecting shaft; 127, fixed finger; 128, movable finger; 130, threading hole;

[0041] 200, protective pad; 210, sensor;

[0042] 300, transmission component; 310, driving component; 320, driven component; 321, second connecting shaft; 330, steering gear;

[0043] 400, driving parts;

[0044] 500, encoder;

[0045] 600, driver; 610, fixing plate. DETAILED DESCRIPTION

[0046] The following is a further detailed description of the implementation of the present invention in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but cannot be used to limit the scope of the present invention.

[0047] In the description of the embodiments of the present utility model, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the embodiments of the present utility model. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0048] In the description of the embodiments of the present utility model, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present utility model can be understood according to specific circumstances.

[0049] In the embodiments of the present invention, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0050] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model embodiment. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0051] The conventional robot arm can only grasp the target object by opening and closing the jaws, but cannot monitor the state of the target object. If a sensor is directly arranged on the jaws to detect the state of the target object, the sensor is in direct contact with the target object, which may cause the sensor to fall off.

[0052] See also Figure 1 to Figure 2 The first embodiment of the utility model provides a clamping device, including a clamping body 100, a protection pad 200 and a sensor 210, the clamping body 100 includes a palm part 110 and a finger part 120, the finger part 120 is connected to the palm part 110; the protection pad 200 is arranged on at least one of the palm part 110 and the finger part 120; the sensor 210 is arranged between the protection pad 200 and the clamping body 100.

[0053] The finger part 120 is connected to the palm part 110, and the target operating object is grasped by opening and closing the finger part 120; the protection pad 200 is arranged on the palm part 110 or the finger part 120, and the protection pad 200 provides a physical barrier for the palm part 110 or the finger part 120, and serves as a buffer layer between the clamp body 100 and the target operating object, and the protection pad 200 can prevent the palm part 110 or the finger part 120 from being scratched; the sensor 210 is arranged between the protection pad 200 and the clamp body 100, and when the clamp device grasps the target operating object, the sensor 210 can detect the target operating object to obtain the state of the target operating object; in addition, the protection pad 200 can also fix the sensor 210 to prevent the sensor 210 from directly contacting the target operating object and reduce the risk of the sensor 210 falling off.

[0054] It can be understood that the sensor 210 can be directly bonded to the jaw body 100, or it can be fixed to the jaw body 100 by means of snap fastening or threaded fixing. The utility model does not particularly limit the specific fixing method of the sensor 210; the sensor 210 is arranged between the protective pad 200 and the jaw body 100, so that the sensor 210 is clamped between the protective pad 200 and the jaw body 100, which has a further fixing effect on the sensor 210; furthermore, the protective pad 200 has a shielding effect on the sensor 210, avoiding the sensor 210 from being exposed, and effectively preventing external impurities, dust, water droplets, etc. from damaging the sensor 210.

[0055] It is understandable that the protection pad 200 is disposed on the palm part 110 or the finger part 120, and the position of the protection pad 200 can be set according to the shape and size of the target operation object to better achieve the protection effect; in other embodiments, the protection pad 200 can also be disposed on both the palm part 110 and the finger part 120, and the embodiment of the utility model does not specifically limit the distribution of the protection pad 200. Generally, the protection pad 200 is disposed on the palm surface of the palm part 110 and on the side of the finger part 120 close to the palm part 110 to prevent the palm part 110 or the finger part 120 from being damaged.

[0056] See also Figures 2 to 3In one embodiment, a fixing groove 121 is provided on the inner side of the finger part 120, and the protection pad 200 is provided in the fixing groove 121; the fixing groove 121 plays the role of supporting and fixing the protection pad 200 to prevent the protection pad 200 from shifting or falling off; the setting of the fixing groove 121 can provide a positioning function for the installation of the protection pad 200, ensuring that the protection pad 200 can be quickly and accurately installed in the correct position; the inner side of the finger part 120 is the side of the finger part 120 close to the palm part 110. In addition, embedding the protection pad 200 in the fixing groove 121 can prevent the protection pad 200 from protruding from the surface of the clamp body 100, so as to ensure the flatness of the surface of the clamp body 100. The area of ​​the fixing groove 121 is greater than or equal to the area of ​​the protection pad 200, and the fixing groove 121 only needs to accommodate the protection pad 200. The embodiment of the utility model does not impose any special restrictions on the specific size of the protection pad 200.

[0057] Generally, the protective pad 200 can be made of rubber, polyurethane and other materials. The embodiment of the utility model does not specifically limit the specific material of the protective pad 200. The protective pad 200 can increase the anti-slip performance of the clamp body 100 so that the clamp device can better clamp the target object.

[0058] In one embodiment, the sensor 210 includes at least one of a pressure sensor and a temperature sensor.

[0059] It is understandable that the state of the target object may include information such as the weight, temperature, and whether the target object is grasped by the clamp. For example, the sensor 210 is a pressure sensor, and the clamp device of the embodiment of the utility model includes a driver 600. When the clamp body 100 contacts the target object, the pressure sensor transmits a signal to the driver 600 of the clamp device, and the driver 600 adjusts the pressure applied by the clamp body 100 to the target object through judgment and calculation. However, in the prior art, the pressure sensor is generally directly arranged on the clamp. Since the probe of the pressure sensor is generally small, when the target object is clamped, the probe of the pressure sensor may not contact the target object, resulting in the pressure sensor being unable to detect the state of the target object. In the embodiment of the utility model, the pressure sensor is arranged between the protection pad 200 and the clamp body 100. When the target operating object contacts the protection pad 200, the protection pad 200 transfers the pressure it receives to the pressure sensor to trigger the pressure sensor to work. The protection pad 200 can increase the contact area between the pressure sensor and the target operating object, which is beneficial for the sensor 210 to detect the state of the target operating object.

[0060] Of course, in other embodiments, the sensor 210 may also be a temperature sensor to detect the temperature of the grasped target object so that the robot arm can make a correct response.

[0061] See also Figure 2 In one embodiment, a threading hole 130 is provided on the jaw body 100, and the wires of the sensor 210 are passed through the threading hole 130. The threading hole 130 guides the wires of the sensor 210 to prevent the wires from being entangled. The threading hole 130 can be connected to the inside of the jaw body 100, so that the wires of the sensor 210 are stored inside the jaw body 100 to prevent the wires of the sensor 210 from being exposed. The protective pad 200 can cover the threading hole 130 to prevent the threading hole 130 from being exposed, and prevent external impurities, dust, water droplets, etc. from entering the threading hole 130.

[0062] See also Figure 2 In one embodiment, the palm part 110 includes a palm seat 111 , and the finger part 120 includes a connecting knuckle 122 and a movable knuckle 123 , wherein the connecting knuckle 122 is rotatably connected to the movable knuckle 123 ; the connecting knuckle 122 is laterally arranged on the palm seat 111 .

[0063] It can be understood that the connecting knuckle 122 is suitable for fixing the finger member 120 on the palm member 110, and the movable knuckle 123 is suitable for clamping the target operation object; the connecting knuckle 122 is arranged horizontally on the palm seat 111, and while the finger member 120 is connected to the palm member 110, the palm surface of the clamping device can be widened to adapt to target operation objects of different sizes and shapes, thereby improving the adaptability and gripping force of the clamp body 100. The movable knuckle 123 can be arranged at the end of the connecting knuckle 122, and the movable knuckle 123 protrudes from the palm surface of the clamp body 100, so that the movable knuckle 123 can apply force to the target operation object.

[0064] See also Figure 2 and Figure 4 , a first cavity 1221 may be provided inside the connecting knuckle 122, and a first drive motor 1222 may be provided inside the first cavity 1221. The first drive motor 1222 is adapted to drive the movable knuckle 123 to move, so that the movable knuckle 123 completes the clamping work. The first drive motor 1222 is provided in the first cavity 1221, so that the driving part of the movable knuckle 123 of each finger component 120 is provided in a separate accommodation space. When a certain finger component 120 is damaged, the corresponding connecting component can be disassembled for maintenance without disassembling the entire palm seat 111, thus saving troubleshooting time and making the maintenance process more targeted. The first drive motor 1222 is provided in the first cavity 1221 of the connecting knuckle 122, and the connecting knuckle 122 is rotationally connected to the movable knuckle 123, which is more conducive to the direct control of the movable knuckle 123 by the first drive motor 1222.

[0065] In addition, the extension direction of the output shaft of the first drive motor 1222 is the same as the length direction of the connecting finger joint 122; since the motor is generally long and the output shaft of the motor is arranged at the end of the motor, the extension direction of the output shaft of the first motor is the same as the length direction of the connecting finger joint 122, and the internal space of the connecting finger joint 122 can be fully utilized to reduce space waste; the size of the first cavity 1221 can be set to just accommodate the first drive motor 1222, and there is no need to set additional fixings inside the first cavity 1221 to fix the first drive motor 1222.

[0066] See also Figure 2 In one embodiment, the palm member 110 further includes a palm cover 112, which is disposed on the palm seat 111. The palm cover 112 forms a protective barrier for the palm member 110. The palm cover 112 can bear the impact force of the target operating object and other external forces to prevent the internal components of the palm member 110 from being directly damaged.

[0067] See also Figure 1 to Figure 2 In one embodiment, the connecting knuckle 122 is arranged between the palm cover 112 and the palm seat 111; the palm seat 111 supports the connecting knuckle 122, and the palm cover 112 is arranged on the connecting knuckle 122, which is conducive to further fixing the connecting knuckle 122; furthermore, the palm cover 112 can cover the connecting knuckle 122, and the palm surface of the palm cover 112 is a flat surface, which can improve the flatness of the palm surface of the palm part 110, increase the contact area between the palm part 110 and the target operation object, and facilitate the grasping of the target operation object; for example, the palm cover 112 is a flat cover.

[0068] See also Figure 2 In one embodiment, the protection pad 200 is disposed on the palm cover 112, which can accurately protect the palm part 110. The sensor 210 can be disposed between the protection pad 200 and the palm cover 112 to timely detect the state of the grasped target object; if the sensor 210 is a pressure sensor, the gripper device is turned over so that the palm cover 112 supports the grasped target object, and the weight of the grasped target object can be measured by the pressure sensor disposed on the palm cover 112. A limit groove or depression can be disposed on the palm cover 112 to fix the protection pad 200 and prevent the protection pad 200 from shifting.

[0069] See also Figure 2In one embodiment, the palm cover 112 is round, and the edge of the round palm cover 112 is relatively soft, which can provide a certain buffering effect, reduce the impact force, and avoid damage to the target operation object; the round palm cover 112 is in direct contact with the target operation object to form a round palm surface, and the contact points between the round palm surface and the target operation object are at different positions on the surface of the target operation object, so that the palm part 110 can distribute the pressure more evenly when grasping the target operation object, thereby reducing the risk of deformation of the target operation object.

[0070] See also Figure 1 to Figure 2 In one embodiment, at least two movable knuckles 123 are provided. By providing multiple movable knuckles 123 and connecting multiple movable knuckles 123 in pairs, the flexibility and adjustability of the finger body can be improved, and the fine control ability of the finger can be improved to provide more accurate operation. By providing multiple movable knuckles 123, the finger body can wrap the target operation object more tightly to adapt to target operation objects of different shapes, and increase the stability and gripping force of the finger body. Each finger component 120 can be provided with one, two, three or four movable knuckles 123. The embodiment of the utility model does not specifically limit the number of movable knuckles 123 of the finger body.

[0071] See also Figure 2 In one embodiment, the movable knuckle 123 at the end is a finger 125. The finger 125 serves as a contact point between the clamp body 100 and the target object, and can provide sufficient gripping force so that the clamp device can firmly grasp the object.

[0072] See also Figures 2 to 3 It can be understood that, when multiple movable knuckles 123 are provided, a second cavity 1231 can be provided inside the movable knuckle 123, and a second drive motor 1232 is provided inside the second cavity 1231. The second drive motor 1232 is used to drive the movable knuckle 123 on the lower side along the power transmission direction to move, so that the movable knuckle 123 can be more flexible in movement.

[0073] See also Figures 2 to 4Generally, the driver 600 of the clamping device is arranged inside the palm seat 111. In order to fix the driver 600, a fixing plate 610 is also arranged inside the palm seat 111, and the driver 600 is fixedly arranged on the fixing plate 610; the first cavity 1221, the second cavity 1231 and the palm seat 111 are connected in sequence, and the threading hole 130 on the finger part 120 is connected to the first cavity 1221, so that the wires of the sensor 210 arranged on the finger part 120 are connected to the inside of the palm seat 111 through the first cavity 1221 and the second cavity 1231. When the sensor 210 is connected with the driver 600, the wires are prevented from being exposed, which may cause the risk of wire entanglement. Similarly, the threading hole 130 may also be arranged on the palm cover 112 to prevent the wires of the sensor 210 from being exposed.

[0074] See also Figure 2 In one embodiment, the finger 125 is in the form of a sheet. The sheet-shaped finger 125 is relatively thin and light, and can be operated in a limited space while saving materials to provide more precise control. For example, when clamping an object such as a plate, since the gap between the plate and the table is small, the sheet-shaped finger 125 can extend into the gap between the plate and the table to clamp the plate.

[0075] See also Figure 2 In one embodiment, a protection pad 200 is provided on the finger 125 to enhance the anti-slip effect of the finger 125 and prevent the target operation object from falling off or loosening during clamping.

[0076] See also Figure 1 to Figure 2 In one embodiment, at least one finger part 120 is rotatably connected to the palm part 110, and the finger part 120 rotates around the palm part 110, so that the position of the finger part 120 can be changed to form different gripping postures, thereby adapting to the manipulation of different objects. For example, the finger part 120 includes a fixed finger 127 and two movable fingers 128, the fixed finger 127 is fixedly set on the palm part 110, and the movable fingers 128 rotate relative to the palm part 110 to form a state of juxtaposition, opposing fingers, enveloping fingers or T-shaped fingers; wherein, as Figure 1 As shown, in the combined finger state, three finger members 120 are arranged in parallel and adjacent finger members 120 are close to each other, which is convenient for moving the target operation object; Figure 5 As shown, in the finger-to-finger state, three finger parts 120 are respectively arranged on opposite sides of the palm part 110, so as to facilitate the clamping of the target operation object; Figure 6 As shown, the enveloping finger state is that the three finger parts 120 are arranged approximately equidistantly on the peripheral side of the palm part 110 to form an enveloping posture, which is convenient for applying force in the circumferential direction of the target operation object and is conducive to clamping the target operation object; Figure 7As shown, the T-finger state means that the three finger components 120 are roughly in a T-shaped posture, which is conducive to providing better gripping force and improving the clamping effect.

[0077] See also Figure 2 In one embodiment, a first mounting groove 124 is provided on the palm side of the palm part 110, and a first connecting shaft 126 is provided on the finger part 120. The first connecting shaft 126 can be rotatably mounted on the first mounting groove 124 through a bearing, so as to facilitate the rotatable connection between the finger part 120 and the palm part 110.

[0078] See also Figure 2 and Figure 8 The clamping device also includes a transmission component 300 and a driving component 400. The transmission component 300 includes an active component 310 and two driven components 320. The driving component 400, the active component 310 and the driven components 320 are power-coupled in sequence; the output shaft of the driving component 400 is connected to the active component 310, and the driven components 320 are fixedly connected to the active fingers 128 respectively. The palm cover 112 is provided with two second mounting grooves 1122 corresponding to the active fingers 128 on the back of the palm, and a second connecting shaft 321 is provided on the driven component 320 in the same extension direction as the active knuckle 123. The second connecting shaft 321 is rotatably mounted on the second mounting groove 1122 through a bearing so that the active finger 128 can rotate on the palm component 110.

[0079] Generally, the driving member 400 is a motor, the driving member 310 is a driving gear, and the driven member 320 is a driven gear, and the driving gear is connected to the output shaft of the driving member 400. When the driving member 400 works, the driving gear is driven to rotate, and the driven gear rotates accordingly, thereby driving the two movable fingers 128 to move; and the two movable fingers 128 are driven to rotate synchronously by one driving member 400 at the same time.

[0080] See also Figure 1 to Figure 2 In one embodiment, the transmission component 300 further includes a steering gear 330, wherein one driven gear is meshed with the driving gear through the steering gear 330, and the other driven gear is meshed with the driving gear. The steering gear 330 is used to change the rotation direction of one of the movable fingers 128, so that the two movable fingers 128 can rotate with the fixed finger 127 as the reference direction, which is more conducive to switching different gripping postures.

[0081] See also Figure 2 In one embodiment, the clamping device also includes an encoder 500, which is fixed to the follower 320. Generally, the encoder 500 is a magnet or a code disk. A magnetic sensor 210, such as a Hall element, can be set on the driver 600 to detect the rotation angle of the encoder 500, thereby detecting the rotation angle of the follower 320.

[0082] See also Figure 2 and Figure 8 In one embodiment, the interior of the palm part 110 forms a mounting cavity for the driver 600; a through hole 1121 is provided on the palm surface of the palm part 110, and the output shaft of the driver 400 is passed through the through hole 1121 so that the driver 400 is connected to the active part 310. The bottom of the palm part 110 is provided with a mounting opening 1111, and the mounting opening 1111 is connected to the mounting cavity; the bottom of the palm part 110 is provided with a connecting plate 1112, and the connecting plate 1112 covers the mounting opening 1111. When inspecting and repairing, the interior of the palm part 110 can be inspected and repaired by removing the connecting plate 1112. The connecting plate 1112 can be used to connect the end of the robot arm to facilitate assembly.

[0083] The second aspect of the utility model also provides a mechanical arm, including the above-mentioned clamping device.

[0084] It can be understood that if the gripper device has the beneficial effects of the above-mentioned embodiments, then the robotic arm will correspondingly have the beneficial effects of the above-mentioned embodiments. The specific implementation methods thereof may refer to the above-mentioned embodiments, and will not be described in detail in this application.

[0085] The third aspect of the utility model also provides a robot, comprising the above-mentioned gripper device or the above-mentioned mechanical arm.

[0086] It can be understood that if the gripper device and the robotic arm have the beneficial effects of the above embodiments, then the robot will correspondingly have the beneficial effects of the above embodiments. The specific implementation methods thereof may refer to the above embodiments, and will not be described in detail in this application.

[0087] Finally, it should be noted that the above implementation modes are only used to illustrate the present invention, rather than to limit the present invention. Although the present invention is described in detail with reference to the embodiments, a person skilled in the art should understand that various combinations, modifications or equivalent replacements of the technical solutions of the present invention do not depart from the spirit and scope of the technical solutions of the present invention, and should be included in the scope of the claims of the present invention.

Claims

1. A clamping device, characterized in that: include: The clamp body (100) comprises a palm part (110) and a finger part (120), wherein the finger part (120) is connected to the palm part (110); A protection pad (200) is arranged on the palm part (110) and / or the finger part (120); A sensor (210) is arranged between the protection pad (200) and the clamp body (100).

2. The clamping device according to claim 1, characterized in that: A fixing groove (121) is provided on the inner side of the finger component (120), and the protection pad (200) is arranged in the fixing groove (121); and / or, The sensor (210) includes at least one of a pressure sensor and a temperature sensor.

3. The clamping device according to claim 1, characterized in that: The clamp body (100) is provided with a threading hole (130), the wire of the sensor (210) is passed through the threading hole (130), and the protection pad (200) covers the threading hole (130).

4. The clamping device according to claim 1, characterized in that: The palm part (110) comprises a palm seat (111); the finger part (120) comprises a connecting finger joint (122) and a movable finger joint (123); the connecting finger joint (122) is rotatably connected to the movable finger joint (123); and the connecting finger joint (122) is transversely arranged on the palm seat (111).

5. The clamping device according to claim 4, characterized in that: The palm component (110) further comprises a palm cover (112), wherein the palm cover (112) is arranged on the palm seat (111); The connecting knuckle (122) is arranged between the palm cover (112) and the palm seat (111); and / or, The protection pad (200) is arranged on the palm cover (112); and / or, The palm cover (112) is circular.

6. The clamping device according to claim 4, characterized in that: At least two movable knuckles (123) are provided, and the movable knuckles (123) located at the end are fingers (125); The finger (125) is in the form of a sheet; and / or, The protection pad (200) is arranged on the finger (125).

7. The clamping jaw device according to any one of claims 1 to 6, characterized in that: At least one of the finger parts (120) is rotatably connected to the palm part (110); a first mounting groove (124) is provided on the palm side of the palm part (110); a first connecting shaft (126) is provided on the finger part (120); and the first connecting shaft (126) is rotatably mounted in the first mounting groove (124) via a bearing.

8. The clamping device according to claim 7, characterized in that: The clamping device further comprises a transmission component (300) and a driving component (400), wherein the transmission component (300) comprises an active component (310) and a driven component (320), wherein the driving component (400), the active component (310) and the driven component (320) are sequentially power-coupled; an output shaft of the driving component (400) is connected to the active component (310), and the driven component (320) is connected to the finger component (120); and the clamping device further comprises an encoder (500), wherein the encoder (500) is fixed to the driven component (320).

9. A robotic arm, characterized in that: A clamping device comprising the clamping jaw device according to any one of claims 1 to 8.

10. A robot, characterized in that: It comprises the gripper device according to any one of claims 1 to 8 or the robotic arm according to claim 9.

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