Mechanical arm clamping jaw mechanism, mechanical arm and robot

Abstract

The utility model discloses a mechanical arm clamping jaw mechanism, a mechanical arm and a robot, the mechanical arm clamping jaw mechanism comprises a clamping jaw shell, a moving assembly, a first clamping assembly and a second clamping assembly, the moving assembly is arranged in the clamping jaw shell and used for providing clamping power for the first clamping assembly and the second clamping assembly, the first clamping assembly and the second clamping assembly each comprise a movable arm, a movable block and a clamping plate which correspond to the first clamping assembly and the second clamping assembly, the first clamping plate and the second clamping plate which are symmetrically arranged are used for clamping an object to be clamped, and when the object to be clamped is in an irregular shape, the first clamping plate and the second clamping plate are clamped according to the specific shape of the object to be clamped. The first clamping plate and the second clamping plate apply certain rotating force to the first movable block and the second movable block correspondingly, so that the first movable block adaptively rotates relative to the first movable arm, the second movable block adaptively rotates relative to the second movable arm, and finally the clamping jaw mechanism smoothly clamps irregular objects. And the applicability of the clamping jaw mechanism is improved.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a robotic arm gripper mechanism, a robotic arm and a robot. Background Art

[0002] With the continuous development of science and technology and the rapid development of mechanical engineering, the demand for automation, intelligence and flexibility in modern industrial production is increasing. At present, some industrial production is gradually replacing traditional manual operations with automated equipment. Some actions that cannot be completed by automated equipment can also be operated by the robot's mechanical arm, so that robots gradually become the main productivity of industrial production. Multi-axis robots are common in industrial production. Multi-axis robots are also called manipulators, industrial manipulators, etc., and grasping operations are common actions of manipulators. When manipulators grasp objects, they generally need to be equipped with mechanical grippers.

[0003] However, different types of workpieces come in a variety of shapes and sizes. Therefore, traditional robotic arm grippers have a limited clamping range and can only clamp objects with regular shapes. They are not adaptable to objects with complex or irregular shapes and cannot flexibly adapt to the clamping requirements of different workpieces. Their applicability needs to be improved. Utility Model Content

[0004] In view of this, the present application provides a robotic arm gripper mechanism, a robotic arm and a robot, which at least solve the problem that the existing robotic arm gripper mechanism is inconvenient to grip objects of irregular shapes, so as to improve the application scope of the robotic arm gripper mechanism.

[0005] To achieve the above objectives, this application provides the following technical solutions:

[0006] In a first aspect, an embodiment of the present application provides a mechanical arm gripper mechanism, comprising:

[0007] A clamping jaw housing, wherein a moving assembly is disposed inside the clamping jaw housing, and a mounting opening is disposed on one side of the clamping jaw housing;

[0008] A first clamping assembly, comprising a first movable arm, a first movable block and a first clamping plate, wherein the movable assembly is fixedly connected to one end of the first movable arm through the mounting port, the other end of the first movable arm is rotatably connected to the first movable block, and the first clamping plate is fixedly connected to the first movable block;

[0009] A second clamping assembly, comprising a second movable arm, a second movable block and a second clamping plate, wherein the movable assembly is fixedly connected to one end of the second movable arm through the mounting port, the other end of the second movable arm is rotatably connected to the second movable block, and the second clamping plate is fixedly connected to the second movable block;

[0010] Wherein, the first clamping assembly and the second clamping assembly are arranged axially symmetrically.

[0011] In a feasible embodiment, a mounting groove is provided at one end of the first movable arm and the second movable arm away from the clamp housing, and the first movable block and the second movable block can be rotatably disposed in the mounting groove.

[0012] In a feasible implementation manner, the first movable block and the second movable block are respectively connected to the first movable arm and the second movable arm through a latch.

[0013] In an achievable implementation, a preset distance is set between the inner wall of the mounting groove and the first movable block and the second movable block.

[0014] In an achievable embodiment, a buffer pad is provided on one side of the first clamping plate and the second clamping plate facing the part to be clamped.

[0015] In one feasible embodiment, the moving assembly includes a guide rail, a first slider and a second slider, the first slider and the second slider are both slidably disposed in the guide rail and extend the clamp housing from the mounting port portion, the first movable arm is fixedly connected to the first slider, and the second movable arm is fixedly connected to the second slider, wherein the movement directions of the first slider and the second slider are opposite.

[0016] In one feasible embodiment, the movable assembly includes two telescopic rods relatively arranged inside the clamp housing, and a fixed block is provided at one end of each of the telescopic rods. The fixed block extends out of the clamp housing from the mounting port portion, and the first movable arm and the second movable arm are respectively connected to the two fixed blocks.

[0017] In a feasible implementation, the first movable arm and the second movable arm are both configured to be L-shaped.

[0018] In a second aspect, an embodiment of the present application further provides a robotic arm, which includes a robotic arm clamping mechanism as in the embodiment of the first aspect described above.

[0019] In a third aspect, an embodiment of the present application further provides a robot, which uses a robotic arm as provided in the embodiment of the second aspect described above.

[0020] The mechanical arm gripper mechanism, mechanical arm and robot provided by the embodiments of the present application have at least the following beneficial effects:

[0021] The mechanical arm clamp mechanism in the embodiment of the present application mainly includes a clamp housing, a moving component, a first clamping component and a second clamping component, wherein the moving component is arranged in the clamp housing to provide clamping power for the first clamping component and the second clamping component, wherein the first clamping component and the second clamping component respectively include their corresponding movable arms, movable blocks and clamping plates, and the symmetrically arranged first clamping plates and the second clamping plates are used to clamp the object to be clamped. When the object to be clamped is an irregular shape, during clamping, according to the specific shape of the object to be clamped, the first clamping plate and the second clamping plate respectively apply a certain rotational force to the first movable block and the second movable block, so that the first movable block adaptively rotates relative to the first movable arm, and the second movable block adaptively rotates relative to the second movable arm, thereby finally realizing the smooth clamping of the irregular object by the clamping mechanism and improving the applicability of the clamping mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solution of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0023] Figure 1 This is a schematic diagram of the structure of a mechanical arm gripper mechanism in a first state provided by an embodiment of the present application;

[0024] Figure 2 This is a schematic diagram of the structure of a mechanical arm gripper mechanism in a second state provided by an embodiment of the present application;

[0025] Figure 3 is a partial structural schematic diagram of a first clamping assembly provided in an embodiment of the present application;

[0026] Figure 4 is a schematic diagram of a partial cross-sectional structure of a mechanical arm gripper mechanism provided by another embodiment of the present application;

[0027] Figure 5 is a partial cross-sectional structural schematic diagram of a mechanical arm gripper mechanism provided by another embodiment of the present application;

[0028] Figure 6 It is a schematic diagram of the assembly of a robotic arm using the robotic arm clamping mechanism provided by another embodiment of the present application.

[0029] The specific reference numerals are as follows:

[0030] Gripper housing 1, mounting opening 101;

[0031] Moving assembly 2, guide rail 201, first slider 202, second slider 203, telescopic rod 204, fixed block 205;

[0032] A first clamping assembly 3, a first movable arm 301, a first movable block 302, and a first clamping plate 303;

[0033] The second clamping assembly 4, the first movable arm 401, the second movable block 402, the second clamping plate 403;

[0034] Mounting slot 5;

[0035] Cushion 6;

[0036] Robotic arm gripper mechanism 100, robotic arm 200. DETAILED DESCRIPTION

[0037] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

[0038] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0039] At present, the gripper mechanism used in the robot arm equipment can generally only perform gripping operations on objects of specific regular shapes such as round and square, which depends largely on the contour shape of the gripper object. This greatly limits the universal performance and application scope of the gripper mechanism. When it is necessary to perform gripping operations on objects of different contour shapes, the corresponding special gripper mechanism must be replaced to perform gripping operations on the object, which seriously affects the work efficiency.

[0040] In order to solve the problems of the prior art, the applicant has improved the structure of the robot arm clamp mechanism 100. The embodiments of the present application are further described below.

[0041] In order to better understand this application, Figures 1 to 5 The embodiments of the present application are described.

[0042] First, please refer to Figure 1-Figure 5 The embodiment of the present application provides a mechanical arm clamp mechanism 100, which includes a clamp housing 1, a first clamping assembly 3 and a second clamping assembly 4. The clamp housing 1 is provided with a moving assembly 2 and a mounting port 101. The moving assembly 2 is fixedly connected to the first clamping assembly 3 and the second clamping assembly 4 through the mounting port 101, and the first clamping assembly 3 is symmetrically arranged with the second clamping assembly 4. The first clamping assembly 3 includes a first movable arm 301, a first movable block 302 and a first clamping plate 303. The moving assembly 2 is fixedly connected to the first clamping assembly 3 and the second clamping assembly 4 through the mounting port 101. 1 is fixedly connected to one end of the first movable arm 301, the other end of the first movable arm 301 is rotatably connected to the first movable block 302, and the first clamping plate 303 is fixedly connected to the first movable block 302; the second clamping assembly 4 includes a second movable arm 401, a second movable block 402 and a second clamping plate 403, wherein the moving assembly 2 is fixedly connected to one end of the second movable arm 401 through the mounting opening 101, the other end of the second movable arm 401 is rotatably connected to the second movable block 402, and the second clamping plate 403 is fixedly connected to the second movable block 402.

[0043] It can be understood that the connection methods between the first movable arm 301 and the first movable part and between the second movable arm 401 and the second movable block 402 can be the same or different, and the connection methods include but are not limited to connection methods that can achieve rotation, such as latches, hinge connections, ball head connections, etc., which can be selected according to specific circumstances. In addition, the shapes of the first movable arm 301 and the second movable arm 401 are also designed. Not only can the first movable arm 301 and the second movable arm 401 be selected as long strips, but the first movable arm 301 and the second movable arm 401 can also be designed as L-shaped. In this way, when the clamp shell 1 is the same, the L-shaped first movable arm 301 and the second movable arm 401 can clamp larger objects to be clamped, which improves the applicability of the clamp mechanism to a certain extent.

[0044] The specific working principle of the mechanical arm clamp mechanism 100 in this embodiment is as follows:

[0045] When the robotic arm clamp mechanism 100 needs to clamp an object to be clamped, the moving component 2 provides clamping power for the first clamp component 3 and the second clamp component 4, wherein the first clamp component 3 and the second clamp component 4 respectively include their corresponding movable arms, movable blocks and clamping plates, and the symmetrically arranged first clamping plates 303 and second clamping plates 403 are used to clamp the object to be clamped. When the object to be clamped is an irregular shape, during clamping, according to the specific shape of the object to be clamped, the first clamping plates 303 and the second clamping plates 403 respectively apply a certain rotational force to the first movable block 302 and the second movable block 402, so that the first movable block 302 adaptively rotates relative to the first movable arm 301, and the second movable block 402 adaptively rotates relative to the second movable arm 401, finally realizing the smooth clamping of the irregular object by the robotic arm clamp mechanism 100, thereby improving the applicability of the robotic arm clamp mechanism 100.

[0046] Please refer to Figure 3 In some other embodiments of the present application, a mounting groove 5 is provided at one end of the first movable arm 301 and the second movable arm 401 away from the clamp housing 1, and the first movable block 302 and the second movable block 402 can be rotatably disposed in the mounting groove 5. This design can reduce the overall weight of the robot arm clamp mechanism 100 to a certain extent, and improve the convenience of the robot arm clamp mechanism 100 when performing clamping work.

[0047] Please continue to refer to Figure 3 In some other embodiments of the present application, a preset distance is set between the inner wall of the mounting groove 5 and the first movable block 302 and the second movable block 402. By setting the preset distance, sufficient rotation space can be provided for the first movable block 302 and the second movable block 402 to rotate in the mounting groove 5, thereby preventing the first movable arm 301 and the second movable arm 401 from interfering with the rotation of the first movable block 302 and the second movable block 402.

[0048] Please continue to refer to Figure 3 In some other embodiments of the present application, a buffer pad 6 is provided on the side of the first clamping plate 303 and the second clamping plate 403 facing the part to be clamped. By providing the buffer pad 6, the surface of the part to be clamped can be protected during the clamping work to prevent damage or scratches to the part to be clamped.

[0049] Please refer to Figure 4 as well as Figure 5In some other embodiments of the present application, the moving component 2 can be, but is not limited to, moving by the guide rail 201 and the telescopic rod 204. Taking the moving component 2 as the guide rail 201 as an example, the moving component 2 includes the guide rail 201, the first slider 202 and the second slider 203. The first slider 202 and the second slider 203 are both slidably arranged in the guide rail 201 and partially extend the clamp housing 1 from the installation port 101. The first movable arm 301 is fixedly connected to the first slider 202, and the second movable arm 401 is fixedly connected to the second slider 203. The movement directions of the first slider 202 and the second slider 203 are opposite, and the first movable arm 301 is moved in opposite directions inside the guide rail 201 to realize the movement of the first movable arm 301. 301 and the second movable arm 401 move to finally realize the clamping work. Similarly, taking the movable component 2 as the telescopic rod 204 as an example, the movable component 2 includes two telescopic rods 204 relatively arranged inside the clamping claw shell 1, and one end of the two telescopic rods 204 is provided with a fixed block 205, and the fixed block 205 partially extends out of the clamping claw shell 1 from the installation port 101. The first movable arm 301 and the second movable arm 401 are respectively connected to the two fixed blocks 205, and the telescopic movement of the telescopic rod 204 drives the first movable arm 301 and the second movable arm 401 to move to realize the clamping work. Of course, there is no restriction on the moving method of the movable component 2, as long as the movement of the first clamping component 3 and the second clamping component 4 can be realized.

[0050] In a second aspect, an embodiment of the present application further provides a robotic arm 200, which adopts the robotic arm gripper mechanism 100 provided in the first aspect above.

[0051] Please refer to Figure 6 The robot arm 200 in the embodiment of the present application adopts the robot arm clamp mechanism 100 in the embodiment of the first aspect, and therefore has all the beneficial effects of the above-mentioned robot arm clamp mechanism 100, which will not be repeated here.

[0052] In a third aspect, an embodiment of the present application further provides a robot, which uses the robotic arm 200 in the above-mentioned second aspect embodiment and has all the beneficial effects of the above-mentioned robotic arm 200, which will not be repeated here.

[0053] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the term "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprising a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

Claims

1. A mechanical arm gripper mechanism, characterized in that: include: A clamping jaw housing (1), wherein a moving assembly (2) is arranged inside the clamping jaw housing (1), and a mounting opening (101) is arranged on one side of the clamping jaw housing (1); A first clamping assembly (3), comprising a first movable arm (301), a first movable block (302) and a first clamping plate (303), wherein the movable assembly (2) is fixedly connected to one end of the first movable arm (301) through the mounting opening (101), the other end of the first movable arm (301) is rotatably connected to the first movable block (302), and the first clamping plate (303) is fixedly connected to the first movable block (302); A second clamping assembly (4), comprising a second movable arm (401), a second movable block (402) and a second clamping plate (403), wherein the movable assembly (2) is fixedly connected to one end of the second movable arm (401) through the mounting opening (101), the other end of the second movable arm (401) is rotatably connected to the second movable block (402), and the second clamping plate (403) is fixedly connected to the second movable block (402); Wherein, the first clamping assembly (3) and the second clamping assembly (4) are arranged axially symmetrically.

2. The mechanical arm gripper mechanism according to claim 1, characterized in that: The first movable arm (301) and the second movable arm (401) are both provided with a mounting groove (5) at one end away from the clamp housing (1), and the first movable block (302) and the second movable block (402) can be rotatably disposed in the mounting groove (5).

3. The mechanical arm gripper mechanism according to claim 2, characterized in that: The first movable block (302) and the second movable block (402) are respectively connected to the first movable arm (301) and the second movable arm (401) via latches.

4. The mechanical arm gripper mechanism according to claim 3, characterized in that: A preset distance is provided between the inner wall of the installation groove (5) and the first movable block (302) and the second movable block (402).

5. The mechanical arm gripper mechanism according to claim 1, characterized in that: A buffer pad (6) is provided on the side of the first clamping plate (303) and the second clamping plate (403) facing the part to be clamped.

6. The mechanical arm gripper mechanism according to claim 1, characterized in that: The moving assembly (2) comprises a guide rail (201), a first slider (202) and a second slider (203); the first slider (202) and the second slider (203) are both slidably disposed in the guide rail (201) and partially extend out of the clamp housing (1) from the mounting opening (101); the first movable arm (301) is fixedly connected to the first slider (202); the second movable arm (401) is fixedly connected to the second slider (203); wherein the movement directions of the first slider (202) and the second slider (203) are opposite.

7. The mechanical arm gripper mechanism according to claim 1, characterized in that: The moving assembly (2) comprises two telescopic rods (204) arranged opposite to each other inside the clamping jaw housing (1), one end of each of the two telescopic rods (204) is provided with a fixed block (205), the fixed block (205) partially extends out of the clamping jaw housing (1) from the installation opening (101), and the first movable arm (301) and the second movable arm (401) are respectively connected to the two fixed blocks (205).

8. The mechanical arm gripper mechanism according to claim 1, characterized in that: The first movable arm (301) and the second movable arm (401) are both configured to be L-shaped.

9. A robotic arm, characterized by comprising the robotic arm gripper mechanism (100) according to any one of claims 1 to 8.

10. A robot, characterized in that: Use of a robot arm (200) as claimed in claim 9.

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