Clamping mechanism and transfer robot

Abstract

The utility model discloses a clamping mechanism and a transfer robot, the clamping mechanism comprises a first clamping arm, a second clamping arm, a seat body, a rotating motor and a first transmission assembly, the first clamping arm and the second clamping arm are both rotatably mounted on the seat body, and the first transmission assembly comprises a lead screw, a first nut and a second nut; the lead screw is in transmission connection with the rotating motor, the lead screw is provided with a first threaded section and a second threaded section which are opposite in rotating direction, the first nut is in threaded connection with the first threaded section, the second nut is in threaded connection with the second threaded section, the first clamping arm is connected with the first nut, and the second clamping arm is connected with the second nut. The first clamping arm is connected with the first nut, the second clamping arm is connected with the second nut, and the rotating motor is used for driving the first clamping arm and the second clamping arm to move relative to the seat body so that the clamping mechanism can conduct opening and tightening actions. According to the clamping mechanism, a hydraulic pipeline does not need to be arranged, the overall occupied installation space is small, and the environment and materials of a production area are not prone to being polluted.

Description

Technical Field

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

[0002] At present, in the process of industrial production and processing, the roll materials are usually handled by clamping the roll materials to achieve the transfer of materials. However, the current clamps usually use hydraulic cylinders as the driving source, which requires the installation of hydraulic pipelines, occupies a large installation space, and the hydraulic system is prone to leakage, polluting the factory environment and materials. Utility Model Content

[0003] The present application discloses a clamping mechanism and a handling robot. The clamping mechanism does not need to be equipped with hydraulic pipelines, occupies a smaller installation space as a whole, and is not easy to pollute the production area environment and materials.

[0004] In order to solve the above problems, this application adopts the following technical solutions:

[0005] In the first aspect, the present application discloses a clamping mechanism, which includes a first clamping arm, a second clamping arm, a base body, a rotating motor and a first transmission assembly, wherein the first clamping arm and the second clamping arm are both rotatably mounted on the base body, and the first transmission assembly includes a lead screw, a first nut and a second nut, the lead screw is transmission-connected to the rotating motor, and the lead screw is provided with a first thread segment and a second thread segment of opposite rotation directions, the first nut is threadedly connected to the first thread segment, the second nut is threadedly connected to the second thread segment, the first clamping arm is connected to the first nut, and the second clamping arm is connected to the second nut, and the rotating motor is used to drive the first clamping arm and the second clamping arm to move relative to the base body so that the clamping mechanism can open and tighten.

[0006] In a second aspect, the present application discloses a transport robot comprising the above-mentioned clamping mechanism.

[0007] The technical solution adopted in this application can achieve the following beneficial effects:

[0008] The embodiment of the present application discloses a clamping mechanism, wherein the first clamping arm and the second clamping arm are both rotatably connected to the seat body, and the lead screw in the first transmission assembly can be connected to the rotating motor, so that the rotating motor can drive the lead screw to rotate; at the same time, by respectively arranging the first nut and the second nut on the first thread segment and the second thread segment with opposite rotation directions on the lead screw, when the lead screw rotates in the same direction, the first nut and the second nut can be driven to move toward or away from each other along the extension direction of the lead screw, and then, by connecting the first clamping arm with the first nut and connecting the second clamping arm with the second nut, the first clamping arm and the second clamping arm can be driven by the rotating motor to move relative to the seat body, thereby causing the clamping mechanism to open and tighten. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0010] Figure 1 It is a structural schematic diagram of the clamping mechanism disclosed in the embodiment of the present application;

[0011] Figure 2 It is a schematic structural diagram of the clamping mechanism disclosed in an embodiment of the present application in another direction;

[0012] Figure 3 A cross-sectional schematic diagram of the clamping mechanism disclosed in the embodiment of the present application;

[0013] Figure 4 and Figure 5 All of them are schematic diagrams of the coordination between the clamping mechanism and the material disclosed in the embodiments of the present application.

[0014] Description of reference numerals:

[0015] 1-rotating motor, 2-reducer, 3-coupling, 4-first sprocket, 5-chain, 6-second sprocket, 7-bearing seat, 8-screw, 9-first nut, 10-connecting rod, 11-first clamping arm, 12-second clamping arm, 13-rotating shaft, 14-elastic member, 15-V-plate, 16-buffer pad, 17-seat body, 18-second nut, 19-first limit plate, 20-second limit plate, 21-slide rail, 22-slider, 23-pin shaft, 24-first rotating shaft, 25-second rotating shaft,

[0016] 30-Materials. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in combination with the specific embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0018] The technical solutions disclosed in various embodiments of the present application are described in detail below in conjunction with the accompanying drawings.

[0019] like Figure 1-Figure 3 As shown, the embodiment of the present application discloses a clamping mechanism, which can be used in a handling robot, and can be used to clamp roll materials, etc. Of course, the above-mentioned use is a specific use of the clamping mechanism disclosed in the embodiment of the present application, and does not mean that the clamping mechanism can only be used to clamp roll materials. The clamping mechanism can include a first clamping arm 11, a second clamping arm 12, a seat 17, a rotating motor 1 and a first transmission assembly.

[0020] The first clamp arm 11 and the second clamp arm 12 are both clamp arms, and their functions are the same. There may be some differences in their structures. In order to reduce the difficulty of processing and assembling the first clamp arm 11 and the second clamp arm 12, the structures of the first clamp arm 11 and the second clamp arm 12 can be the same, and the two can be symmetrically arranged, which can also improve the clamping effect of the clamping mechanism on the material and improve the transportation stability of the material.

[0021] In order to ensure that the first clamp arm 11 and the second clamp arm 12 have the ability to clamp and release materials, during the assembly of the clamping mechanism, the first clamp arm 11 and the second clamp arm 12 are both mounted on the seat body 17 by rotating the parts between their two ends, so that the ends of the first clamp arm 11 and the second clamp arm 12 away from the seat body 17 have the ability to open and tighten relatively, thereby providing corresponding conditions for clamping and releasing materials. Specifically, Figure 1 As shown, the first clamp arm 11 and the second clamp arm 12 can form a rotational fit with the seat body 17 by means of a connecting piece such as a pin shaft 23, and in order to minimize the size of the first clamp arm 11 and the second clamp arm 12, the distance between one end of the first clamp arm 11 and the aforementioned pin shaft can be made smaller than the distance between the other end of the first clamp arm 11 and the aforementioned pin shaft. Similarly, the second clamp arm 12 is also the same, so that the first clamp arm 11 and the second clamp arm 12 are both effort levers, which can reduce the size of the first clamp arm 11 and the second clamp arm 12, and reduce the driving distance of the two, thereby reducing the difficulty of designing and installing the rotating motor 1 and the first transmission assembly for providing the driving action.

[0022] As described above, in the embodiment of the present application, the device for directly providing driving action is a rotating motor 1, which makes it unnecessary to configure hydraulic pipelines for the clamping mechanism disclosed in the embodiment of the present application, thereby reducing the installation space occupied by the clamping mechanism and making the clamping mechanism have a higher cleanliness.

[0023] On this basis, in order to ensure that the rotating motor 1 can drive one end of each of the first clamp arm 11 and the second clamp arm 12 to produce linear motion, so that the entire first clamp arm 11 and the second clamp arm 12 can rotate relative to the seat body 17, the first transmission assembly may include a lead screw 8, a first nut 9 and a second nut 18, and the lead screw 8 is connected to the rotating motor 1 in a transmission manner, so that the rotating motor 1 can drive the lead screw 8 to rotate relative to the seat body 17. Among them, the lead screw 8 can be a ball screw 8. In another embodiment of the present application, the lead screw 8 is a trapezoidal lead screw, and the first nut 9 and the second nut 18 are threadedly matched with the trapezoidal lead screw, so that the first transmission assembly has a self-locking function, thereby preventing the problem of the material clamped by the clamping mechanism falling when the holding brake of the rotating motor 1 fails, and improving the safety of the clamping mechanism disclosed in the embodiment of the present application. In addition, the clamping assembly can also be provided with a slide rail 21 and a slider 22, and the first nut 9 and the second nut 18 are fixedly connected with the slider 22. By making each slider 22 slide with the slide rail 21, the movement straightness and stability of the first nut 9 and the second nut 18 can be further improved.

[0024] Furthermore, in the embodiment of the present application, the lead screw 8 is provided with a first thread segment and a second thread segment with opposite rotation directions, and the first nut 9 is threadedly connected to the first thread segment, and the second nut 18 is threadedly connected to the second thread segment, so that when the lead screw 8 rotates in a certain direction, the movement directions of the first nut 9 and the second nut 18 can be opposite, that is, the two can perform relative linear motion towards or away from each other. In the embodiment of the present application, the first clamp arm 11 and the second clamp arm 12 are both driven by the same rotating motor 1, so that during the operation of the clamping mechanism, the operation synchronization of the first clamp arm 11 and the second clamp arm 12 is relatively high, thereby improving the clamping reliability of the clamping mechanism.

[0025] To this end, by connecting the first clamp arm 11 with the first nut 9 and connecting the second clamp arm 12 with the second nut 18, the first clamp arm 11 and the second clamp arm 12 can be driven by the rotary motor so that they can move relative to the seat body 17, and the clamping mechanism can perform an opening and tightening action. More specifically, during the clockwise or counterclockwise rotation of the rotary motor 1, the first nut 9 and the second nut 18 can approach each other along the axial direction of the lead screw 8, thereby causing the first clamp arm 11 and the second clamp arm 12 to rotate relative to the seat body 17, and causing the free ends of the first clamp arm 11 and the second clamp arm 12 to move away from each other, thereby causing the clamping mechanism to open; correspondingly, during the counterclockwise or clockwise rotation of the rotary motor 1, the first nut 9 and the second nut 18 can move away from each other along the axial direction of the lead screw 8, thereby causing the first clamp arm 11 and the second clamp arm 12 to rotate relative to the seat body 17, and causing the free ends of the first clamp arm 11 and the second clamp arm 12 to move toward each other, thereby causing the clamping mechanism to tighten.

[0026] As described above, the first clamp arm 11 and the first nut 9 are connected, specifically, the two can form a rotational fit relationship through a connecting member such as a pin, and correspondingly, the second clamp arm 12 and the second nut 18 can also form a rotational fit relationship through a pin. In order to reduce the spacing between the first clamp arm 11 and the first nut 9, and the spacing between the second clamp arm 12 and the second nut 18, and thus reduce the size of the first clamp arm 11 and the second clamp arm 12, in another embodiment of the present application, the clamping mechanism can also include a connecting rod 10, and the first nut 9 and the second nut 18 can be arranged between the first clamp arm 11 and the second clamp arm 12, the first clamp arm 11 and the first nut 9 are connected by the connecting rod 10, and the second clamp arm 12 and the second nut 18 are connected by the connecting rod 10.

[0027] Specifically, the first clamp arm 11 and the first nut 9 are connected to the connecting rod 10 in a rotational connection relationship, and the second clamp arm 12 and the second nut 18 can also be connected in a rotational connection relationship, thereby ensuring that the first nut 9 and the second nut 18 can respectively drive the first clamp arm 11 and the second clamp arm 12 to rotate relative to the seat body 17, so that the clamping mechanism can produce an opening and tightening action. Figure 3As shown, taking the first clamp arm 11 as an example, as described above, the portion between the two ends of the first clamp arm 11 can form a rotational connection relationship with the seat body 17 through the pin shaft 23, so that the first clamp arm 11 can rotate relative to the seat body 17 around the pin shaft 23. One end of the first clamp arm 11 is a free end for clamping materials, and the other end of the first clamp arm 11 can form a rotational connection relationship with one end of the connecting rod 10 through the first rotating shaft 24, and the end of the first clamp arm 11 and the connecting rod 10 connected to each other can move relative to the seat body 17 as a whole; the other end of the connecting rod 10 can form a rotational cooperation relationship with the first nut 9 through the second rotating shaft 25, so that when the first nut 9 moves along the lead screw 8, the first nut 9 can drive the connecting rod 10 to move relative to the seat body 17, and at the same time, the connecting rod 10 can drive the first clamp arm 11 to rotate relative to the seat body 17 with the pin shaft 23 as the axis, so as to cooperate with the second clamp arm 12 to provide clamping and loosening effects for the material. Similarly, the assembly relationship of the second clamping arm 12 can refer to the corresponding design of the first clamping arm 11. Considering the simplicity of the text, it will not be repeated here.

[0028] Furthermore, when the above technical solution is adopted, the components in the entire clamping mechanism can be made more compact, thereby further reducing the overall size of the clamping mechanism.

[0029] The embodiment of the present application discloses a clamping mechanism, wherein the first clamping arm 11 and the second clamping arm 12 are both rotatably connected to the seat body 17, and the lead screw 8 in the first transmission assembly can be connected to the rotary motor 1, so that the rotary motor 1 can drive the lead screw 8 to rotate; at the same time, by respectively arranging the first nut 9 and the second nut 18 on the first thread segment and the second thread segment of the lead screw 8 with opposite rotation directions, the lead screw 8 can drive the first nut 9 and the second nut 18 to move toward or away from each other along the extension direction of the lead screw 8 when rotating in the same direction, and then, by connecting the first clamping arm 11 with the first nut 9 and connecting the second clamping arm 12 with the second nut 18, the first clamping arm 11 and the second clamping arm 12 can be driven by the rotary motor to move relative to the seat body 17, thereby causing the clamping mechanism to open and tighten.

[0030] As described above, in the clamping mechanism disclosed in the embodiment of the present application, the rotary motor 1 is used as the direct driving source of the first clamping arm 11 and the second clamping arm 12, and thus the clamping mechanism does not need to be equipped with hydraulic pipelines. On the one hand, the installation space occupied by the entire clamping mechanism can be reduced, and on the other hand, the cleanliness of the clamping mechanism can be improved to prevent the related components in the clamping mechanism from contaminating the factory area and materials. In addition, in the clamping mechanism disclosed in the embodiment of the present application, the first clamping arm 11 and the second clamping arm 12 can be driven by the same rotary motor 1, so that the movement consistency of the first clamping arm 11 and the second clamping arm 12 is relatively high, and the rotary motor 1 drives the first clamping arm 11 and the second clamping arm 12 through the lead screw 8, so that the movement stability of the first clamping arm 11 and the second clamping arm 12 is also relatively high, thereby improving the clamping effect of the clamping mechanism.

[0031] As described above, the lead screw 8 can be connected to the rotary motor 1 so that the rotary motor 1 can drive the lead screw 8 to rotate. Specifically, the lead screw 8 can be directly connected to the rotary motor 1 through the coupling 3. In this case, the axis of the lead screw 8 is usually colinear with the axis of the drive shaft of the rotary motor 1, which makes the length of the assembly of the rotary motor 1 and the lead screw 8, that is, the size of the two in the extension direction of the lead screw 8, relatively large, resulting in the size of the seat body 17 also needing to be relatively large, resulting in relatively low convenience and flexibility of the clamping mechanism.

[0032] To this end, in another embodiment of the present application, the axis of the driving shaft of the rotating motor 1 can be arranged non-collinearly with the axis of the lead screw 8. In this case, in order to enable the lead screw 8 to form a transmission matching relationship with the rotating motor 1, the clamping mechanism can also include a second transmission component, and the lead screw 8 is connected to the rotating motor 1 through the second transmission component, so that the rotating motor 1 can still drive the lead screw 8 to rotate. Specifically, the second transmission component can provide transmission by means of gear transmission or belt transmission. Of course, the rotating motor 1 can also be equipped with a reducer 2 to change the speed and torque of the rotating motor 1 to further enhance the clamping effect of the clamping mechanism.

[0033] In another embodiment of the present application, the second transmission assembly includes a first sprocket 4, a second sprocket 6 and a chain 5, wherein the first sprocket 4 is mounted on the rotary motor 1, so that the rotary motor 1 can drive the first sprocket 4 to rotate, the second sprocket 6 is mounted on the lead screw 8, and the first sprocket 4 and the second sprocket 6 are connected by the chain 5, and then during the rotation of the first sprocket 4, the second sprocket 6 can be driven to rotate by the chain 5, and then the lead screw 8 is driven to rotate. When the second transmission assembly adopts the above structure, the transmission stability of the driving action of the rotary motor 1 is relatively high, and basically no slipping and other phenomena will occur. At the same time, by changing the length of the chain 5, the design range of parameters such as the spacing between the rotary motor and the lead screw 8 can be relatively large, thereby further improving the design and assembly difficulty of the clamping mechanism disclosed in the embodiment of the present application. In addition, in the embodiment of the present application, the rotary motor 1 can also be installed above the transmission device such as the lead screw 8, thereby reducing the size of the entire clamping mechanism in the length direction of the lead screw 8, and improving the scope of application of the clamping mechanism.

[0034] As described above, the first transmission assembly includes a lead screw 8, and the lead screw 8 has the ability to rotate relative to the seat body 17. Furthermore, in order to ensure that the lead screw 8 can form a stable assembly relationship with the seat body 17, in the embodiment of the present application, the opposite ends of the lead screw 8 can be installed on the seat body 17 through the bearing seat 7, so that while the lead screw 8 can rotate relative to the seat body 17, a relatively reliable assembly relationship can be formed between the lead screw 8 and the seat body 17. Specifically, the bearing seat 7 can form a reliable fixed connection relationship with the seat body 17 through a connecting member such as a bolt, and the lead screw 8 and the bearing seat 7 form a rotational matching relationship.

[0035] When the above technical solution is adopted, the bearing seats 7 at the opposite ends of the screw 8 can provide a limiting function. That is, during the rotation of the screw 8, when the first nut 9 and the second nut 18 move away from each other and both move to the corresponding positions of the bearing seats 7, the bearing seats 7 can limit the first nut 9 and the second nut 18 from continuing to move away from each other, thereby limiting the clamping threshold of the first clamp arm 11 and the second clamp arm 12.

[0036] In order to further limit the opening threshold of the first clamp arm 11 and the second clamp arm 12, the clamping mechanism disclosed in the embodiment of the present application also includes a limit member, which is fixedly connected to the seat body 17 and is located between the opposite ends of the screw 8, so that the limit member can limit the first nut 9 and the second nut 18 in the axial direction of the screw 8, so that the movement range of the opposite ends of the first nut 9 and the second nut 18 can be limited, and the opening threshold of the first clamp arm 11 and the second clamp arm 12 can be limited, so as to improve the reliability of the clamping mechanism.

[0037] As described above, the clamping mechanism clamps the material using the first clamping arm 11 and the second clamping arm 12. Specifically, the material can be clamped at the free ends of the first clamping arm 11 and the second clamping arm 12 away from the seat body 17, that is, the material can be clamped at the clamping ends of the first clamping arm 11 and the second clamping arm 12. In order to improve the clamping effect of the clamping mechanism and appropriately increase the diameter of the material that can be clamped by the clamping mechanism, in the clamping mechanism disclosed in the embodiment of the present application, the clamping mechanism also includes a V-shaped plate 15 and an elastic member 14. The clamping end of the first clamping arm 11 can be rotatably connected to the V-shaped plate 15 through the rotating shaft 13, and the V-shaped plate 15 is elastically connected to the first clamping arm 11 through the elastic member 14, so that in the process of clamping a material with a relatively large diameter, the material can squeeze the V-shaped plate 15. Accordingly, under the action of the elastic member 14, the V-shaped plate 15 can also apply a certain extrusion force to the material, so that the V-shaped plate 15 holds the material tightly, so that the clamping effect of the material is relatively good.

[0038] Furthermore, the clamping end of the second clamping arm 12 can also be rotatably connected to the V-shaped plate 15, and the second clamping arm 12 and the V-shaped plate 15 mounted thereon can also form an elastic connection relationship through the elastic member 14, so that the clamping effect between the second clamping arm 12 and the material is relatively good. Among them, the elastic member 14 can be a compression spring, and in order to improve its elastic effect, the elastic member 14 can be a torsion spring.

[0039] As described above, the material can be clamped between the first clamp arm 11 and the second clamp arm 12, and since the first clamp arm 11 and the second clamp arm 12 are generally formed of materials with relatively large structural strength such as metal, in order to prevent the first clamp arm 11 and the second clamp arm 12 from applying a clamping force to the material, which may cause the material to be easily damaged, in the clamping mechanism disclosed in the embodiment of the present application, the first clamp arm 11 and the V-shaped plate 15 installed on the first clamp arm 11 are both provided with a buffer pad 16 on the side facing the second clamp arm 12. The buffer pad 16 can be specifically formed of materials such as rubber, and the buffer pad 16 can be fixed to the inner side of the first clamp arm 11 and the V-shaped plate 15 by bonding or the like. Parameters such as the thickness of the buffer pad 16 can be flexibly determined according to actual needs and are not limited here.

[0040] Correspondingly, the side of the second clamping arm 12 facing the first clamping arm 11 can also be provided with the above-mentioned buffer pad 16, and when the V-shaped plate 15 is rotatably connected to the second clamping arm 12, the side of the V-shaped plate 15 of the second clamping arm 12 facing the first clamping arm 11 can also be provided with a buffer pad 16, which can also increase the friction between the clamping mechanism and the material, thereby further improving the clamping effect on the material.

[0041] As described above, the material can be clamped between the first clamp arm 11 and the second clamp arm 12, and since the first clamp arm 11 and the second clamp arm 12 are both rotatably mounted on the seat body 17, the first clamp arm 11, the seat body 17 and the second clamp arm 12 form a clamping space for the material. Furthermore, in the process of clamping the material using the clamping mechanism, in order to prevent the material from squeezing the seat body 17, or even squeezing other devices such as the rotating motor 1 and the first transmission assembly mounted on the seat body 17, in the embodiment of the present application, the clamping mechanism may also include a first limiting plate 19 and a second limiting plate 20, and the first limiting plate 19 and the second limiting plate 20 are both rotatably connected to the seat body 17, and the first limiting plate 19 and the second limiting plate 20 are both located between the first clamp arm 11 and the second clamp arm 12, so as to utilize the first limiting plate 19 and the second limiting plate 20 to provide a limiting effect for the material, thereby preventing the material from contacting the seat body 17 or devices mounted on the seat body 17, thereby polluting the material or affecting the normal operation of the clamping mechanism.

[0042] Furthermore, in order to make the matching relationship between the first limit plate 19 and the second limit plate 20 and the material more reliable, an angle α can be formed between the first limit plate 19 and the second limit plate 20, 90°<α<180°, and the angle is directed toward the clamping space of the first clamp arm 11 and the second clamp arm 12, so that in the process of clamping the material using the first clamp arm 11 and the second clamp arm 12, the first limit plate 19 and the second limit plate 20 can provide a reliable limiting effect for the material.

[0043] Specifically, the first limit plate 19 and the second limit plate 20 can both be rectangular flat plate-shaped structural members, and the specific sizes of the two can be flexibly selected according to actual conditions, which is not limited in this article. In addition, the adjacent side edges of the first limit plate 19 and the second limit plate 20 can be rotatably connected to the seat body 17 to further enhance the adaptability of the first limit plate 19 and the second limit plate 20 to the material size, thereby enhancing the clamping effect of the clamping mechanism. In addition, the first limit plate 19 and the second limit plate 20 can also be provided with the above-mentioned torsion spring, so that the first limit plate 19 and the second limit plate 20 both have good supporting and limiting effects. In addition, the supporting sides of the first limit plate 19 and the second limit plate 20 can also be provided with buffer pads to prevent the material from rigidly colliding with the first limit plate 19 and the second limit plate 20, thereby preventing the material, the first limit plate 19 and the second limit plate 20 from being damaged.

[0044] Of course, affected by the parameters such as the distance between the first clamping arm 11 and the second clamping arm 12 and the angle range that the two can be opened, when the clamping mechanism clamps materials of different diameters or sizes, such as Figure 4 As shown, when the diameter or size of the material 30 is relatively large, the material 30 can be in contact with both the first limiting plate 19 and the second limiting plate 20, while when the diameter or size of the material 30 is relatively small, as shown in FIG. Figure 5 As shown, in order to ensure that the clamping mechanism has a relatively good clamping effect on the material 30, the first clamp arm 11 and the second clamp arm 12 can be clamped at the maximum diameter or size of the material 30. In this case, there may be a situation where the material 30 is not in contact with the first limit plate 19 and the second limit plate 20. Therefore, in the present application, although the first limit plate 19 and the second limit plate 20 can be provided, this does not mean that the first limit plate 19 and the second limit plate 20 must be in contact with the clamped material 30.

[0045] Based on the clamping mechanism disclosed in any of the above embodiments, the present application also discloses a handling robot, which includes the above clamping mechanism. Of course, the handling robot may also include other mechanisms such as a power chassis, which will not be described in detail here for the sake of brevity.

[0046] The above embodiments of the present application focus on describing the differences between the various embodiments. As long as the different optimization features between the various embodiments are not contradictory, they can be combined to form a better embodiment. Considering the simplicity of the text, they will not be repeated here.

[0047] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A clamping mechanism, characterized in that: The clamping mechanism includes a first clamping arm, a second clamping arm, a seat body, a rotating motor and a first transmission assembly. The first clamping arm and the second clamping arm are both rotatably mounted on the seat body. The first transmission assembly includes a lead screw, a first nut and a second nut. The lead screw is transmission-connected to the rotating motor, and the lead screw is provided with a first thread segment and a second thread segment with opposite rotation directions. The first nut is threadedly connected to the first thread segment, and the second nut is threadedly connected to the second thread segment. The first clamping arm is connected to the first nut, and the second clamping arm is connected to the second nut. The rotating motor is used to drive the first clamping arm and the second clamping arm to move relative to the seat body so that the clamping mechanism can open and tighten.

2. The clamping mechanism according to claim 1, characterized in that: The clamping mechanism further includes a second transmission assembly, the axis of the driving shaft of the rotating motor and the axis of the lead screw are arranged non-collinearly, and the lead screw is transmission-connected to the rotating motor via the second transmission assembly.

3. The clamping mechanism according to claim 2, characterized in that: The second transmission assembly includes a first sprocket, a second sprocket and a chain. The first sprocket is installed on the rotating motor, the second sprocket is installed on the lead screw, and the first sprocket and the second sprocket are connected through the chain transmission.

4. The clamping mechanism according to claim 2, characterized in that: The opposite ends of the screw are installed on the seat body through bearing seats, and the first transmission assembly also includes a limit member, which is fixedly connected to the seat body and located between the opposite ends of the screw. The limit member is used to limit the first nut and the second nut in the axial direction of the screw.

5. The clamping mechanism according to claim 1, characterized in that: The clamping mechanism further comprises a V-shaped plate and an elastic member, the clamping end of the first clamping arm is rotatably connected to the V-shaped plate, and the V-shaped plate is elastically connected to the first clamping arm via the elastic member.

6. The clamping mechanism according to claim 5, characterized in that: The clamping mechanism further includes a buffer pad, and the buffer pad is provided on the first clamping arm and the side of the V-shaped plate facing the second clamping arm.

7. The clamping mechanism according to claim 1, characterized in that: The clamping mechanism also includes a first limit plate and a second limit plate, the first limit plate and the second limit plate are both rotatably connected to the base body, and are both located between the first clamp arm and the second clamp arm, the angle between the first limit plate and the second limit plate is α, 90°<α<180°, and the angle is toward the clamping space of the first clamp arm and the second clamp arm.

8. The clamping mechanism according to claim 1, characterized in that: The clamping mechanism also includes a connecting rod, the first nut and the second nut are both arranged between the first clamp arm and the second clamp arm, and the first clamp arm and the first nut are connected by the connecting rod, and the second clamp arm and the second nut are connected by the connecting rod.

9. The clamping mechanism according to claim 1, characterized in that: The lead screw is a trapezoidal lead screw.

10. A transport robot, characterized in that: Comprising the clamping mechanism described in any one of claims 1-9.

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