Clamping device and robot

Abstract

The utility model provides a clamping device and robot, wherein the clamping device comprises a clamping part, the clamping part comprises: a mounting plate, which is provided with a hinging part and a fixing part; the driving assembly is arranged on the fixing part of the mounting plate; the movable seat is provided with a first connecting part and an input part connected with the output end of the driving assembly; the clamping assembly comprises two symmetrically-arranged clamping units, each clamping unit comprises a connecting rod and a clamping arm, and each clamping arm is provided with a second connecting part, a clamping part and a movable part hinged to the corresponding hinge part; one end of the connecting rod is hinged to the first connecting part, and the other end of the connecting rod is hinged to the second connecting part. Through the two symmetrically-arranged clamping units, the driving assembly is used for driving the movable base to move, so that the connecting rod swings, the two clamping arms are driven to get close to each other, and then a to-be-clamped object between the two clamping units is clamped.

Description

Technical Field

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

[0002] With the rapid development of technology fields such as computers, automation, and artificial intelligence, research related to robotics technology has become a focus of attention in the industry, and corresponding robots have begun to be applied in various fields.

[0003] The Chinese utility model patent with publication number CN212548219U discloses a sports auxiliary training automatic serving robot, comprising a chassis with wheels, a frame that is hingedly mounted and tilted and can swing up and down, a launching mechanism and a clamping mechanism that clamps the ball and places it on the launching mechanism are arranged on the frame. The clamping mechanism comprises a swing frame that is hingedly mounted on the frame and can swing forward and backward, a rotating frame that can rotate relative to the swing frame is installed at the free end of the swing frame, and a fixed clamping claw is arranged on one side of the front end of the rotating frame and a movable clamping claw is arranged on the other side.

[0004] The above-mentioned clamping mechanism realizes the clamping function by relative movement of the movable clamping jaw relative to the fixed clamping jaw. However, since the front end of the fixed clamping jaw is usually an arc-shaped structure, it is easy to hit the object to be clamped and affect the clamping efficiency. Utility Model Content

[0005] Based on this, in order to solve the problem that the front end of the fixed clamping claw of the above-mentioned clamping mechanism is an arc-shaped structure, which is easy to touch the object to be clamped and affect the clamping efficiency, the utility model provides a clamping device and a robot, and its specific technical solution is as follows:

[0006] In one aspect, a clamping device includes a clamping component, wherein the clamping component includes:

[0007] A mounting plate having a hinged portion and a fixed portion;

[0008] A driving assembly, arranged on the fixing portion of the mounting plate;

[0009] A movable seat, provided with a first connecting portion and an input portion connected to the output end of the driving assembly;

[0010] A clamping assembly, comprising two symmetrically arranged clamping units, wherein the clamping units comprise a connecting rod and a clamping arm, wherein the clamping arm is provided with a second connecting portion, a clamping portion, and a movable portion connected to the hinged portion;

[0011] One end of the connecting rod is hinged to the first connecting part, and the other end is hinged to the second connecting part.

[0012] The above-mentioned clamping device uses two symmetrically arranged clamping units, and utilizes a driving component to drive the movable seat to move, so that the connecting rod swings, thereby driving the two clamping arms to approach each other, and then clamping the object to be clamped between the two clamping units; at the same time, the overall structure of the clamping component is simple and easy to install, and the clamping component will not touch the object to be clamped before clamping, thereby ensuring the clamping efficiency.

[0013] Furthermore, the clamping component further comprises a guide unit, the guide unit comprises a guide rod fixedly arranged on the fixing portion, and a guide seat arranged on the movable seat, and the guide seat is provided with a guide hole adapted to the guide rod.

[0014] Furthermore, the clamping arm is an arc-shaped bent arm, the clamping portion is an arc-shaped structure arranged at the front of the arc-shaped bent arm, the movable portion is a first hinge hole arranged at the rear of the arc-shaped bent arm, and the second connecting portion is a second hinge hole arranged between the clamping portion and the movable portion.

[0015] Furthermore, the arc-shaped bent arm includes an upper arm member and a lower arm member that are detachably connected; the upper arm member is provided with an upper limit block, and the lower arm member is provided with a lower limit block, and a placement space is formed between the upper limit block and the lower limit block.

[0016] Furthermore, the lower arm member is provided with a plurality of long slots arranged at intervals, and the slotting directions of the long slots are arranged along the vertical direction.

[0017] Furthermore, the object to be clamped is a circular ring or a circular disc, and a clamping space adapted to the object to be clamped is formed between the two arc-shaped bent arms.

[0018] Furthermore, the clamping device also includes a moving part, which includes a moving bracket, a lifting assembly and a transverse movement assembly; the lifting assembly includes a lifting motor arranged on the moving bracket, a screw rod member driven by the lifting motor, and a screw rod seat transmission-connected to the screw rod member, the screw rod seat can be lifted and lowered relative to the moving bracket, and the transverse movement assembly is arranged on the screw rod seat; the transverse movement assembly includes a transverse movement motor, a gear member driven by the transverse movement motor, and a transverse movement seat provided with a rack groove, the rack groove is adapted to the gear member, and the transverse movement seat can be driven by the transverse movement motor to perform a transverse movement relative to the screw rod seat; the mounting plate is mounted on the transverse movement seat.

[0019] Furthermore, the lifting assembly also includes a lifting guide unit; the movable bracket is provided with a vertical frame body, and the lifting guide unit includes a vertical guide rail vertically arranged on the vertical frame body, and a lifting slide slidably connected to the vertical guide rail; the screw seat is installed on the lifting slide.

[0020] Furthermore, the transverse movement assembly also includes a transverse movement guide unit, which includes a guide roller arranged on the screw seat and a guide ridge arranged on the transverse movement seat, and a guide groove adapted to the guide ridge is provided on the outer wheel diameter of the guide roller.

[0021] On the other hand, a robot includes a mobile chassis and a clamping device, wherein the clamping device is fixedly mounted on the conveying mobile chassis. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The present invention can be further understood from the following description in conjunction with the accompanying drawings. The components in the figures are not necessarily drawn to scale, but the emphasis is placed on illustrating the principles of the embodiments. In different views, the same reference numerals designate corresponding parts.

[0023] Figure 1 This is a schematic diagram of the structure of the clamping component of an embodiment of the utility model. Figure 1 ;

[0024] Figure 2 This is a schematic diagram of the structure of the clamping component of an embodiment of the utility model. Figure 2 ;

[0025] Figure 3 yes Figure 2 A magnified view of the structure at E in the middle;

[0026] Figure 4 It is a structural schematic diagram of a clamping device according to an embodiment of the utility model;

[0027] Figure 5 This is a schematic diagram of the structure of the moving part of an embodiment of the utility model. Figure 1 ;

[0028] Figure 6 This is a schematic diagram of the structure of the moving part of an embodiment of the utility model. Figure 2 .

[0029] Description of reference numerals:

[0030] 100, clamping part; 200, moving part;

[0031] 1. Mounting plate; 2. Driving assembly; 3. Movable seat; 4. Clamping assembly; 5. Guide unit; 6. Mobile bracket; 7. Lifting assembly; 8. Transverse movement assembly;

[0032] 11. hinged portion; 12. fixed portion;

[0033] 31. first connection portion; 32. input portion;

[0034] 401, clamping unit;

[0035] 41. Connecting rod; 42. Clamping arm; 43. Upper arm member; 44. Lower arm member;

[0036] 421. second connecting portion; 422. clamping portion; 423. movable portion;

[0037] 431, upper limit block; 441, lower limit block;

[0038] 51. Guide rod; 52. Guide seat;

[0039] 71. lifting motor; 72. screw rod; 73. screw rod seat; 74. lifting guide unit;

[0040] 741, vertical guide rail; 742, lifting slide;

[0041] 81. Transverse movement motor; 82. Gear member; 83. Transverse movement seat; 84. Transverse movement guide unit;

[0042] 841. Guide roller; 842. Guide rib. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solution and advantages of the utility model more clear, the utility model is further described in detail below in conjunction with its embodiments. It should be understood that the specific implementation methods described here are only used to explain the utility model and do not limit the protection scope of the utility model.

[0044] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation method.

[0045] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art in the technical field of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0046] In the present invention, “first” and “second” do not represent specific quantities and orders, but are merely used to distinguish names.

[0047] On the one hand, if Figure 1 and Figure 2 , Figure 3As shown, a clamping device in one embodiment of the utility model includes a clamping component 100, characterized in that the clamping component 100 includes:

[0048] The mounting plate 1 is provided with a hinge portion 11 and a fixing portion 12;

[0049] A driving assembly 2 is arranged on a fixing portion 12 of the mounting plate 1;

[0050] The movable seat 3 is provided with a first connecting portion 31 and an input portion 32 connected to the output end of the driving assembly 2;

[0051] The clamping assembly 4 includes two symmetrically arranged clamping units 401, wherein the clamping unit 401 includes a connecting rod 41 and a clamping arm 42, and the clamping arm 42 is provided with a second connecting portion 421, a clamping portion 422, and a movable portion 423 connected to the hinge portion 11;

[0052] One end of the connecting rod 41 is hinged to the first connecting portion 31 , and the other end is hinged to the second connecting portion 421 .

[0053] The above-mentioned clamping device uses two symmetrically arranged clamping units 401, and utilizes the driving component 2 to drive the movable seat 3 to move, so that the connecting rod 41 swings, thereby driving the two clamping arms 42 to approach each other, and then clamping the object to be clamped between the two clamping units 401; at the same time, the overall structure of the clamping component 100 is simple and easy to install, and the clamping component 4 will not touch the object to be clamped before clamping, thereby ensuring the clamping efficiency.

[0054] In one embodiment, the clamping component 100 further includes a guide unit 5, which includes a guide rod 51 fixedly disposed on the fixed portion 12, and a guide seat 52 disposed on the movable seat 3, wherein the guide seat 52 is provided with a guide hole adapted to the guide rod 51. In this way, the guide seat 52 moves back and forth on the guide rod 51, ensuring that the movable seat 3 always moves along the rod direction of the guide rod 51 during the movement process, thereby meeting the use requirements.

[0055] In one embodiment, the clamping arm 42 is an arc-shaped bent arm, the clamping portion 422 is an arc-shaped structure arranged at the front of the arc-shaped bent arm, the movable portion 423 is a first hinge hole arranged at the rear of the arc-shaped bent arm, and the second connecting portion 421 is a second hinge hole arranged between the clamping portion 422 and the movable portion 423.

[0056] In one embodiment, the arc-shaped arm comprises an upper arm member 43 and a lower arm member 44 which are detachably connected; the upper arm member 43 is provided with an upper limit block 431, and the lower arm member 44 is provided with a lower limit block 441, and a placement space is formed between the upper limit block 431 and the lower limit block 441. Specifically, the upper limit block 431 and the lower limit block 441 are provided with a clamping angle in the middle direction. In this way, the clamping angle is used to facilitate the arc-shaped arm to scoop up the object to be clamped, and the upper limit block 431 is used to prevent the clamping component 100 from falling during transportation or flipping.

[0057] In one embodiment, the lower arm 44 is provided with a plurality of long slots arranged at intervals, and the slotting direction of the long slots is arranged in the vertical direction. Specifically, the upper arm 43 and the lower arm 44 are made of ABS material. ABS material is light in weight and moderate in toughness, and is convenient for opening long slots and reducing weight.

[0058] In one embodiment, the object to be clamped is a circular ring or a circular disc, and a clamping space adapted to the object to be clamped is formed between the two arc-shaped arms.

[0059] In one embodiment, the weight of the arc-shaped bending arm itself is about 200g, and the weight of the ten circular ring members is 800g±50.

[0060] like Figure 4 and Figure 5 , Figure 6 As shown, in one embodiment, the clamping device also includes a moving part 200, and the moving part 200 includes a moving bracket 6, a lifting assembly 7 and a transverse movement assembly 8; the lifting assembly 7 includes a lifting motor 71 arranged on the moving bracket 6, a screw rod member 72 driven by the lifting motor 71, and a screw rod seat 73 connected to the screw rod member 72 in a transmission manner, the screw rod seat 73 can perform a lifting action relative to the moving bracket 6, and the transverse movement assembly 8 is arranged on the screw rod seat 73; the transverse movement assembly 8 includes a transverse movement motor 81, a gear member 82 driven by the transverse movement motor 81, and a transverse movement seat 83 provided with a rack groove, the rack groove is adapted to the gear member 82, and the transverse movement seat 83 is driven by the transverse movement motor 81 and can perform a transverse movement relative to the screw rod seat 73; the mounting plate 1 is mounted on the transverse movement seat 83. In this way, the lifting motor 71 is used to drive the screw rod part 72 to rotate, so that the transverse movement component 8 on the screw rod seat 73 can be lifted and lowered, and the transverse movement motor 81 is used to drive the gear part 82 to rotate, and the gear part 82 and the rack groove on the transverse movement seat 83 are used to make the transverse movement seat 83 move horizontally relative to the screw rod seat 73, thereby realizing the movement of the clamping component 100 in the up, down, left and right directions.

[0061] In one embodiment, the lifting assembly 7 also includes a lifting guide unit 74; the movable bracket 6 is provided with a vertical frame body, and the lifting guide unit 74 includes a vertical guide rail 741 vertically arranged on the vertical frame body, and a lifting slide 742 slidably connected to the vertical guide rail 741; the screw seat 73 is installed on the lifting slide 742.

[0062] In one embodiment, the transverse movement assembly 8 further includes a transverse movement guide unit 84, which includes at least two guide rollers 841 disposed on the screw seat 73, and a guide ridge 842 disposed on the transverse movement seat 83, and the outer wheel diameter of the guide roller 841 is provided with a guide groove adapted to the guide ridge 842. In this way, the guide ridge 842 moves relative to the at least two guide rollers 841, and moves with the guide ridge 842 using at least two contact surfaces, so as to ensure that the transverse movement seat 83 moves along the straight line formed by the two contact surfaces.

[0063] On the other hand, a robot in an embodiment of the utility model includes a mobile chassis (not shown) and a clamping device, wherein the clamping device is fixedly mounted on the conveying mobile chassis. Specifically, the mobile chassis is used to drive the clamping device to move.

[0064] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0065] The above-mentioned embodiments only express several implementation methods of the utility model, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the utility model patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the utility model, which all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent shall be based on the attached claims.

Claims

1. A clamping device, comprising a clamping component (100), characterized in that: The clamping component (100) comprises: A mounting plate (1) provided with a hinged portion (11) and a fixing portion (12); A drive assembly (2) is arranged on a fixing portion (12) of the mounting plate (1); A movable seat (3) is provided with a first connecting portion (31) and an input portion (32) connected to the output end of the driving component (2); A clamping assembly (4), comprising two symmetrically arranged clamping units (401), wherein the clamping unit (401) comprises a connecting rod (41) and a clamping arm (42), wherein the clamping arm (42) is provided with a second connecting portion (421), a clamping portion (422), and a movable portion (423) connected to the hinge portion (11); One end of the connecting rod (41) is hinged to the first connecting portion (31), and the other end is hinged to the second connecting portion (421).

2. A clamping device according to claim 1, characterized in that: The clamping component (100) further comprises a guide unit (5), wherein the guide unit (5) comprises a guide rod (51) fixedly arranged on the fixed portion (12) and a guide seat (52) arranged on the movable seat (3), wherein the guide seat (52) is provided with a guide hole adapted to fit the guide rod (51).

3. A clamping device according to claim 2, characterized in that: The clamping arm (42) is an arc-shaped curved arm, the clamping portion (422) is an arc-shaped structure arranged at the front of the arc-shaped curved arm, the movable portion (423) is a first hinge hole arranged at the rear of the arc-shaped curved arm, and the second connecting portion (421) is a second hinge hole arranged between the clamping portion (422) and the movable portion (423).

4. A clamping device according to claim 3, characterized in that: The arc-shaped curved arm comprises an upper arm member (43) and a lower arm member (44) which are detachably connected; The upper arm member (43) is provided with an upper limit block (431), and the lower arm member (44) is provided with a lower limit block (441), and a placement space is formed between the upper limit block (431) and the lower limit block (441).

5. A clamping device according to claim 4, characterized in that: The lower arm member (44) is provided with a plurality of long slots arranged at intervals, and the slotting direction of the long slots is arranged along the vertical direction.

6. A clamping device according to claim 3, characterized in that: The object to be clamped is a circular ring or a circular disc, and a clamping space adapted to the object to be clamped is formed between the two arc-shaped bent arms.

7. A clamping device according to claim 1, characterized in that: The clamping device further comprises a moving component (200), wherein the moving component (200) comprises a moving bracket (6), a lifting component (7) and a transverse moving component (8); The lifting assembly (7) comprises a lifting motor (71) arranged on the movable bracket (6), a screw rod (72) driven by the lifting motor (71), and a screw rod seat (73) drivingly connected to the screw rod (72), wherein the screw rod seat (73) can perform lifting and lowering actions relative to the movable bracket (6), and the transverse movement assembly (8) is arranged on the screw rod seat (73); The transverse shift assembly (8) comprises a transverse shift motor (81), a gear member (82) driven by the transverse shift motor (81), and a transverse shift seat (83) provided with a rack groove, wherein the rack groove is adapted to fit the gear member (82), and the transverse shift seat (83) is driven by the transverse shift motor (81) to perform a transverse shift action relative to the screw rod seat (73); The mounting plate (1) is mounted on the transverse shift seat (83).

8. A clamping device according to claim 7, characterized in that: The lifting assembly (7) further comprises a lifting guide unit (74); The movable bracket (6) is provided with a vertical frame body, and the lifting guide unit (74) comprises a vertical guide rail (741) vertically arranged on the vertical frame body, and a lifting slide seat (742) slidably connected to the vertical guide rail (741); The screw seat (73) is installed on the lifting slide (742).

9. A clamping device according to claim 7, characterized in that: The transverse movement assembly (8) also includes a transverse movement guide unit (84), which includes a guide roller (841) arranged on the screw seat (73) and a guide ridge (842) arranged on the transverse movement seat (83), and a guide groove adapted to the guide ridge (842) is provided on the outer wheel diameter of the guide roller (841).

10. A robot, characterized in that: It comprises a mobile chassis and a clamping device as claimed in any one of claims 1 to 9, wherein the clamping device is fixedly mounted on the transporting mobile chassis.

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