Clamping jaw for manipulator

Abstract

The utility model relates to a clamping jaw for a manipulator, which comprises a clamping mechanism for clamping an object to be processed and a connecting mechanism for attaching the clamping mechanism to an arm part of the manipulator, and is characterized in that the connecting mechanism comprises a fixed part for connecting the arm part and a rotating part for connecting the clamping mechanism; the connecting mechanism comprises a fixed part and a rotating part, the fixed part is provided with at least two rotating freedom degrees, the rotating part is provided with at least two rotating freedom degrees relative to the fixed part, and therefore the clamping mechanism is provided with at least two rotating freedom degrees relative to the arm part. And compared with the prior art, the connecting mechanism has the advantages that the clamping mechanism is attached to the arm part of the manipulator through the connecting mechanism comprising the fixed part and the rotating part; and the rotating part has at least two rotational degrees of freedom relative to the fixed part, so that the clamping mechanism also has at least two rotational degrees of freedom relative to the arm part, and the clamping jaw can rotate in all directions to meet the requirement of clamping the workpiece conveniently.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a clamping claw which is convenient for clamping a workpiece. Background Art

[0002] In the field of industrial production, manipulators are often used to grasp and transfer workpieces. The jaws of traditional manipulators are usually directly fixed to the arm, and the clamping part on the jaw cannot move relative to the arm. This means that if there is a relatively large deviation in the positional relationship between the jaw and the workpiece, repeated attempts are required to clamp the workpiece, and in this process, the workpiece may be clamped due to hard contact between the clamping part and the workpiece.

[0003] In order to overcome the above problems, a type of clamp has appeared in the prior art, for example, in the Chinese utility model patent "A floating clamp and manipulator" with patent number CN202222848836.X (publication number CN218428397U). This type of clamp includes a linear guide rail with a slide seat installed, and clamps the workpiece through a clamping part installed on the slide seat. Elastic buffers are also provided at both ends along the sliding direction of the slide seat, so that the slide seat can float left and right relative to the linear guide rail, thereby avoiding hard contact between the clamping part and the workpiece to a certain extent, and reducing the accuracy requirements on the positional relationship between the clamp and the workpiece.

[0004] However, the above-mentioned clamp still has certain defects during actual use. First, the clamping part of the clamp can only float left and right along the linear guide rail, which can be regarded as the clamping part can only rotate around the X-axis. When the clamp body cannot rotate around the arm (Z-axis) of the manipulator, it is difficult to apply to the situation where the clamping part needs to rotate around the Y-axis; second, the clamping part of the above-mentioned clamp cannot adjust the range of rotation angle according to actual needs. For example, when the accuracy of the positional relationship between the clamp and the workpiece is relatively high, the range of rotation angle of the clamping part is too large, which may cause the clamping part to carry the workpiece to shake greatly when the workpiece is clamped and transferred to the unloading station, resulting in the inability to accurately transfer it to the unloading position. Therefore, it is necessary to further improve the existing manipulator clamp. Utility Model Content

[0005] The first technical problem to be solved by the utility model is to provide a gripper for a manipulator that can rotate in all directions in view of the above-mentioned existing technical status.

[0006] The second technical problem to be solved by the present invention is to provide a gripper for a manipulator with an adjustable rotation angle range in view of the above-mentioned existing technical status.

[0007] The technical solution adopted by the utility model to solve the first technical problem is: the clamping claw for the manipulator includes a clamping mechanism for clamping the object to be processed, and also includes a connecting mechanism for attaching the clamping mechanism to the arm of the manipulator;

[0008] It is characterized in that the connecting mechanism includes a fixed part for connecting the arm and a rotating part for connecting the clamping mechanism, and the rotating part has at least two rotational degrees of freedom relative to the fixed part, so that the clamping mechanism has at least two rotational degrees of freedom relative to the arm.

[0009] In order to realize that the rotating member can have at least two rotational degrees of freedom relative to the fixed member, preferably, the connecting mechanism has an upward central axis, and the connecting mechanism also includes a first axis and a second axis perpendicular to the central axis, the first axis is perpendicular to the second axis, and the rotating member can rotate around the first axis and the second axis relative to the fixed member. The central axis, the first axis and the second axis correspond to the three rotation axes of the three rotational degrees of freedom in the space respectively, and the rotating member can rotate around any at least two of the rotation axes to rotate in all directions. For example, when the rotating member can only rotate around the central axis and the first axis, the rotating member only needs to rotate 90° along the central axis first, and the first axis becomes the second axis, which is equivalent to indirectly meeting the requirement of the rotating member to rotate in all directions, and setting the rotating member to be able to rotate around the first axis and the second axis is relatively simpler and more direct. In addition, according to actual needs, the connecting mechanism can be set to a structure that can rotate around the central axis.

[0010] Furthermore, in order to realize that the rotating member can rotate around the first axis and the second axis relative to the fixed member at the same time, preferably, the connection mechanism also includes a connection member arranged between the fixed member and the rotating member, and the connection member can rotate around the first axis relative to the fixed member, and correspondingly, the rotating member can rotate around the second axis relative to the connection member. Such a design is based on the consideration that if the rotating member is directly connected to the fixed member, it can be relatively simple to realize that the rotating member can rotate around the first axis or the second axis relative to the fixed member, but if it is desired to realize that the rotating member can rotate around the first axis and the second axis relative to the fixed member at the same time, a more complex structure will be required. The connection member is provided to connect the fixed member and the rotating member, so that the rotating member can rotate around the first axis and the second axis relative to the fixed member at the same time with a relatively simple structure.

[0011] Further design, in order to enable the connecting member to rotate around the first axis relative to the fixed member, and the rotating member to rotate around the second axis relative to the connecting member, preferably, the fixed member protrudes toward the rotating member to form a first convex portion, and the first convex portion extends toward the connecting member to form a first rotation axis, and the first axis is the axis of the first rotation axis. Similarly, the rotating member protrudes toward the fixed member to form a second convex portion, and a second rotation axis with the second axis is formed on the second convex portion. Correspondingly, the connecting member is provided with a first axial hole compatible with the first rotation axis and a second axial hole compatible with the second rotation axis.

[0012] In order to increase the stability of the connection mechanism, preferably, the fixing member is provided with the first protrusions on both sides of the connection member along the first axis direction, and correspondingly, the rotating member is provided with the second protrusions on both sides of the connection member along the second axis direction. Providing the first protrusions on both sides of the connection member can make the two first rotation axes bear force together, which is relatively reasonable and uniform, thereby increasing the stability of the connection mechanism. Similarly, the second protrusions are provided on both sides of the connection member to make the force of the two second rotation axes uniform.

[0013] In order to reduce the wear between the first rotating shaft, the second rotating shaft and the connecting member, preferably, a first sleeve is provided between the first rotating shaft and the first shaft hole, and similarly, a second sleeve is provided between the second rotating shaft and the second shaft hole. According to actual needs, the first sleeve and the second sleeve can be replaced with bearings and other parts that meet the needs.

[0014] In order to solve the second technical problem, preferably, the connecting mechanism is also provided with an adjusting mechanism for adjusting the angular range of rotation of the rotating member relative to the fixed member around the first axis and the second axis.

[0015] Further, in order to enable the adjustment mechanism to adjust the angular range of rotation of the rotating member relative to the fixed member around the first axis and the second axis, preferably, a first gap is formed between the fixed member and the connecting member, a second gap is formed between the rotating member and the connecting member, and correspondingly, a rotation space is formed between the fixed member and the rotating member, the height of the rotation space is the sum of the first gap, the second gap and the height of the connecting member, and the adjustment mechanism can adjust at least a part of the height of the rotation space to adjust the angular range of rotation of the rotating member relative to the fixed member. The first gap enables the connecting member to rotate relative to the fixed member, the second gap enables the rotating member to rotate relative to the connecting member, and finally, the rotation space enables the rotating member to rotate relative to the fixed member.

[0016] In order to enable the adjustment mechanism to adjust the height of at least a part of the rotation space, preferably, the adjustment mechanism includes at least two adjustment members for partially adjusting the height of the corresponding part of the rotation space, each of which is evenly distributed on the fixed member or the rotating member along the circumference of the central axis, and each of which is at least partially located in the rotation space and can move in the rotation space along the direction of the central axis. Such a design enables the adjustment member to occupy the local rotation space, thereby adjusting the height of the rotation space of the corresponding area; at least two adjustment members are provided, considering that if two adjustment members are provided at an angle of 45° relative to the first axis, the angle range of the rotation of the rotating member around the first axis and the second axis can be adjusted simultaneously, and the specific number of adjustment members can be increased according to actual needs.

[0017] Furthermore, in order to enable the adjusting member to be at least partially located in the rotation space and to be able to move in the rotation space along the central axis direction, preferably, each adjusting member is located on the fixing member, and a matching portion for the corresponding adjusting member to pass through is provided on the fixing member, and the adjusting member and the matching portion are connected by a thread. The threaded connection between the adjusting member and the matching portion can relatively simply meet the requirement that the adjusting member can move in the rotation space along the central axis direction, and can withstand the axial force to conflict with the rotating member.

[0018] Compared with the prior art, the advantages of the utility model are:

[0019] 1. The clamping mechanism is attached to the arm of the manipulator through a connecting mechanism including a fixed part and a rotating part, and the rotating part has at least two rotational degrees of freedom relative to the fixed part, so that the clamping mechanism also has at least two rotational degrees of freedom relative to the arm, so that the clamping claw can achieve full-range rotation to facilitate clamping of the workpiece.

[0020] 2. An adjustment mechanism capable of adjusting the angle range of at least two rotational degrees of freedom of the clamping jaw is provided on the connecting mechanism, so that the operator can adjust the angle range of the clamping jaw according to actual work needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the structure of the clamping jaws in the embodiment of the utility model;

[0022] Figure 2 This is a schematic diagram of the structure of the connecting mechanism and the adjusting mechanism in the embodiment of the utility model;

[0023] Figure 3 It is a schematic diagram of the exploded structure of the connecting mechanism and the adjusting mechanism in the embodiment of the utility model;

[0024] Figure 4This is a schematic diagram of the structure of the rotating member and the connecting member in the embodiment of the utility model;

[0025] Figure 5 This is a structural schematic diagram of the connecting mechanism and the adjusting mechanism in another angle in the embodiment of the utility model;

[0026] Figure 6 This is a schematic diagram of a state in which the adjusting member is in the first position and the rotating member is in the initial state in the embodiment of the utility model;

[0027] Figure 7 This is a schematic diagram of a state in which the adjusting member is in the first position and the rotating member is in the final state in the embodiment of the utility model;

[0028] Figure 8 This is a schematic diagram of a state in which the adjusting member is in the second position and the rotating member is in the initial state in the embodiment of the utility model;

[0029] Fig. 9 It is a schematic diagram of the state in which the adjusting member is in the second position and the rotating member is in the final state in the embodiment of the utility model. DETAILED DESCRIPTION

[0030] The present invention is further described in detail below in conjunction with specific embodiments.

[0031] like Figures 1 to 5 The preferred embodiment of the utility model is shown in FIG. Figure 1 The gripper for the manipulator in this embodiment includes a clamping mechanism 1 for clamping an object to be processed, and also includes a connecting mechanism 2 for attaching the clamping mechanism 1 to the arm A of the manipulator. The connecting mechanism 2 includes a fixed part 21 for connecting the arm A and a rotating part 22 for connecting the clamping mechanism 1. The rotating part 22 has at least two rotational degrees of freedom relative to the fixed part 21, so that the clamping mechanism 1 has at least two rotational degrees of freedom relative to the arm A. Specifically, the connecting mechanism 2 in this embodiment has an upward central axis Z, and the connecting mechanism 2 also includes a first axis X and a second axis Y perpendicular to the central axis Z. The first axis X is perpendicular to the second axis Y, and the rotating part 22 can rotate around the first axis X and the second axis Y relative to the fixed part 21. In addition, in this embodiment, a rotating mechanism 4 coaxial with the central axis Z is provided between the arm A and the connecting mechanism 2. The rotating mechanism 4 enables the connecting mechanism 2 to rotate around the central axis Z relative to the arm A. Therefore, in this embodiment, the clamping mechanism 1 can have three rotational degrees of freedom relative to the arm A through the cooperation of the connecting mechanism 2 and the rotating mechanism 4.

[0032] Furthermore, in order to realize that the rotating member 22 can rotate relative to the fixed member 21 around the first axis X and the second axis Y at the same time, the connection mechanism 2 in this embodiment further includes a connection member 23 disposed between the fixed member 21 and the rotating member 22, and the connection member 23 can rotate relative to the fixed member 21 around the first axis X, and correspondingly, the rotating member 22 can rotate relative to the connection member 23 around the second axis Y. Specifically, Figure 2 As shown, the fixed member 21 in this embodiment protrudes toward the rotating member 22 to form a first protrusion 211, and the first protrusion 211 extends toward the connecting member 23 to form a first rotating shaft 212, and the first axis X is the axis of the first rotating shaft 212. Similarly, the rotating member 22 protrudes toward the fixed member 21 to form a second protrusion 221, and the second protrusion 221 is formed with a second rotating shaft 222 having a second axis Y. Correspondingly, as shown in FIG. Figure 3 As shown, the connecting member 23 is provided with a first shaft hole 231 adapted to the first rotating shaft 212 and a second shaft hole 232 adapted to the second rotating shaft 222. In order to increase the stability of the connecting mechanism 2, the fixing member 21 in this embodiment is provided with first protrusions 211 on both sides of the connecting member 23 along the first axis X direction, and correspondingly, the rotating member 22 is provided with second protrusions 221 on both sides of the connecting member 23 along the second axis Y direction. Providing the first protrusion 211 on both sides of the connecting member 23 enables the two first rotating shafts 212 to be subjected to force together, which is relatively reasonable and uniform, thereby increasing the stability of the connecting mechanism 2. Similarly, providing the second protrusion 221 on both sides of the connecting member 23 is to make the force on the two second rotating shafts 222 uniform. In order to reduce the wear between the first rotating shaft 212, the second rotating shaft 222 and the connecting member 23, see Figure 3 In this embodiment, a first sleeve 24 is disposed between the first rotating shaft 212 and the first shaft hole 231. Similarly, a second sleeve 25 is disposed between the second rotating shaft 222 and the second shaft hole 232. Figure 4 For example, after the fixing member 21 is hidden, it can be observed that the first sleeve 24 is inserted into the first shaft hole 231 .

[0033] In order to adjust the angular range of rotation of the rotating member relative to the fixed member, the connection mechanism 2 in this embodiment is further provided with an adjustment mechanism 3 for adjusting the angular range of rotation of the rotating member 22 relative to the fixed member 21 around the first axis X and the second axis Y. Specifically, Figure 5As shown, a first gap 1a is formed between the fixed member 21 and the connecting member 23, and a second gap 1b is formed between the rotating member 22 and the connecting member 23. Correspondingly, a rotation space 1c is formed between the fixed member 21 and the rotating member 22. The height of the rotation space 1c is the sum of the height of the first gap 1a, the second gap 1b and the height of the connecting member 23. The adjusting mechanism 3 can adjust the height of at least a part of the rotation space 1c to adjust the angular range of rotation of the rotating member 22 relative to the fixed member 21. In order to enable the adjusting mechanism 3 to adjust the height of at least a part of the rotation space 1c, the adjusting mechanism 3 includes at least two adjusting members 31 for partially adjusting the height of the corresponding part of the rotation space 1c. Each adjusting member 31 is evenly distributed on the fixed member 22 or the rotating member 22 along the central axis Z. In this embodiment, the adjusting mechanism 3 is provided with four adjusting members 31 on the fixed member 21, and the four adjusting members 31 are respectively located on the first axis X and the second axis Y. Each adjusting member 31 is at least partially located in the rotation space 1c and can move in the rotation space 1c along the central axis Z direction. In this embodiment, a matching portion 213 is formed on the fixing member 22 for the corresponding adjusting member 31 to pass through, and the adjusting member 31 and the matching portion 213 are connected by threads.

[0034] Taking one of the adjustment members 31 located on the first axis X as an example, the specific use process of the adjustment mechanism 3 in this embodiment is as follows:

[0035] like Figure 6 As shown, at this time, the adjusting member 31 is in the first position, and the rotating member 22 is in the initial state, that is, the state of vertically downward under the action of gravity; see Figure 7 At this time, the rotating member 22 has rotated to the final state around the second axis Y relative to the fixed member 21, and the rotating member 22 is in conflict with the adjusting member 31 and is limited. Therefore, when the adjusting member 31 is in the first position, the rotating member 22 can rotate 0° to 13° around the second axis Y relative to the fixed member 21; see Figure 8 , at this time, the adjusting member 31 is adjusted from the first position to the second position, and the dotted line in the figure indicates the first position of the adjusting member 31; Fig. 9 As shown, at this time, the rotating member 22 has rotated to the final state around the second axis Y relative to the fixed member 21, and the rotating member 22 is restricted by the contact with the adjusting member 31. Therefore, when the adjusting member 31 is in the second position, the rotating member 22 can rotate 0° to 26° around the second axis Y relative to the fixed member 21.

Claims

1. A gripper for a robot, comprising a gripping mechanism (1) for gripping an object to be processed, and a connecting mechanism (2) for attaching the gripping mechanism (1) to an arm (A) of the robot; Features: The connecting mechanism (2) comprises a fixing member (21) for connecting the arm portion (A) and a rotating member (22) for connecting the clamping mechanism (1); the rotating member (22) has at least two rotational degrees of freedom relative to the fixing member (21), thereby enabling the clamping mechanism (1) to have at least two rotational degrees of freedom relative to the arm portion (A).

2. The clamping jaw according to claim 1, characterized in that: The connecting mechanism (2) has an upward central axis (Z), and the connecting mechanism (2) also includes a first axis (X) and a second axis (Y) perpendicular to the central axis (Z), the first axis (X) and the second axis (Y) being perpendicular to each other, and the rotating member (22) can rotate around the first axis (X) and the second axis (Y) relative to the fixed member (21).

3. The clamping jaw according to claim 2, characterized in that: The connecting mechanism (2) further comprises a connecting member (23) arranged between the fixed member (21) and the rotating member (22); the connecting member (23) is capable of rotating around the first axis (X) relative to the fixed member (21); correspondingly, the rotating member (22) is capable of rotating around the second axis (Y) relative to the connecting member (23).

4. The clamping jaw according to claim 3, characterized in that: The fixed member (21) protrudes toward the rotating member (22) to form a first protrusion (211), and the first protrusion (211) extends toward the connecting member (23) to form a first rotating shaft (212), and the first axis (X) is the axis of the first rotating shaft (212). Similarly, the rotating member (22) protrudes toward the fixed member (21) to form a second protrusion (221), and a second rotating shaft (222) having the second axis (Y) is formed on the second protrusion (221). Correspondingly, the connecting member (23) is provided with a first axial hole (231) adapted to the first rotating shaft (212) and a second axial hole (232) adapted to the second rotating shaft (222).

5. The clamping jaw according to claim 4, characterized in that: The fixing member (21) is provided with the first protrusions (211) on both sides of the connecting member (23) along the direction of the first axis (X), and correspondingly, the rotating member (22) is provided with the second protrusions (221) on both sides of the connecting member (23) along the direction of the second axis (Y).

6. The clamping jaw according to claim 5, characterized in that: A first shaft sleeve (24) is arranged between the first rotating shaft (212) and the first shaft hole (231), and similarly, a second shaft sleeve (25) is arranged between the second rotating shaft (222) and the second shaft hole (232).

7. The clamp according to any one of claims 3 to 6, characterized in that: The connecting mechanism (2) is also provided with an adjusting mechanism (3) for adjusting the angular range of rotation of the rotating member (22) relative to the fixing member (21) around the first axis (X) and the second axis (Y).

8. The clamping jaw according to claim 7, characterized in that: A first gap (1a) is formed between the fixed member (21) and the connecting member (23), a second gap (1b) is formed between the rotating member (22) and the connecting member (23), and correspondingly, a rotation space (1c) is formed between the fixed member (21) and the rotating member (22), the height of the rotation space (1c) being the sum of the heights of the first gap (1a), the second gap (1b) and the connecting member (23), and the adjusting mechanism (3) is capable of adjusting at least a portion of the height of the rotation space (1c) to adjust the angular range of rotation of the rotating member (22) relative to the fixed member (21).

9. The clamping jaw according to claim 8, characterized in that: The adjustment mechanism (3) comprises at least two adjustment members (31) for partially adjusting the height of a corresponding part of the rotation space (1c); each of the adjustment members (31) is evenly distributed on the fixed member (21) or the rotation member (22) along the circumference of the central axis (Z); each of the adjustment members (31) is at least partially located in the rotation space (1c) and can move in the rotation space (1c) along the direction of the central axis (Z).

10. The clamping jaw according to claim 9, characterized in that: Each of the adjusting members (31) is located on the fixing member (21), and a matching portion (213) is provided on the fixing member (21) for the corresponding adjusting member (31) to pass through, and the adjusting member (31) and the matching portion (213) are connected via a thread.

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