Grabbing manipulator

Abstract

The utility model provides a grabbing manipulator, and belongs to the technical field of manipulators, and the grabbing manipulator is characterized in that a first output end of a transmission assembly drives a first connecting rod to slide relative to a mounting seat so as to drive a first group of fingers to move; the second output end of the transmission assembly drives the second set of fingers to move. The two output ends of the transmission assembly drive the first connecting rod and the second connecting rod to move oppositely to provide clamping force for the two sets of fingers, so that the two sets of fingers can clamp an object, the two output ends of the transmission assembly drive the first connecting rod and the second connecting rod to move oppositely to enable the two sets of fingers to loosen the object, and the two sets of fingers clamp and loosen the object. An object can be grabbed; the fingers are symmetrically arranged on the connecting bases, so that the fingers on the two connecting bases define the clamping cavities for the object, surrounding type grabbing of the object is formed, the stress balance of the grabbed object is improved, the object is kept stable in the grabbing or moving process of the object, and therefore the sliding or falling tendency of the object is reduced.

Description

Technical Field

[0001] This application belongs to the technical field of manipulators, and particularly relates to a grasping manipulator. Background Art

[0002] A manipulator is an automatic operating device that can imitate some action functions of human hands and arms to grasp, transport objects or operate tools according to a fixed program. The end of the manipulator can be divided into three categories: gripper-type grippers (manipulator claws), adsorption-type grippers (magnetic chucks), and bionic multi-fingered dexterous hands; manipulator claws usually use pneumatic, hydraulic, electric, and electromagnetic means to drive the opening and closing of the fingers.

[0003] For example, the Chinese utility model patent with the publication number CN203765635U discloses a pneumatic manipulator claw, which consists of a left finger, a right finger, a cylindrical pin, a traction slider, a left rocker, a right rocker, a cylinder, and a frame. The left finger, the right finger, and the traction slider are connected by a cylindrical pin. One end of the left rocker is connected to the left finger by a cylindrical pin, and the other end of the left rocker is connected to the left end of the frame by a cylindrical pin. One end of the right rocker is connected to the right finger by a cylindrical pin, and the other end of the right rocker is connected to the right end of the frame by a cylindrical pin. The traction slider is connected to the cylinder rod, and the cylinder is connected to the frame. The opening and closing of the claw are controlled by the movement of the cylinder, which drives the forward and backward movement of the traction slider. The structure is simple, the operation is convenient, the control is reliable, and the movement performance is good. It can clamp various shaped objects. Although the accuracy of object positioning before clamping by the claw can improve the stability during clamping, the stability of the object during movement is difficult to guarantee, and the object is prone to sliding and falling during movement, affecting work efficiency. Summary of the Utility Model

[0004] The utility model aims to solve at least one of the technical problems existing in the prior art or related technologies.

[0005] In view of this, according to an embodiment of the present application, a grasping manipulator is proposed, including:

[0006] A mounting seat;

[0007] A transmission component, which is arranged on the mounting seat, and the input end of the transmission component is connected to the driving device;

[0008] A connecting component, which is arranged perpendicular to the mounting seat. The connecting component includes two connecting rods. The first end of the first connecting rod is slidably connected to the mounting seat, and the first end of the second connecting rod is slidably connected to the mounting seat;

[0009] The first connecting rod is connected to the first output end of the transmission component, and the second connecting rod is connected to the second output end of the transmission component. The transmission component drives the two connecting rods to move towards / away from each other;

[0010] Connecting seat, the connecting seat is arranged at the second end of the connecting rod, and the connecting seats correspond to the connecting rods one by one;

[0011] Finger assembly, the finger assembly is arranged on the connecting seat, the finger assemblies correspond to the connecting seats one by one, and two finger assemblies enclose a clamping cavity;

[0012] The finger assembly includes at least two fingers, and the fingers are connected to the connecting seat so that at least two fingers are connected to one connecting seat.

[0013] In a feasible implementation manner, the transmission assembly includes:

[0014] Drive shaft, the drive shaft is vertically arranged on the mounting seat, the first end of the drive shaft is rotatably connected to the mounting seat, the second end of the drive shaft extends out of the mounting seat, and the second end of the drive shaft is detachably connected to the driving device;

[0015] First gear, the first gear is arranged parallel to the mounting seat, the first gear is sleeved on the drive shaft, and the first gear rotates synchronously with the drive shaft;

[0016] First rack, the first rack is arranged parallel to the mounting seat, the first rack meshes with the first gear, and the first rack is connected to the first connecting rod;

[0017] Second rack, the second rack is arranged parallel to the mounting seat, the second rack meshes with the first gear, and the second rack is connected to the second connecting rod;

[0018] Wherein, the first rack and the second rack are symmetrically arranged on both sides of the first gear, and the symmetry center of the first rack and the second rack is the center of the pitch circle of the first gear.

[0019] In a feasible implementation manner, the grasping manipulator further includes:

[0020] Second gear, the second gear is sleeved on the drive shaft, the second gear rotates synchronously with the drive shaft, and the second gear is located outside the mounting seat.

[0021] In a feasible implementation manner, the connecting seat is vertically arranged on the second end of the connecting rod, the fingers are perpendicular to the connecting seat, and the fingers are rotatably connected to the connecting seat.

[0022] In a feasible implementation manner, one finger assembly includes two fingers so that two fingers are connected to one connecting seat; the two fingers on one connecting seat are arranged in mirror symmetry and the two fingers are arranged at an angle;

[0023] Wherein, the symmetry plane of the two fingers on one connecting seat is the plane where the axes of the two connecting rods are located together.

[0024] In a feasible implementation manner, the grasping manipulator further includes:

[0025] An installation groove is provided on the connecting seat;

[0026] A connecting shaft is perpendicular to the connecting seat. The first end of the connecting shaft is rotatably connected to the connecting seat, and the second end of the connecting shaft is connected to the finger;

[0027] A limiting portion is provided on the side wall of the connecting shaft, and the limiting portion is movably arranged in the installation groove;

[0028] An elastic member is embedded in the installation groove. The first end of the elastic member is in contact with the side surface of the limiting portion, and the second end of the elastic member is in contact with the groove wall of the installation groove to elastically support the limiting portion through the elastic member.

[0029] In a feasible implementation manner, the grasping manipulator further includes:

[0030] An anti-slip assembly is provided on the contact surface of the finger;

[0031] Wherein, the contact surface is the side surface of the finger that fits with the object when the finger clamps the object.

[0032] In a feasible implementation manner, the anti-slip assembly includes a plurality of anti-slip portions. The first anti-slip portions are arranged at equal intervals at one end of the contact surface close to the mounting seat, the second anti-slip portions are arranged at equal intervals in the middle of the contact surface, and the third anti-slip portions are arranged at equal intervals at one end of the contact surface far from the mounting seat;

[0033] Wherein, the spacing of the first anti-slip portions is less than the spacing of the second anti-slip portions, and the spacing of the second anti-slip portions is less than the spacing of the third anti-slip portions.

[0034] In a feasible implementation manner, the anti-slip portion has elasticity. The anti-slip portion is provided on the contact surface and protrudes in a direction away from the contact surface.

[0035] In a feasible implementation manner, the mounting seat includes:

[0036] A main body;

[0037] Two guiding grooves are provided through the main body, and the guiding grooves extend along the length direction of the main body;

[0038] The connecting rods are slidably connected in the guiding grooves and are in one-to-one correspondence with the guiding grooves;

[0039] A cover body is buckled on the main body, and the cover body covers the two guiding grooves.

[0040] Compared with the prior art, the beneficial effects of a grasping manipulator of the present application are:

[0041] The grasping manipulator provided by the embodiment of the present application includes a mounting base, a transmission assembly, a connection assembly, a connection seat and a finger assembly. The input end of the transmission assembly is connected to a driving device. The first output end of the transmission assembly drives the first connecting rod to slide relative to the mounting base to drive the first group of fingers to move. The second output end of the transmission assembly drives the second connecting rod to slide relative to the mounting base to drive the second group of fingers to move. The two output ends of the transmission assembly drive the first connecting rod and the second connecting rod to move towards each other to provide a clamping force for the two groups of fingers so that the two groups of fingers can clamp an object. The two output ends of the transmission assembly drive the first connecting rod and the second connecting rod to move in the opposite direction to release the object by the two groups of fingers, and the object is grasped by clamping and releasing the object by the two groups of fingers. By symmetrically arranging fingers on the connection seat, the fingers on the two connection seats enclose a clamping cavity for the object to form an enclosed grasping of the object, which is beneficial to improving the balance of the force on the grasped object and keeping the object stable during the grasping or moving process of the object, thereby reducing the tendency of the object to slide or fall and improving the working efficiency of the manipulator. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] By reading the detailed description of the preferred embodiments below, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present application. Moreover, throughout the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0043] Figure 1 FIG. 9 is a first schematic structural diagram of a grasping manipulator according to an embodiment provided by the present application;

[0044] Figure 2 FIG. 13 is a schematic structural diagram of a transmission assembly of a grasping manipulator according to an embodiment provided by the present application;

[0045] Figure 3 FIG. 17 is a first schematic structural diagram of a finger of a grasping manipulator according to an embodiment provided by the present application;

[0046] Figure 4 FIG. 21 is a second schematic structural diagram of a grasping manipulator according to an embodiment provided by the present application;

[0047] Figure 5 FIG. 25 is a second schematic structural diagram of a finger of a grasping manipulator according to an embodiment provided by the present application;

[0048] Figure 6 FIG. 29 is a schematic structural diagram of a mounting groove of a grasping manipulator according to an embodiment provided by the present application;

[0049] Among them, Figures 1 to 6 the corresponding relationship between the reference numerals in and the component names is:

[0050] 1. Mounting base; 2. Transmission assembly; 3. Connecting rod; 4. Connecting seat; 5. Finger; 6. Second gear; 7. Anti-slip assembly; 8. Mounting groove; 9. Connecting shaft; 10. Limiting part; 11. Elastic part;

[0051] 101. Main body; 102. Guide groove; 103. Cover body;

[0052] 201. Transmission shaft; 202. First gear; 203. First rack; 204. Second rack;

[0053] 31. First connecting rod; 32. Second connecting rod;

[0054] 701. First anti-slip part; 702. Second anti-slip part; 703. Third anti-slip part. Detailed implementation manners

[0055] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present application.

[0056] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, the meaning of "a plurality" is two or more, unless otherwise specifically defined.

[0057] In the present application, unless otherwise clearly defined and limited, the terms "mount", "connect", "couple", "fix", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0058] The following describes the preferred embodiments of the present application with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only for the purpose of illustrating and explaining the present application, and are not used to limit the present application.

[0059] As shown Figure 1 in the figure, according to an embodiment of the present application, a grasping manipulator is provided, including: a mounting base 1, a transmission component 2, a connection component, a connection seat 4, and a finger component; the transmission component 2 is arranged on the mounting base 1; the connection component is arranged perpendicular to the mounting base 1, and the connection component includes two connecting rods 3. The first end of the first connecting rod 31 is slidably connected to the mounting base 1, and the first end of the second connecting rod 32 is slidably connected to the mounting base 1; the first connecting rod 31 is connected to the first output end of the transmission component 2, and the second connecting rod 32 is connected to the second output end of the transmission component 2. The transmission component 2 drives the two connecting rods 3 to move towards / away from each other; the connection seats 4 are symmetrically arranged at the second ends of the connecting rods 3, and the connection seats 4 correspond to the connecting rods 3 one by one; the finger component is arranged on the connection seats 4, and the finger component corresponds to the connection seats 4 one by one. The two finger components enclose a clamping cavity; the finger component includes two fingers 5, and the fingers 5 are connected to the connection seats 4, so that at least two fingers 5 are connected to one connection seat 4.

[0060] The grasping manipulator provided by the embodiment of the present application includes a mounting base 1, a transmission component 2, a connection component, a connection seat 4, and a finger component. The input end of the transmission component 2 is connected to a driving device. The first output end of the transmission component 2 drives the first connecting rod 31 to slide relative to the mounting base 1 to drive the first group of fingers 5 to move; the second output end of the transmission component 2 drives the second connecting rod 32 to slide relative to the mounting base 1 to drive the second group of fingers 5 to move; the two output ends of the transmission component 2 drive the first connecting rod 31 and the second connecting rod 32 to move towards each other to provide a clamping force for the two groups of fingers 5, so that the two groups of fingers 5 can clamp an object. The two output ends of the transmission component 2 drive the first connecting rod 31 and the second connecting rod 32 to move in the opposite direction to release the two groups of fingers 5 from the object. The two groups of fingers 5 clamp and release the object to grasp the object; by symmetrically arranging at least two fingers 5 on one connection seat 4, at least four fingers 5 on the two connection seats 4 enclose a clamping cavity for the object, forming an enclosed grasping of the object, which is beneficial to improving the balance of the force on the grasped object and keeping the object stable during the grasping and moving of the object, thereby reducing the tendency of the object to slide or fall and improving the working efficiency of the manipulator.

[0061] Further, one connection seat 4 and two fingers 5 are connected to each connecting rod 3. The four fingers 5 enclose a clamping cavity, enabling the manipulator to have multi-point contact with the object and perform an enclosed grasping of the object, improving the grasping stability of the manipulator.

[0062] Further, the two connecting seats 4 are arranged in mirror symmetry, and the symmetry plane of the two connecting seats 4 is a plane passing through the midpoint of the line connecting the axes of the two connecting rods 3 and parallel to the axes of the connecting rods 3. By arranging the two connecting seats 4 in mirror symmetry, the four fingers 5 are also mirror-symmetrical in the natural state, which helps to improve the balance of the object's force and thus improve the stability of clamping the object. Herein, the natural state of the finger 5 is the state when the finger 5 is not in contact with the object.

[0063] Further, when the manipulator needs to be used, connect the input end of the transmission component 2 to the driving device and connect the mounting seat 1 to the robotic arm, then the manipulator can be installed easily with a simple structure.

[0064] As Figure 2 shown, in a feasible embodiment, the transmission component 2 includes: a transmission shaft 201, a first gear 202, a first rack 203 and a second rack 204. The transmission shaft 201 is vertically arranged on the mounting seat 1. The first end of the transmission shaft 201 is rotatably connected to the mounting seat 1, and the second end of the transmission shaft 201 extends out of the mounting seat 1 and is detachably connected to the driving device. The first gear 202 is arranged parallel to the mounting seat 1 and sleeved on the transmission shaft 201, and the first gear 202 rotates synchronously with the transmission shaft 201. The first rack 203 is arranged parallel to the mounting seat 1, the first rack 203 meshes with the first gear 202, and the first rack 203 is connected to the first connecting rod 31. The second rack 204 is arranged parallel to the mounting seat 1, the second rack 204 meshes with the first gear 202, and the second rack 204 is connected to the second connecting rod 32. Herein, the first rack 203 and the second rack 204 are arranged symmetrically about the center on both sides of the first gear 202, and the symmetry center of the first rack 203 and the second rack 204 is the center of the pitch circle of the first gear 202.

[0065] In this technical solution, the transmission shaft 201 is used to connect the driving device. The driving device drives the transmission shaft 201 to rotate, and then drives the first gear 202 to rotate synchronously. By the first gear 202 meshing with the first rack 203 and the second rack 204 at the same time, the first rack 203 and the second rack 204 are driven to move, and then the first connecting rod 31 and the second connecting rod 32 are driven to move to control the two groups of fingers 5 to clamp or release the object. By arranging the first rack 203 and the second rack 204 symmetrically about the center on both sides of the first gear 202, the maximum movable distances of the two connecting rods 3 are the same. On the basis that the two connecting rods 3 can move towards / away from each other, the clamping forces applied to the object when the two groups of fingers 5 move to the limit positions are more consistent, and the force on the clamped object is more balanced, thus improving the stability when clamping the object.

[0066] Further, the transmission shaft 201 is connected to the output end of the driving device, and the driving device outputs torque to drive the transmission shaft 201 to rotate, providing driving force to the transmission assembly 2.

[0067] As Figure 1 and Figure 2 shown, in a feasible implementation, the grasping manipulator further includes: a second gear 6, the second gear 6 is sleeved on the transmission shaft 201, the second gear 6 rotates synchronously with the transmission shaft 201, and the second gear 6 is located outside the mounting seat 1.

[0068] In this technical solution, the second gear 6 is arranged outside the mounting seat 1, and the second gear 6 rotates synchronously with the first gear 202. By adding the second gear 6 and using the second gear 6 to engage with the gear on the driving device, the transmission accuracy between the driving device and the manipulator can be improved, which is beneficial to improving the accuracy of controlling the clamping force of the finger 5.

[0069] As Figures 3 to 5 shown, in a feasible implementation, the connecting seat 4 is vertically arranged on the second end of the connecting rod 3, the finger 5 is perpendicular to the connecting seat 4, and the finger 5 is rotatably connected to the connecting seat 4.

[0070] In this technical solution, the finger 5 is rotatably installed on the connecting seat 4. The finger 5 can not only move with the corresponding connecting rod 3 but also rotate relative to the corresponding connecting seat 4 and connecting rod 3; when the finger 5 does not contact the object, the movement of the finger 5 is completely controlled by the corresponding connecting rod 3, and the movement direction of the finger 5 is the same as the movement direction of the corresponding connecting rod 3. The connecting rod 3 drives the finger 5 to approach / leave the object, so as to clamp / loosen the object; when the finger 5 contacts the object, the reaction force of the object on the finger 5 causes the finger 5 to rotate relative to the connecting seat 4, and then the angle and force of the finger 5 clamping the object can be automatically adjusted adaptively according to different objects. By the finger 5 being forced to rotate, it helps to increase the grasping contact area between the finger 5 and the irregular object, thereby improving the grasping stability of the finger 5 for the irregular object and enhancing the adaptability and practicability of the manipulator.

[0071] In this technical solution, by vertically arranging the connecting seat 4 on the second end of the connecting rod 3 and making the finger 5 perpendicular to the connecting seat 4, the axis of the transmission shaft 201 of the finger 5 is parallel to the axis of the connecting rod 3, which is convenient for calculating the moving distance and rotation angle of the finger 5, and the manufacturing and assembly are simple.

[0072] As Figure 3As shown, in a feasible implementation, a finger assembly includes two fingers 5, such that two fingers 5 are connected to a connecting seat 4; the two fingers 5 on one connecting seat 4 are arranged symmetrically in a mirror image, and the two fingers 5 are arranged at an angle; wherein, the symmetry plane of the two fingers 5 on one connecting seat 4 is the plane where the axes of the two connecting rods 3 are located together.

[0073] In this technical solution, the fingers 5 are arranged symmetrically in a mirror image on the connecting seat 4, and there is a certain angle between the two fingers 5 in the natural state, ensuring that when the reaction force of the object on the fingers 5 is small and the rotation amplitude of the fingers 5 is small, the four fingers 5 can also surround the object from different angles, so as to perform an encircling grasp on the object.

[0074] In some examples, such as Figure 4 and Figure 5 as shown, the two fingers 5 on the two connecting seats 4 can also be arranged side by side, and the object is encircled and grasped by the rotation of the fingers 5 themselves, improving the stability during the grasping and moving of the object and preventing the object from sliding and falling.

[0075] Such as Figure 6 as shown, in a feasible implementation, the grasping manipulator further includes: a mounting groove 8, a connecting shaft 9, a limiting portion 10, and an elastic member 11; the mounting groove 8 is opened on the connecting seat 4; the connecting shaft 9 is arranged perpendicular to the connecting seat 4, the first end of the connecting shaft 9 is rotatably connected to the connecting seat 4, and the second end of the connecting shaft 9 is connected to the finger 5; the limiting portion 10 is arranged on the side wall of the connecting shaft 9, and the limiting portion 10 is movably arranged in the mounting groove 8; the elastic member 11 is embedded in the mounting groove 8, the first end of the elastic member 11 is in contact with the side surface of the limiting portion 10, and the second end of the elastic member 11 is in contact with the groove wall of the mounting groove 8, so as to elastically support the limiting portion 10 through the elastic member 11.

[0076] In this technical solution, the finger 5 is rotatably connected to the connecting seat 4 through the connecting shaft 9. By embedding the limiting portion 10 on the side wall of the connecting shaft 9 into the mounting groove 8, the mounting groove 8 is used to limit the limiting portion 10, limit the movable distance of the limiting portion 10, and further limit the rotation angle of the connecting shaft 9 and the finger 5, so that the finger 5 rotates within a certain range, avoiding the finger 5 from rotating too large an angle, preventing the object from passing through the gap between the two fingers 5 and disengaging from the fingers 5. Thus, on the basis that the fingers 5 can flexibly grasp the object, the stability of the fingers 5 in grasping the object is ensured; the elastic member 11 is arranged in the mounting groove 8 and is used to elastically support the limiting portion 10. After the finger 5 releases the object, the elastic member 11 is no longer under the pressure of the limiting portion 10, so that the elastic member 11 drives the limiting portion 10 to reset through the restoring force, and further drives the connecting shaft 9 and the finger 5 to reset, facilitating the next grasping and ensuring the continuity of the operation of the manipulator.

[0077] Furthermore, the installation groove 8 is arc-shaped and is adapted to the trajectory formed by the rotation of the limiting portion 10. The installation groove 8 restricts the length of the rotation trajectory of the limiting portion 10 to limit the rotation angle of the finger 5 through the installation groove 8.

[0078] As Figure 1 and Figure 4 shown, in a feasible implementation, the grasping manipulator further includes: an anti-slip component 7, and the anti-slip component 7 is arranged on the contact surface of the finger 5; wherein, the contact surface is the side surface of the finger 5 that fits with the object when the finger 5 clamps the object.

[0079] In this technical solution, the anti-slip component 7 is arranged on the contact surface between the finger 5 and the object to increase the friction between the finger 5 and the object, and further improve the stability of the gripper in grasping the object.

[0080] As Figure 3 and Figure 5 shown, in a feasible implementation, the anti-slip component 7 includes a plurality of anti-slip portions. The first anti-slip portion 701 is arranged at equal intervals at one end of the contact surface close to the mounting base 1, the second anti-slip portion 702 is arranged at equal intervals in the middle of the contact surface, and the third anti-slip portion 703 is arranged at equal intervals at one end of the contact surface far from the mounting base 1;

[0081] wherein, the spacing of the first anti-slip portion 701 is smaller than that of the second anti-slip portion 702, and the spacing of the second anti-slip portion 702 is smaller than that of the third anti-slip portion 703; the size of the first anti-slip portion 701 is smaller than that of the second anti-slip portion 702, and the size of the second anti-slip portion 702 is smaller than that of the third anti-slip portion 703.

[0082] In this technical solution, anti-slip portions with different spacings and sizes are arranged on the contact surface between the finger 5 and the object to ensure that when grasping objects of different sizes and specifications, the anti-slip portions with different sizes are adapted to the objects of different sizes and specifications, so that the anti-slip portions can all produce sufficient anti-slip effects, prevent the objects from slipping, and expand the applicable range of the manipulator.

[0083] In some examples, the anti-slip portion is a semi-circular convex structure. The diameter of the first anti-slip portion 701 is 1 mm to 2 mm, and the spacing of the first anti-slip portion 701 is 1 mm to 2 mm; the diameter of the second anti-slip portion 702 is 3 mm to 4 mm, and the spacing of the second anti-slip portion 702 is 3 mm to 4 mm; the diameter of the third anti-slip portion 703 is 5 mm to 6 mm, and the spacing of the third anti-slip portion 703 is 5 mm to 6 mm.

[0084] As Figure 3 and Figure 5 shown, in a feasible implementation, the anti-slip portion has elasticity, the anti-slip portion is arranged on the contact surface, and the anti-slip portion protrudes in a direction away from the contact surface.

[0085] In this technical solution, the anti-slip part is an elastomer, and the anti-slip part protrudes in a direction away from the contact surface. When the finger 5 grasps an object, the anti-slip part undergoes elastic deformation under the pressure exerted by the object, the pressure between the anti-slip part and the object increases, and the friction between the anti-slip part and the object increases, thereby further enhancing the firmness and stability of the manipulator's grasp of the object.

[0086] As Figure 1 and Figure 4 shown, in a feasible implementation manner, the mounting base 1 includes: a main body 101, a guide groove 102, and a cover 103; the guide groove 102 is disposed through the main body 101, and the guide groove 102 extends along the length direction of the main body 101; the connecting rod 3 is slidably connected in the guide groove 102, and the connecting rod 3 corresponds to the guide groove 102 one by one; the cover 103 is buckled on the main body 101, and the cover 103 covers the two guide grooves 102.

[0087] In this technical solution, the connecting rod 3 slides in the guide groove 102 along the length direction of the guide groove 102. The movable ranges of the two connecting rods 3 are respectively restricted by the two guide grooves 102. The transmission assembly 2 is installed on the main body 101 and connected to the connecting rod 3; by providing the cover 103 on the main body 101 to protect the transmission assembly 2 and prevent the transmission structure from being exposed, the cover 103 plays a role in protecting the internal transmission assembly 2, thereby ensuring the safety of the manipulator during operation.

[0088] It can be understood that the transmission shaft 201 extends out of the cover 103, so that the transmission shaft 201 can be connected to the driving device without opening the cover 103, which is beneficial to improving the assembly efficiency of the manipulator and the driving device.

[0089] It should be noted that Figure 1 is a perspective view, Figure 4 is a perspective view, and the guide groove 102 can be seen through the cover 103.

[0090] Those skilled in the art can easily understand that, on the premise of no conflict, the above-mentioned embodiments can be freely combined and superimposed.

[0091] The above are only the preferred embodiments of the present application, and are not intended to limit the present application. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present application shall be included in the protection scope of the present application. The above is only the preferred implementation manner of the present application. It should be noted that for those of ordinary skill in the art, several improvements and modifications can be made without departing from the technical principle of the present application, and these improvements and modifications should also be regarded as the protection scope of the present application.

Claims

1. A grasping manipulator, characterized in that: The grasping manipulator comprises: Mounting seat; A transmission assembly, wherein the transmission assembly is arranged on the mounting seat, and an input end of the transmission assembly is connected to a driving device; A connecting assembly, the connecting assembly is arranged perpendicular to the mounting seat, the connecting assembly comprises two connecting rods, a first end of the first connecting rod is slidably connected to the mounting seat, and a first end of the second connecting rod is slidably connected to the mounting seat; The first connecting rod is connected to the first output end of the transmission assembly, and the second connecting rod is connected to the second output end of the transmission assembly, and the transmission assembly drives the two connecting rods to move toward / inversely; A connecting seat, the connecting seat is arranged at the second end of the connecting rod, and the connecting seat corresponds to the connecting rod one by one; A finger assembly, wherein the finger assembly is arranged on the connecting seat, the finger assembly corresponds to the connecting seat one by one, and two of the finger assemblies are arranged to form a clamping cavity; The finger assembly includes at least two fingers, and the fingers are connected to the connecting seat, so that at least two fingers are connected to one connecting seat.

2. A gripping manipulator according to claim 1, characterized in that: The transmission assembly comprises: A transmission shaft, wherein the transmission shaft is vertically arranged on the mounting seat, a first end of the transmission shaft is rotatably connected to the mounting seat, a second end of the transmission shaft extends out of the mounting seat, and the second end of the transmission shaft is detachably connected to a driving device; A first gear, the first gear is arranged parallel to the mounting seat, the first gear is sleeved on the transmission shaft, and the first gear rotates synchronously with the transmission shaft; A first rack, wherein the first rack is arranged parallel to the mounting seat, the first rack is meshed with the first gear, and the first rack is connected with the first connecting rod; a second rack, the second rack being arranged parallel to the mounting seat, the second rack being meshed with the first gear, and the second rack being connected with the second connecting rod; The first rack and the second rack are centrally symmetrically arranged on both sides of the first gear, and the center of symmetry between the first rack and the second rack is the center of the pitch circle of the first gear.

3. A gripping manipulator according to claim 2, characterized in that: The grasping manipulator also includes: The second gear is sleeved on the transmission shaft, the second gear rotates synchronously with the transmission shaft, and the second gear is located on the outside of the mounting seat.

4. A gripping manipulator according to claim 1, characterized in that: The connecting seat is vertically arranged on the second end of the connecting rod, the finger is vertically arranged on the connecting seat, and the finger is rotatably connected to the connecting seat.

5. A gripping manipulator according to claim 4, characterized in that: One of the finger assemblies includes two fingers, so that one of the connection bases is connected to two fingers; the two fingers on one of the connection bases are arranged in mirror symmetry, and the two fingers are arranged at an angle; Among them, the symmetry plane of the two fingers on one of the connecting seats is the plane where the axes of the two connecting rods are located.

6. A gripping manipulator according to claim 4, characterized in that: The grasping manipulator also includes: A mounting groove, the mounting groove is provided on the connecting seat; A connecting shaft, wherein the connecting shaft is arranged perpendicular to the connecting seat, a first end of the connecting shaft is rotatably connected to the connecting seat, and a second end of the connecting shaft is connected to the finger; A limiting portion, the limiting portion is arranged on the side wall of the connecting shaft, and the limiting portion is movably arranged in the mounting groove; An elastic member is embedded in the installation groove, a first end of the elastic member is fitted with a side surface of the limiting portion, and a second end of the elastic member is fitted with a groove wall of the installation groove, so that the limiting portion is elastically supported by the elastic member.

7. A gripping manipulator according to claim 1, characterized in that: The grasping manipulator also includes: An anti-skid component, the anti-skid component is arranged on the contact surface of the finger; The contact surface is the side of the finger that contacts the object when the finger clamps the object.

8. A gripping manipulator according to claim 7, characterized in that: The anti-skid assembly includes a plurality of anti-skid parts, wherein the first anti-skid parts are arranged at equal intervals at one end of the contact surface close to the mounting seat, the second anti-skid parts are arranged at equal intervals in the middle of the contact surface, and the third anti-skid parts are arranged at equal intervals at one end of the contact surface away from the mounting seat; The spacing between the first anti-slip parts is smaller than the spacing between the second anti-slip parts, and the spacing between the second anti-slip parts is smaller than the spacing between the third anti-slip parts.

9. A gripping manipulator according to claim 8, characterized in that: The anti-slip portion is elastic, is arranged on the contact surface, and protrudes in a direction away from the contact surface.

10. A gripping manipulator according to any one of claims 1 to 9, characterized in that: The mounting seat comprises: main body; Two guide grooves, the guide grooves are arranged through the main body, and the guide grooves extend along the length direction of the main body; The connecting rod is slidably connected in the guide groove, and the connecting rod corresponds to the guide groove one by one; A cover body is buckled on the main body, and covers the two guide grooves.

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