Clamping jaw, mechanical arm and robot

Abstract

The utility model discloses a clamping jaw, a mechanical arm and a robot, the clamping jaw comprises a first connecting rod mechanism and a second connecting rod mechanism, the first connecting rod mechanism and the second connecting rod mechanism are symmetrically arranged, and each of the first connecting rod mechanism and the second connecting rod mechanism comprises a worm wheel and a first connecting rod which are integrally arranged; and the driving mechanism comprises a worm, the worm gear of the first connecting rod mechanism and the worm gear of the second connecting rod mechanism are arranged on the two sides of the worm respectively and are in meshed connection with the worm, and the driving mechanism can drive the first connecting rod mechanism and the second connecting rod mechanism to rotate in the opposite directions or the opposite directions. According to the technical scheme, the clamping precision of the clamping jaw can be guaranteed.

Description

Technical Field

[0001] This application belongs to the technical field of robots, and particularly relates to a gripper, a robotic arm, and a robot. Background Art

[0002] In the prior art, the gripper of a robot controls the clamping member by using a worm gear and a worm.

[0003] Currently, during long-term use of the gripper, relative rotation may occur between the worm gear and the connecting rod, which may cause the clamping member connected to the connecting rod to deflect, resulting in the two clamping members no longer being symmetrical, thus reducing the clamping accuracy of the two clamping members. Summary of the Utility Model

[0004] The purpose of the embodiments of this application is to provide a gripper, a robotic arm, and a robot.

[0005] According to the first aspect of the embodiments of this application, a gripper is provided, including:

[0006] A first link mechanism and a second link mechanism, the first link mechanism and the second link mechanism are symmetrically arranged, and both the first link mechanism and the second link mechanism include a worm gear and a first link integrally provided;

[0007] A driving mechanism, the driving mechanism includes a worm, the worm gears of the first link mechanism and the second link mechanism are respectively arranged on both sides of the worm and are meshed with the worm, and the driving mechanism can drive the first link mechanism and the second link mechanism to rotate towards or away from each other.

[0008] Optionally, the gripper further includes a mounting bracket, and the driving mechanism is arranged on the mounting bracket.

[0009] Optionally, the first link mechanism and the second link mechanism also both include a second link, a third link, and a clamping member, the worm gear is rotatably connected to the mounting bracket, the first link is rotatably connected to the second link, the second link is rotatably connected to the clamping member, and the third link is respectively rotatably connected to the mounting bracket and the clamping member.

[0010] Optionally, the connection between the first link and the second link is a first connection point, the connection between the second link and the clamping member is a second connection point, the connection between the third link and the clamping member is a third connection point, the line connecting the first connection point and the second connection point is a first connection line, the line connecting the second connection point and the third connection point is a second connection line, and the angular range of the angle between the first connection line and the second connection line is 90° - 180°.

[0011] Optionally, the included angle between the first connecting line and the second connecting line is 145°.

[0012] Optionally, the clamping member includes a first clamping surface and a second clamping surface. The first clamping surface is a flat surface, and the second clamping surface includes an arc surface.

[0013] Optionally, the second clamping surface is provided with a first anti-slip portion.

[0014] Optionally, the clamping member further includes an outer end surface. The clamping member includes a clamping surface and an outer end surface, and the outer end surface is disposed at an angle to the clamping surface.

[0015] Optionally, the clamping member includes a clamping surface and an outer end surface;

[0016] The jaw includes a fully open state. When the jaw is in the fully open state, the distance between the outer end surface of the clamping member of the first link mechanism and the outer end surface of the clamping member of the second link mechanism is a first distance, and the distance between the end of the first link of the first link mechanism away from the second link mechanism and the end of the first link of the second link mechanism away from the first link mechanism is a second distance. The first distance is greater than the second distance.

[0017] Optionally, the width of the clamping member of the first link mechanism is less than the width of the clamping member of the second link mechanism; or

[0018] The width of the clamping member of the first link mechanism is greater than the width of the clamping member of the second link mechanism.

[0019] Optionally, the end surface of the third link facing away from the first link and the second link is a third clamping surface, and the third clamping surface is an arc end surface.

[0020] Optionally, the third clamping surface is provided with a second anti-slip portion.

[0021] Optionally, a boss is provided at one end of the first link close to the second link. The boss can abut against the second link to limit the rotation of the second link.

[0022] Optionally, a torsion spring is provided at the first connection. One end of the torsion spring abuts against the first link, and the other end of the torsion spring abuts against the second link. The torsion spring includes a first state and a second state;

[0023] In the first state, the boss abuts against the second link;

[0024] In the second state, the boss does not abut against the second link.

[0025] Optionally, a first connection hole is formed in the first connecting rod, the first connection hole is rotatably connected to the second connecting rod through a first connecting member, a second connection hole is formed in the worm gear, and the second connection hole is rotatably connected to the mounting bracket through a second connecting member;

[0026] The worm is single-headed. In the first connecting rod mechanism, the connecting line between the center of the first connection hole and the center of the second connection hole passes through the tooth groove of the worm gear; in the second connecting rod mechanism, the connecting line between the center of the first connection hole and the center of the second connection hole passes through the tooth top of the worm gear; or

[0027] The worm is single-headed. In the first connecting rod mechanism, the connecting line between the center of the first connection hole and the center of the second connection hole passes through the tooth top of the worm gear; in the second connecting rod mechanism, the connecting line between the center of the first connection hole and the center of the second connection hole passes through the tooth groove of the worm gear; or

[0028] The worm is double-headed. In the first connecting rod mechanism, the connecting line between the center of the first connection hole and the center of the second connection hole passes through the tooth top of the worm gear; in the second connecting rod mechanism, the connecting line between the center of the first connection hole and the center of the second connection hole passes through the tooth top of the worm gear; or

[0029] The worm is double-headed. In the first connecting rod mechanism, the connecting line between the center of the first connection hole and the center of the second connection hole passes through the tooth groove of the worm gear; in the second connecting rod mechanism, the connecting line between the center of the first connection hole and the center of the second connection hole passes through the tooth groove of the worm gear.

[0030] Optionally, the driving mechanism further includes a driving component, an output end of the driving component is connected to one end of the worm, and the driving component can drive the worm to rotate around its own axis to drive the worm gears of the first connecting rod mechanism and the second connecting rod mechanism to rotate towards or away from each other.

[0031] Optionally, the mounting bracket is provided with a rotating part, and the other end of the worm is rotatably connected to the rotating part.

[0032] Optionally, the rotating part includes a bushing and a bearing. The bushing is arranged on the mounting bracket, an outer ring of the bearing is connected to the bushing, and the other end of the worm is connected to an inner ring of the bearing.

[0033] Optionally, the jaw further includes an encoder bracket, the encoder bracket is arranged at the output end of the driving component and on a side away from the worm, and an encoder is arranged on the encoder bracket.

[0034] Optionally, the jaw further includes a driving circuit board, which is located on the side of the driving mechanism close to the encoder. The driving circuit board is communicatively connected to the driving component and communicatively connected to the encoder.

[0035] According to the second aspect of the embodiments of the present application, a robotic arm is provided, including the above-mentioned jaw.

[0036] According to the third aspect of the embodiments of the present application, a robot is provided, including:

[0037] The above-mentioned jaw; or

[0038] The above-mentioned robotic arm.

[0039] One technical effect of the embodiments of the present application is that the worm gear and the first connecting rod are integrally arranged, which can avoid the relative position between the worm gear and the first connecting rod from changing when the worm drives the worm gear to rotate. Thus, it can also avoid the asymmetry between the first connecting rod mechanism and the second connecting rod mechanism, ensuring the symmetric arrangement of the first connecting rod mechanism and the second connecting rod mechanism to guarantee the clamping accuracy of the jaw.

[0040] Through the following detailed description of the exemplary embodiments of the present application with reference to the accompanying drawings, other features and advantages of the present application will become clear. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The drawings incorporated in the specification and constituting a part of the specification illustrate the embodiments of the present application and, together with the description, are used to explain the principles of the present application.

[0042] Figure 1 Schematic structural diagram of the jaw in the embodiments of the present application;

[0043] Figure 2 Schematic structural diagram of the jaw in the embodiments of the present application;

[0044] Figure 3 Schematic structural diagram of the open state of the jaw in the embodiments of the present application;

[0045] Figure 4 Schematic structural diagram of the closed state of the jaw in the embodiments of the present application;

[0046] Figure 5 Schematic structural diagram of the jaw in the embodiments of the present application;

[0047] Figure 6 Schematic structural diagram of the first connecting rod and the second connecting rod in the embodiments of the present application;

[0048] Figure 7 Schematic structural diagram of the torsion spring in the embodiments of the present application;

[0049] Figure 8 Structural schematic diagram of the worm gear and the first connecting rod in the embodiment of the present application;

[0050] Figure 9 Structural schematic diagram of the worm gear and the first connecting rod in the embodiment of the present application;

[0051] Figure 10 Structural schematic diagram of the gripper clamping an object in the embodiment of the present application;

[0052] Figure 11 Structural schematic diagram of the gripper clamping an object in the embodiment of the present application;

[0053] Figure 12 Structural schematic diagram of the gripper clamping an object in the embodiment of the present application;

[0054] Figure 13 Structural schematic diagram of the gripper in the fully open state in the embodiment of the present application.

[0055] Explanation of reference numerals: Gripper 100;

[0056] First connecting rod mechanism 1; Worm gear 11; Second connecting hole 111; First connecting rod 12; Boss 121; First connecting hole 122; Second connecting rod 13; Third connecting rod 14; Third clamping surface 141; Clamping member 15; First clamping surface 151; Second clamping surface 152; Outer end surface 153; First anti-slip portion 16; Second anti-slip portion 17; Torsion spring 18;

[0057] Second connecting rod mechanism 2;

[0058] Drive mechanism 3; Worm 31; Drive assembly 32;

[0059] Mounting bracket 4; Bush 41; Bearing 42;

[0060] Encoder bracket 5; Encoder 6; Drive circuit board 7;

[0061] First connection point A; Second connection point B; Third connection point C; First connection line D; Second connection line E; First distance F; Second distance H;

[0062] Object 200. Detailed implementation manners

[0063] Now, various exemplary embodiments of the present application will be described in detail with reference to the accompanying drawings. It should be noted that: Unless otherwise specifically stated, the relative arrangements of components and steps, numerical expressions and values set forth in these embodiments do not limit the scope of the present application.

[0064] The following description of at least one exemplary embodiment is merely illustrative and in no way restrictive of the present application, its applications, or uses.

[0065] Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such technologies, methods, and devices should be considered as part of the specification.

[0066] In all examples shown and discussed herein, any specific values should be construed as merely exemplary and not as a limitation. Thus, other examples of the exemplary embodiments may have different values.

[0067] It should be noted that like reference numerals and letters indicate like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

[0068] As Figures 1-13 shown, according to the first aspect of the embodiments of the present application, a jaw 100 is provided, which includes a first link mechanism 1, a second link mechanism 2, and a driving mechanism 3. The first link mechanism 1 and the second link mechanism 2 are symmetrically arranged. The first link mechanism 1 and the second link mechanism 2 both include a worm gear 11 and a first link 12 integrally provided. The driving mechanism 3 includes a worm 31. The worm gears 11 of the first link mechanism 1 and the second link mechanism 2 are respectively arranged on both sides of the worm 31 and meshed with the worm 31. The driving mechanism 3 can drive the first link mechanism 1 and the second link mechanism 2 to rotate towards or away from each other.

[0069] The jaw 100 provided by the present application is applicable to the robotic arm of a robot for grasping an article 200.

[0070] As Figure 1 and Figure 2 shown, the jaw 100 includes a first link mechanism 1, a second link mechanism 2, and a driving mechanism 3.

[0071] Among them, the first link mechanism 1 and the second link mechanism 2 are symmetrically arranged. Specifically, the first link mechanism 1 and the second link mechanism 2 are symmetric about the axis of the worm 31. The first link mechanism 1 and the second link mechanism 2 both include a worm gear 11 and a first link 12, and the first link 12 and the worm gear 11 are integrally provided.

[0072] Further explanation, the driving mechanism 3 includes a worm 31. The worm wheels 11 of the first link mechanism 1 and the second link mechanism 2 are respectively arranged on both sides of the worm 31. That is to say, the worm wheels 11 of the first link mechanism 1 and the second link mechanism 2 are symmetrically arranged along the axis of the worm 31. Moreover, the worm wheel 11 of the first link mechanism 1 is meshed and connected with the worm 31, and the worm wheel 11 of the second link mechanism 2 is meshed and connected with the worm 31. When the worm 31 rotates, the worm wheels 11 of the first link mechanism 1 and the second link mechanism 2 will also rotate accordingly. According to the rotation direction of the worm 31, the rotation directions of the worm wheels 11 of the first link mechanism 1 and the second link mechanism 2 are rotating towards each other or away from each other. Therefore, the first link mechanism 1 and the second link mechanism 2 symmetrically move at the same rotational speed of the worm wheels 11 of the first link mechanism 1 and the second link mechanism 2. Thus, the clamping accuracy of the clamping jaw 100 is relatively high.

[0073] Therefore, the first link 12 and the worm wheel 11 are integrally arranged, so as to ensure the relative position between the first link 12 and the worm wheel 11, and to avoid the change of the relative position between the worm wheel 11 and the first link 12 when the worm 31 drives the worm wheel 11 to rotate. Thus, it can also be avoided that the first link mechanism 1 and the second link mechanism 2 are no longer symmetrical, and ensure the symmetrical arrangement of the first link mechanism 1 and the second link mechanism 2 to ensure the clamping accuracy of the clamping jaw 100.

[0074] That is to say, the first link 12 and the worm wheel 11 can be formed by an integral molding method or fixed together by welding. Preferably, the first link 12 and the worm wheel 11 are formed by an integral molding method, which can ensure the structural strength between the first link 12 and the worm wheel 11.

[0075] As Figure 1 、 Figure 2 、 Figure 3 and Figure 4 shown, in an optional implementation manner, the clamping jaw 100 further includes a mounting bracket 4, and the driving mechanism 3 is arranged on the mounting bracket 4; the mounting bracket 4 provides a mounting position for the driving mechanism 3.

[0076] In an optional implementation manner, the first link mechanism 1 and the second link mechanism 2 also both include a second link 13, a third link 14 and a clamping member 15. The worm wheel 11 is rotatably connected with the mounting bracket 4, the first link 12 is rotatably connected with the second link 13, the second link 13 is rotatably connected with the clamping member 15, and the third link 14 is respectively rotatably connected with the mounting bracket 4 and the clamping member 15.

[0077] As Figures 1-4As shown, the first link mechanism 1 and the second link mechanism 2 also each include a second link 13, a third link 14, and a clamping member 15.

[0078] Among them, the worm gear 11 is rotatably connected to the mounting bracket 4, the first link 12 is rotatably connected to one end of the second link 13, and the other end of the second link 13 is rotatably connected to the clamping member 15; one end of the third link 14 is rotatably connected to the mounting bracket 4, and the other end of the third link 14 is rotatably connected to the clamping member 15. Since the worm gear 11 meshes with the worm 31, the rotation of the worm 31 can drive the worm gear 11 to rotate, so as to drive the clamping member 15 to move through the first link 12 and the second link 13.

[0079] Specifically, by rotating the worm 31, the clamping members 15 of the first link mechanism 1 and the second link mechanism 2 can be driven to move towards each other or away from each other through the worm gear 11, the first link 12, and the second link 13. If the clamping members 15 of the first link mechanism 1 and the second link mechanism 2 move towards each other, the jaws 100 can be in an open state; if the clamping members 15 of the first link mechanism 1 and the second link mechanism 2 move away from each other, the jaws 100 can be in a closed state.

[0080] In an alternative embodiment, the connection between the first link 12 and the second link 13 is a first connection A, the connection between the second link 13 and the clamping member 15 is a second connection B, the connection between the third link 14 and the clamping member 15 is a third connection C, the line connecting the first connection A and the second connection B is a first connecting line D, the line connecting the second connection B and the third connection C is a second connecting line E, and the angular range of the angle between the first connecting line D and the second connecting line E is 90° - 180°.

[0081] As Figure 3 and Figure 4 shown, the connection between the first link 12 and the second link 13 is a first connection A. The first connection A is the center position of the pin after the first link 12 and the second link 13 are connected by a pin; the connection between the second link 13 and the clamping member 15 is a second connection B. The second connection B is the center position of the pin after the second link 13 and the clamping member 15 are connected by a pin; the connection between the third link 14 and the clamping member 15 is a third connection C. The third connection C is the center position of the pin after the third link 14 and the clamping member 15 are connected by a pin.

[0082] Among them, the connection line between the first connection point A and the second connection point B is the first connection line D, and the connection line between the second connection point B and the third connection point C is the second connection line E. The first connection line D and the second connection line E form an angle at the second connection point B, and the angular range of this angle is between 90° and 180°. That is to say, this angle can be set to any angle between 90° and 180°, where 90° and 180° are not included. Within this angular range, the clamping members 15 of the first link mechanism 1 and the clamping members 15 of the second link mechanism 2 approach each other, which can make the connection between the third link 14 and the clamping member 15 rotate more smoothly, avoiding the clamping member 15 from jamming and being unable to move.

[0083] In an optional implementation manner, the angle between the first connection line D and the second connection line E is 145°; at this angle, the output efficiency of the driving mechanism 3 can be relatively high.

[0084] In an optional implementation manner, the clamping member 15 includes a first clamping surface 151 and a second clamping surface 152. The first clamping surface 151 is a plane, and the second clamping surface 152 includes an arc surface.

[0085] As Figure 2 shown, the clamping member 15 includes a first clamping surface 151 and a second clamping surface 152.

[0086] Among them, the first clamping surface 151 and the second clamping surface 152 of the clamping member 15 in the first link mechanism 1 face the second link mechanism 2; the first clamping surface 151 and the second clamping surface 152 of the clamping member 15 in the second link mechanism 2 face the first link mechanism 1. Therefore, the first clamping surface 151 of the clamping member 15 of the first link mechanism 1 corresponds to the first clamping surface 151 of the clamping member 15 of the second link mechanism 2, and the second clamping surface 152 of the clamping member 15 of the first link mechanism 1 corresponds to the second clamping surface 152 of the clamping member 15 of the second link mechanism 2.

[0087] Further explanation, the first clamping surface 151 is a plane, and the second clamping surface 152 includes an arc surface, so as to be able to adapt to articles 200 of different shapes, thereby improving the compatibility of the clamping jaws 100.

[0088] In an optional implementation manner, the second clamping surface 152 is provided with a first anti-slip portion 16. When clamping an article 200, it can increase the friction between the second clamping surface 152 and the article 200, preventing the article 200 from falling.

[0089] Further explanation, the first anti-slip portion 16 can be several anti-slip grooves opened on the second clamping surface 152; the first anti-slip portion 16 can also be a silicone pad.

[0090] In an alternative embodiment, the clamping member 15 includes a clamping surface and an outer end surface 153, and the outer end surface 153 is disposed at an angle to the clamping surface.

[0091] As Figure 13 shown, the clamping member 15 further includes an outer end surface 153, and the outer end surface 153 is located on the side of the clamping member 15 away from the other clamping member 15. That is to say, the outer end surface 153 of the clamping member 15 of the first link mechanism 1 is located on the side of the clamping member 15 away from the second link mechanism 2, and the outer end surface 153 of the clamping member 15 of the second link mechanism 2 is located on the side of the clamping member 15 away from the first link mechanism 1; the outer end surface 153 is disposed at an angle to the clamping surface, and the angle between the outer end surface 153 and the clamping surface is preferably an acute angle to facilitate clamping of thin or elongated articles, such as Figure 11 shown in the jaw 100 clamping a plate, Figure 12 shown in the jaw 100 clamping a thin wire.

[0092] Wherein, the clamping surface includes a first clamping surface 151 and a second clamping surface 152. Preferably, the outer end surface 153 is disposed at an angle to the first clamping surface 152; the clamping surface may also only include the first clamping surface 151, and the outer end surface 153 is disposed at an angle to the first clamping surface 151.

[0093] Preferably, the outer end surface 155 is a plane.

[0094] In an alternative embodiment, the clamping member 15 includes a clamping surface and an outer end surface 153; the jaw 100 includes a fully open state. When the jaw 100 is in the fully open state, the distance between the outer end surface 153 of the clamping member 15 of the first link mechanism 1 and the outer end surface 153 of the clamping member 5 of the second link mechanism 2 is a first distance F, and the distance between the end of the first link 12 of the first link mechanism 1 away from the second link mechanism 2 and the end of the first link 12 of the second link mechanism 2 away from the first link mechanism 1 is a second distance H, and the first distance F is greater than the second distance H.

[0095] As Figure 13 shown, the jaw includes a fully open state. That is to say, when the distance between the clamping member 15 of the first link mechanism 1 and the clamping member 15 of the second link mechanism 2 is the largest, at this time, the first distance F is greater than the second distance H. Therefore, the outer end surfaces 153 of the first link mechanism 1 and the second link mechanism 2 are at the outermost side of the jaw 100, so as to improve the maximum space utilization rate of the jaw 100.

[0096] Among them, the first distance F and the second distance H refer to the distance between the outer end face 153 of the first link mechanism 1 and the outer end face 153 of the second link mechanism 2 in the same direction, and the distance between the end of the first link 12 of the first link mechanism 1 far from the second link mechanism 2 and the end of the first link 12 of the second link mechanism 2 far from the first link mechanism 1.

[0097] In a specific embodiment, the width of the clamping member 15 of the first link mechanism 1 is smaller than the width of the clamping member 15 of the second link mechanism 2.

[0098] In another specific embodiment, the width of the clamping member 15 of the first link mechanism 1 is greater than the width of the clamping member 15 of the second link mechanism 2.

[0099] Among them, the width of the clamping member 15 refers to Figure 5 the dimension of the clamping member 15 in the first direction as shown.

[0100] That is to say, as long as the width of the clamping member 15 of the first link mechanism 1 is different from the width of the clamping member 15 of the second link mechanism 2. The one with a smaller width of the clamping member 15 is a narrow palm, and the one with a larger width of the clamping member 15 is a wide palm.

[0101] Further explanation, when the space for clamping an object is small, the narrow palm can be used to achieve clamping, while the wide palm can be used to hold the object to ensure the stability during the clamping process.

[0102] Preferably, the width of the wide palm is about 3 times the width of the narrow palm.

[0103] In an alternative embodiment, the end face of the third link 14 facing away from the first link 12 and the second link 13 is a third clamping surface 141, and the third clamping surface 141 is an arc-shaped end face.

[0104] As Figure 2 shown, the end face of the third link 14 facing away from the first link 12 and the second link 13 is a third clamping surface 141, and the third clamping surface 141 is an arc-shaped end face, so as to facilitate clamping of a relatively large arc-shaped object 200 and further improve the compatibility of the jaw 100.

[0105] In an alternative embodiment, the third clamping surface 141 is provided with a second anti-slip portion 17. When clamping an object 200, it can increase the friction between the third clamping surface 141 and the object 200 and prevent the object 200 from falling.

[0106] Further explanation, the second anti-slip portion 17 can be several anti-slip grooves opened on the third clamping surface 141; the second anti-slip portion 17 can also be a silicone pad.

[0107] In an alternative embodiment, a boss 121 is provided at one end of the first link 12 close to the second link 13. The boss 121 can abut against the second link 13 to limit the rotation of the second link 13.

[0108] As Figure 6 shown, a boss 121 is provided at one end of the first link 12 close to the second link 13. When the second link 13 rotates relative to the first link 12 in the second direction to a preset position, the boss 121 can abut against the second link 13, so that the boss 121 will limit the second link 13 from continuing to rotate in the second direction. The second direction can be referred to the direction marked in the appendix Figure 1 as marked.

[0109] In an alternative embodiment, a torsion spring 18 is provided at the first connection A. One end of the torsion spring 18 abuts against the first link 12, and the other end of the torsion spring 18 abuts against the second link 13. The torsion spring 18 includes a first state and a second state; in the first state, the boss 121 abuts against the second link 13; in the second state, the boss 121 does not abut against the second link 13.

[0110] As Figure 6 and Figure 7 shown, the connection between the first link 12 and the second link 13 is the first connection A. A torsion spring 18 is provided at the first connection A. Specifically, the torsion spring 18 is sleeved on the pin shaft connecting the first link 12 and the second link 13. One end of the torsion spring 18 abuts against the first link 12, and the other end of the torsion spring 18 abuts against the second link 13.

[0111] Among them, the torsion spring 18 includes a first state and a second state. The first state is the normal state of the torsion spring 18, and the second state is the stressed state of the torsion spring 18.

[0112] Further explanation, in the first state, the boss 121 will abut against the second link 13; in the second state, the second link 13 will rotate in the direction opposite to the second direction, so as to drive the clamping member 15 to rotate in the second direction, so that the clamping member 15 can clamp the article 200, thereby improving the stability of clamping the article 200.

[0113] To as Figure 10Taking the clamping of a water bottle shown as an example, since the boss 121 abuts against the second link 13, when the clamping member 15 is running without load, the first link 12 and the second link 13 are in a relatively stationary state. When the jaws 100 clamp the water bottle, the water bottle is clamped by the third clamping surface 141 of the third link 14. When the third link 14 stops rotating, the external force of the water bottle will also prevent the two clamping members 15 from closing, and the direction of this resistance is the opposite direction of the second direction. When this resistance is greater than the elastic force of the torsion spring 18, relative rotation occurs between the second link 13 and the first link 12, and the second link 13 will rotate in the opposite direction of the second direction. Due to the characteristic principle of the link, the third clamping surface 141 of the third link 14 will clamp the water bottle, and the water bottle will also be clamped by the two clamping members 15, thus ensuring the stability of the clamped water bottle.

[0114] In an optional implementation manner, the first link 12 is provided with a first connection hole 122, and the first connection hole 122 is rotatably connected to the second link 13 through a first connecting member. The worm gear 11 is provided with a second connection hole 111, and the second connection hole 111 is rotatably connected to the mounting bracket 4 through a first connecting member.

[0115] As Figure 8 and Figure 9 As shown, the first link 12 is provided with a first connection hole 122, and the first connecting member passes through the first connection hole 122 and is rotatably connected to the second link 13; the worm gear 11 is provided with a second connection hole 111, and the second connecting member passes through the second connection hole 111 and is rotatably connected to the mounting bracket 4.

[0116] Specifically, the first connecting member can be arranged on the second link 13, or the second link 13 is provided with a first through hole, and the first connecting member passes through the first connection hole 122 and the first through hole to connect the first link 12 and the second link 13.

[0117] The second connecting member can be arranged on the mounting bracket 4, or the mounting bracket 4 is provided with a second through hole, and the second connecting member passes through the second connection hole 111 and the second through hole to connect the first link 12 and the mounting bracket 4.

[0118] Among them, the first connecting member can be a pin shaft, and the second connecting member can be a pin shaft.

[0119] Among them, the single - head of the worm 31 means that there is one spiral line on the cross - section of the worm 31. The double - head of the worm 31 means that there are two spiral lines on the cross - section of the worm 31.

[0120] In a specific embodiment, when the worm 31 is single-threaded, in the first link mechanism 1, the tooth portion of the worm wheel 11 through which the line connecting the centers of the first connection hole 122 and the second connection hole 111 passes is the first position; in the second link mechanism 2, the tooth portion of the worm wheel 11 through which the line connecting the centers of the first connection hole 122 and the second connection hole 111 passes is the second position, and the first position and the second position differ by half a tooth.

[0121] For example, the worm 31 is single-threaded. In the first link mechanism 1, the line connecting the centers of the first connection hole 122 and the second connection hole 111 passes through the tooth space of the worm wheel 11; in the second link mechanism 2, the line connecting the centers of the first connection hole 122 and the second connection hole 111 passes through the tooth top of the worm wheel 11. In this embodiment, the worm wheels 11 of the first link mechanism 1 and the second link mechanism 2 are both meshed with the worm 31. Since there is only one helix on the cross-section of the worm 31, the worm wheels 11 of the first link mechanism 1 and the second link mechanism 2 are both meshed with this helix. To ensure the symmetry of the first link mechanism 1 and the second link mechanism 2, therefore, in the first link mechanism 1, the line connecting the centers of the first connection hole 122 and the second connection hole 111 passes through the tooth space of the worm wheel 11; in the second link mechanism 2, the line connecting the centers of the first connection hole 122 and the second connection hole 111 passes through the tooth top of the worm wheel 11, so as to ensure that the first link mechanism 1 and the second link mechanism 2 always remain symmetric during rotation, so that the clamping members 15 of the first link mechanism 1 and the second link mechanism 2 can be kept symmetric, thereby improving the clamping accuracy of the jaw 100 and avoiding skew; and the line connecting the centers of the first connection hole 122 and the second connection hole 111 passes through the tooth top or tooth space of the worm wheel 11, and it is relatively easy to find the position, which is convenient for machining the worm 11 and the first link 12. Wherein, in this embodiment, the first position is the tooth space and the second position is the tooth top.

[0122] For example, the worm 31 is single-threaded. In the first link mechanism 1, the line connecting the centers of the first connection hole 122 and the second connection hole 111 passes through the tooth top of the worm wheel 11; in the second link mechanism 2, the line connecting the centers of the first connection hole 122 and the second connection hole 111 passes through the tooth space of the worm wheel 11, wherein, in this embodiment, the first position is the tooth top and the second position is the tooth space. The principle of this embodiment is the same as that of the above embodiment, and will not be elaborated here.

[0123] In another specific embodiment, in the first link mechanism 1, the tooth part of the worm wheel 11 through which the line connecting the centers of the first connection hole 122 and the second connection hole 111 passes is the first position; in the second link mechanism 2, the tooth part of the worm wheel 11 through which the line connecting the centers of the first connection hole 122 and the second connection hole 111 passes is the second position, and the first position and the second position are in the same position on the tooth part of the worm wheel 11.

[0124] For example, the worm 31 is double-headed. In the first link mechanism 1, the line connecting the centers of the first connection hole 122 and the second connection hole 111 passes through the tooth tip of the worm wheel 11; in the second link mechanism 2, the line connecting the centers of the first connection hole 122 and the second connection hole 111 passes through the tooth tip of the worm wheel 11. In this embodiment, the worm wheels 11 of the first link mechanism 1 and the second link mechanism 2 are both meshed with the worm 31. Since there are two helical lines on the cross-section of the worm 31, the worm wheel 11 of the first link mechanism 1 is meshed with one of the helical lines, and the worm wheel 11 of the second link mechanism 2 is meshed with the other helical line. To ensure the symmetry of the first link mechanism 1 and the second link mechanism 2, therefore, in the first link mechanism 1, the line connecting the centers of the first connection hole 122 and the second connection hole 111 passes through the tooth tip of the worm wheel 11; in the second link mechanism 2, the line connecting the centers of the first connection hole 122 and the second connection hole 111 passes through the tooth tip of the worm wheel 11, so as to ensure that the first link mechanism 1 and the second link mechanism 2 always maintain symmetry during rotation, so that the clamping members 15 of the first link mechanism 1 and the second link mechanism 2 can be kept symmetrical, thereby improving the clamping accuracy of the jaw 100 and avoiding skew; and the line connecting the centers of the first connection hole 122 and the second connection hole 111 passes through the tooth groove of the worm wheel 11, and it is easier to find the position, which is convenient for machining the worm 11 and the first link 12. Among them, in this embodiment, the first position is the tooth tip, and the second position is the tooth tip.

[0125] For example, the worm 31 is double-headed. In the first link mechanism 1, the line connecting the centers of the first connection hole 122 and the second connection hole 111 passes through the tooth groove of the worm wheel 11; in the second link mechanism 2, the line connecting the centers of the first connection hole 122 and the second connection hole 111 passes through the tooth groove of the worm wheel 11. Among them, in this embodiment, the first position is the tooth groove, and the second position is the tooth groove. The principle of this embodiment is the same as that of the above embodiment, and will not be elaborated here.

[0126] In an alternative embodiment, the drive mechanism 3 further includes a drive assembly 32. The output end of the drive assembly 32 is connected to one end of the worm 31. The drive assembly 32 can drive the worm 31 to rotate about its own axis, so as to drive the worm wheel 11 of the first link mechanism 1 and the worm wheel 11 of the second link mechanism 2 to rotate towards or away from each other.

[0127] As Figure 1 and Figure 2 As shown, the drive mechanism 3 further includes a drive assembly 32. The output end of the drive assembly 32 is connected to one end of the worm 31. The drive assembly 32 can drive the worm 31 to rotate about its own axis, so as to drive the worm wheel 11 of the first link mechanism 1 and the worm wheel 11 of the second link mechanism 2 to rotate through the worm 31.

[0128] Further illustration, the drive assembly 32 can adopt a motor. The output shaft of the motor is connected to one end of the worm 31 through a coupling, so as to realize driving the worm 31 to rotate.

[0129] In an alternative embodiment, the mounting bracket 4 is provided with a rotating part, and the other end of the worm 31 is rotatably connected to the rotating part.

[0130] Since the drive mechanism 3 is arranged on the mounting bracket 4, and the mounting bracket 4 is further provided with a rotating part which is rotatably connected to the other end of the worm 31, to provide a supporting effect for the other end of the worm 31, and to avoid the end of the worm 31 far away from the output end of the drive assembly 32 from tilting, so as to avoid affecting the driving of the worm wheel 11.

[0131] In an alternative embodiment, the rotating part includes a bushing 41 and a bearing 42. The bushing 41 is arranged on the mounting bracket 4. The outer ring of the bearing 42 is connected to the bushing 41, and the other end of the worm 31 is connected to the inner ring of the bearing 42, so that the other end of the worm 31 can rotate relative to the outer ring of the bearing 42. This structure is simple and easy to install.

[0132] In an alternative embodiment, the jaw 100 further includes an encoder bracket 5. The encoder bracket 5 is arranged at the output end of the drive assembly 32 and on the side far away from the worm 31, and an encoder 6 is arranged on the encoder bracket 5.

[0133] Further illustration, as Figure 1As shown, the jaw 100 further includes an encoder bracket 5. The encoder bracket 5 is connected to the output end of the drive assembly 32. The encoder bracket 5 is located at one end away from the worm 31. An encoder 6 is provided on the encoder bracket 5 to detect the rotation angle of the output end of the drive assembly 32, thereby detecting the rotation angle of the worm 31, so as to determine the rotation angles of the clamping members 15 of the first link mechanism 1 and the second link mechanism 2, facilitating the clamping of the article 200.

[0134] In an alternative embodiment, the jaw 100 further includes a drive circuit board 7. The drive circuit board 7 is located on one side of the drive mechanism 3 close to the encoder 6. The drive circuit board 7 is communicatively connected to the drive assembly 32 and communicatively connected to the encoder 6.

[0135] Further explanation, as Figure 1 As shown, the jaw 100 further includes a drive circuit board 7. The drive circuit board 7 is communicatively connected to the drive assembly 32 and communicatively connected to the encoder 6. The drive circuit board 7 controls the rotation of the drive assembly 32 according to the received signal and determines its rotation angle through the encoder 6.

[0136] Further explanation, the drive circuit board 7 is connected to the mounting bracket 4. The drive circuit board 7 is located on one side of the drive mechanism 3 close to the encoder 6, facilitating the communication connection between the encoder 6 and the drive circuit board 7.

[0137] According to the second aspect of the embodiments of the present application, a robotic arm is provided, including the above-mentioned jaw 100.

[0138] According to the third aspect of the embodiments of the present application, a robot is provided, including the above-mentioned jaw 100; or the above-mentioned robotic arm.

[0139] Although some specific embodiments of the present application have been described in detail by way of examples, those skilled in the art should understand that the above examples are only for illustration purposes and not for limiting the scope of the present application. Those skilled in the art should understand that the above embodiments can be modified without departing from the scope and spirit of the present application. The scope of the present application is defined by the appended claims.

Claims

1. A clamping jaw, characterized in that: include: a first link mechanism and a second link mechanism, wherein the first link mechanism and the second link mechanism are symmetrically arranged, and each of the first link mechanism and the second link mechanism comprises an integrally arranged worm gear and a first link; The driving mechanism comprises a worm, the worm wheel of the first connecting rod mechanism and the worm wheel of the second connecting rod mechanism are respectively arranged on both sides of the worm and meshedly connected with the worm, and the driving mechanism can drive the first connecting rod mechanism and the second connecting rod mechanism to rotate toward or away from each other.

2. The clamping jaw according to claim 1, characterized in that: The clamping jaw further comprises a mounting bracket, and the driving mechanism is arranged on the mounting bracket.

3. The clamping jaw according to claim 2, characterized in that: The first link mechanism and the second link mechanism also include a second link, a third link and a clamping member, the worm gear is rotatably connected to the mounting bracket, the first link is rotatably connected to the second link, the second link is rotatably connected to the clamping member, and the third link is rotatably connected to the mounting bracket and the clamping member respectively.

4. The clamping jaw according to claim 3, characterized in that: The connection between the first connecting rod and the second connecting rod is a first connection, the connection between the second connecting rod and the clamping member is a second connection, the connection between the third connecting rod and the clamping member is a third connection, the connecting line between the first connection and the second connection is a first connecting line, the connecting line between the second connection and the third connection is a second connecting line, and the angle between the first connecting line and the second connecting line ranges from 90° to 180°.

5. The clamping jaw according to claim 4, characterized in that: The included angle between the first connecting line and the second connecting line is 145°.

6. The clamping jaw according to claim 3, characterized in that: The clamping member includes a first clamping surface and a second clamping surface, the first clamping surface is a plane, and the second clamping surface includes an arcuate surface.

7. The clamping jaw according to claim 6, characterized in that: The second clamping surface is provided with a first anti-slip portion.

8. The clamping jaw according to claim 3, characterized in that: The clamping member comprises a clamping surface and an outer end surface, and the outer end surface is arranged at an angle with the clamping surface.

9. The clamping jaw according to claim 3, characterized in that: The clamping member comprises a clamping surface and an outer end surface; The clamp includes a fully open state. When the clamp is in the fully open state, the distance between the outer end surface of the clamping member of the first link mechanism and the outer end surface of the clamping member of the second link mechanism is a first distance, and the distance between an end of the first link of the first link mechanism away from the second link mechanism and an end of the first link of the second link mechanism away from the first link mechanism is a second distance, and the first distance is greater than the second distance.

10. The clamping jaw according to claim 3, characterized in that: The width of the clamping member of the first link mechanism is smaller than the width of the clamping member of the second link mechanism; or A width of the clamping member of the first link mechanism is greater than a width of the clamping member of the second link mechanism.

11. The clamping jaw according to claim 3, characterized in that: An end surface of the third connecting rod facing away from the first connecting rod and the second connecting rod is a third clamping surface, and the third clamping surface is an arc-shaped end surface.

12. The clamping jaw according to claim 11, characterized in that The third clamping surface is provided with a second anti-slip portion.

13. The clamping jaw according to claim 4, characterized in that: A boss is provided at one end of the first connecting rod close to the second connecting rod, and the boss can abut against the second connecting rod to limit the rotation of the second connecting rod.

14. The clamping jaw according to claim 13, characterized in that The first connection is provided with a torsion spring, one end of the torsion spring abuts against the first connecting rod, and the other end of the torsion spring abuts against the second connecting rod, and the torsion spring includes a first state and a second state; In the first state, the boss abuts against the second connecting rod; In the second state, the boss is not in contact with the second link.

15. The clamping jaw according to claim 3, characterized in that: The first connecting rod is provided with a first connecting hole, the first connecting hole is rotatably connected to the second connecting rod through a first connecting member, the worm gear is provided with a second connecting hole, the second connecting hole is rotatably connected to the mounting bracket through a second connecting member; The worm is single-ended, and in the first connecting rod mechanism, the tooth portion of the worm wheel through which the line connecting the center of the first connecting hole and the center of the second connecting hole passes is the first position; in the second connecting rod mechanism, the tooth portion of the worm wheel through which the line connecting the center of the first connecting hole and the center of the second connecting hole passes is the second position, and the first position and the second position differ by half a tooth in the tooth portion of the worm wheel; or The worm is double-headed, and in the first connecting rod mechanism, the tooth portion of the worm wheel through which the line connecting the center of the first connecting hole and the center of the second connecting hole passes is the first position; in the second connecting rod mechanism, the tooth portion of the worm wheel through which the line connecting the center of the first connecting hole and the center of the second connecting hole passes is the second position, and the first position and the second position are the same in the position of the tooth portion of the worm wheel.

16. The clamping jaw according to claim 2, characterized in that: The driving mechanism also includes a driving component, an output end of which is connected to one end of the worm, and the driving component can drive the worm to rotate around its own axis to drive the worm wheel of the first connecting rod mechanism and the worm wheel of the second connecting rod mechanism to rotate in the same direction or oppositely.

17. The clamping jaw according to claim 16, characterized in that The mounting bracket is provided with a rotating part, and the other end of the worm is rotatably connected to the rotating part.

18. The clamping jaw according to claim 17, characterized in that The rotating part comprises a shaft sleeve and a bearing, wherein the shaft sleeve is arranged on the mounting bracket, the outer ring of the bearing is connected to the shaft sleeve, and the other end of the worm is connected to the inner ring of the bearing.

19. The clamping jaw according to claim 16, characterized in that: The clamping jaw further comprises an encoder bracket, which is arranged at the output end of the driving component and located at a side away from the worm, and an encoder is arranged on the encoder bracket.

20. The clamping jaw according to claim 19, characterized in that The clamp further comprises a driving circuit board, which is located on a side of the driving mechanism close to the encoder, is communicatively connected to the driving assembly, and is communicatively connected to the encoder.

21. A robotic arm, characterized in that: Comprising the clamping jaws as described in any one of claims 1-20.

22. A robot, characterized in that: include: The clamping jaw according to any one of claims 1 to 20; or The robotic arm of claim 21.

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