Clamping jaw, carrier and clamping jaw kit

Abstract

The utility model provides a clamping jaw, a carrier and a clamping jaw kit. The clamping jaw comprises a base, a driving assembly and a plurality of finger assemblies. The multiple finger assemblies are distributed on the base around the first axis. The fixed section of each finger assembly is fixed to the base, and the movable section of each finger assembly is pivoted to the corresponding fixed section. The driving assembly can drive the multiple movable sections, so that the movable sections can be switched between the folding position and the unfolding position. When the multiple movable sections are located at the opening positions, the free ends of the movable sections are far away from the first axis, and after the clamping jaw and the object are aligned, the clamping jaw vertically moves downwards to enable the multiple movable sections to be located on the periphery of the object. The movable sections are switched from the opening positions to the closing positions, and the free ends of the movable sections are close to the first axis. The clamping jaw moves upwards, the movable section makes contact with the bottom of the object, and then the object can be supported in a bottom supporting mode. When the clamping jaw is used for grabbing an object with the surface prone to being damaged, clamping force cannot be applied to the surface of the object, and therefore the surface of the object is not prone to being damaged in the grabbing and moving process.

Description

Technical Field

[0001] This application belongs to the technical field of grippers, and relates to a gripper, a carrier and a gripper kit. Background Art

[0002] The grippers in the related art can grasp and move hard objects well. However, when the grippers in the related art grasp objects that are relatively easy to break, such as fruits with easily damaged surfaces like bayberries and cherries, a certain clamping force will be applied to the fruit surface, which is likely to cause damage to the fruit surface. Summary of the Utility Model

[0003] The purpose of the embodiments of this application is to provide a gripper, a carrier and a gripper kit to solve the technical problem that the grippers in the related art are likely to cause damage to the surface of objects (such as fruits with easily damaged surfaces) when grasping them.

[0004] The embodiments of this application provide a gripper, including: a base, a driving component and a plurality of finger components; the plurality of finger components are distributed around a first axis on the base; each finger component includes a fixed section and a movable section; one end of the fixed section is fixed to the base, and the movable section is pivotally connected to the other end of the fixed section; when the plurality of movable sections are in the closed position, the free ends of the plurality of movable sections are arranged close to the first axis, and an accommodating area for an object is formed between the plurality of movable sections; when the plurality of movable sections are in the open position, the free ends of the plurality of movable sections are arranged away from the first axis; the driving component is arranged on the base and is used to drive the plurality of movable sections to move so that the plurality of movable sections can be switched between the closed position and the open position.

[0005] In an optional implementation manner, the driving component includes a linear driving member, a sliding member and a plurality of transmission sections; the output shaft of the linear driving member is connected to the sliding member, and the linear driving member is used to drive the sliding member to move along the direction of the first axis; the plurality of transmission sections are arranged in one-to-one correspondence with the plurality of finger components, the transmission section is slidably mounted on the fixed section along the direction of the first axis, one end of the transmission section is connected to the sliding member, and the other end of the transmission section is connected to the movable section; during the process of the output shaft of the linear driving member extending out and moving, the sliding member and the plurality of transmission sections move along the direction of the first axis, and the plurality of movable sections can be switched from the open position to the closed position.

[0006] In an optional implementation manner, the fixed section is provided with a guiding portion, the guiding portion extends along the direction of the first axis, the transmission section has a guiding groove extending along the direction of the first axis, and the guiding portion passes through the guiding groove so that the transmission section is slidably mounted on the fixed section along the direction of the first axis.

[0007] In an alternative implementation, the transmission section is located on a side of the fixed section away from the first axis, and connection positions of the transmission section and the movable section and free ends of the movable section are respectively located on two sides of a pivoting end of the movable section.

[0008] In an alternative implementation, one end of the transmission section close to the movable section has a transmission rod, the movable section has a transmission groove, the transmission rod is disposed through the transmission groove, and the transmission rod and a wall surface of the transmission groove are in abutting fit.

[0009] In an alternative implementation, the sliding member has a plurality of sliding grooves, the plurality of sliding grooves are distributed around the first axis, and the plurality of fixed sections are respectively disposed through the plurality of sliding grooves in a one-to-one correspondence;

[0010] In an alternative implementation, the linear driving member is a cylinder, and an output shaft of the cylinder and the sliding member are connected by a rod member.

[0011] In an alternative implementation, a first buffer layer is provided on a wall surface of the movable section facing the first axis;

[0012] In an alternative implementation, a second buffer layer is provided on a wall surface of the fixed section facing the first axis;

[0013] In an alternative implementation, the base has a plurality of positioning grooves, the plurality of positioning grooves are distributed around the first axis, and the plurality of fixed sections are respectively disposed at the plurality of positioning grooves in a one-to-one correspondence.

[0014] The beneficial effects of the jaw provided by the embodiment of the present application are as follows: A plurality of finger assemblies are provided on the base, and the finger assemblies are distributed around the first axis. The fixed section in each finger assembly is fixed to the base, and the movable section is pivotally connected to the fixed section. The driving assembly can drive the plurality of movable sections so that the movable sections can be switched between a closed position and an open position. When the plurality of movable sections are in the open position, free ends of the movable sections are away from the first axis. After adjusting the relative position between the jaw and an object to align the two, the jaw moves vertically downward so that the plurality of movable sections are located on the outer periphery of the object. The plurality of movable sections are switched from the open position to the closed position, and the free ends of the movable sections approach the first axis, and the free ends of the movable sections do not contact the bottom of the object. The jaw is moved upward, and the free ends of the movable sections contact the bottom of the object, and then the object can be lifted in a bottom-supporting manner. The object can be automatically positioned among the plurality of movable sections in the closed position. When using the jaw to grasp an object with a surface that is easily damaged (such as a fruit with an easily damaged appearance), no clamping force is applied to the surface of the object, so that the object is not easily damaged on the surface during the grasping and moving processes.

[0015] An embodiment of the present application provides a carrier for cooperating with the above-mentioned jaw. The carrier has a receiving groove for accommodating an object. The wall surface of the receiving groove has a plurality of hollow grooves. A plurality of the movable segments in the open position can correspondingly pass through the plurality of hollow grooves, and the movable segments located in the hollow grooves can be switched from the open position to the closed position.

[0016] In an alternative implementation, the carrier includes a front shell and a bottom shell. The front shell is mounted on the bottom shell. The receiving groove is formed in the front shell. The area between the front shell and the bottom shell forms the hollow groove. The front shell has a plurality of first grooves communicating with the hollow groove. The projection of the first groove on the vertical plane of the first axis extends along a straight line. The first groove is used for the movable segment to enter and exit the hollow groove.

[0017] An embodiment of the present application provides a jaw kit, including the above-mentioned jaw and the above-mentioned carrier.

[0018] The beneficial effects of the carrier and the jaw kit provided by the embodiments of the present application are as follows: An object can be placed in the receiving groove of the carrier. After adjusting the relative positions of the jaw and the object to align them, the jaw moves vertically downward so that a plurality of movable segments are inserted into a plurality of hollow grooves and located on the outer periphery of the object. By switching a plurality of movable segments from the open position to the closed position, the movable segments and the object may not be in contact. When the jaw moves upward and the movable segments contact the bottom of the object, the object can be lifted by the bottom-supporting method. When using this jaw to grasp fruits with easily damaged surfaces, the fruits are not easily damaged on the surface. Description of the Drawings

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0020] Figure 1 It is a three-dimensional assembly drawing of the jaw provided by the embodiment of the present application;

[0021] Figure 2 It is Figure 1 a three-dimensional exploded view of the jaw;

[0022] Figure 3 It is Figure 2 a further three-dimensional exploded view of the jaw;

[0023] Figure 4 It is a structural schematic diagram of the jaw kit provided by the embodiment of the present application when a plurality of movable segments are in the closed position;

[0024] Figure 5 Cross-sectional view of the jaw kit along line A-A for Figure 4 ;

[0025] Figure 6 For Figure 4 Schematic diagram of the structure of the jaw kit when multiple active segments are in the open position;

[0026] Figure 7 For Figure 6 Cross-sectional view of the jaw kit along line B-B for

[0027] Figure 8 For the structure diagram when the active segment in the jaw is in the open position and the jaw moves vertically downward into the vehicle on the basis of Figure 7 ;

[0028] Figure 9 For the structure diagram when the active segment in the jaw switches to the closed position and the active segment does not contact the object on the basis of Figure 8 ;

[0029] Figure 10 For the structure diagram when the jaw moves vertically upward and the active segment contacts the bottom of the object on the basis of Figure 9 ;

[0030] Figure 11 Stereo exploded view of the vehicle provided by the embodiment of the present application. Detailed implementation manners

[0031] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0032] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0033] It should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is 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 therefore cannot be understood as a limitation to the present application.

[0034] In addition, the terms "first" and "second" are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of this application, "a plurality of" means two or more, unless otherwise specifically defined.

[0035] Please refer to Figures 1 to 3 , an embodiment of the present application provides a jaw 100, including: a base 110, a driving component 120, and a plurality of finger components 130; the plurality of finger components 130 are distributed around a first axis 100a on the base 110; each finger component 130 includes a fixed section 131 and a movable section 132. One end 131a of the fixed section 131 is fixed to the base 110, and the movable section 132 is pivotally connected to the other end 131b of the fixed section 131. Combining Figure 1 , Figure 4 , Figure 5 , when the plurality of movable sections 132 are in the closed position, the free ends 132a of the plurality of movable sections 132 are arranged close to the first axis 100a, and an accommodation area 130a for accommodating an object 1 is formed between the plurality of movable sections 132. Combining Figure 6 , Figure 7 , when the plurality of movable sections 132 are in the open position, the free ends 132a of the plurality of movable sections 132 are arranged away from the first axis 100a. The driving component 120 is arranged on the base 110 and is used to drive the plurality of movable sections 132 to move so that the plurality of movable sections 132 can be switched between the closed position and the open position.

[0036] Among them, the object 1 grasped by the jaw 100 can be an object 1 with a surface that is easily damaged, or a hard object. The object 1 with a surface that is easily damaged can be a fruit with an easily damaged appearance, granular or spherical, such as waxberries, cherries, strawberries, etc.

[0037] The plurality of finger components 130 are distributed around the first axis 100a on the base 110, and the plurality of finger components 130 are arranged at intervals, so that the object 1 can be accommodated in the accommodation area 130a formed between the plurality of movable sections 132.

[0038] The free end 132a of the movable section 132 being close to the first axis 100a is relative to the free end 132a of the movable section 132 being away from the first axis 100a, and it is not necessary for the free end 132a to move to the first axis 100a.

[0039] When multiple active segments 132 are in the retracted position, the multiple active segments 132 can be inclined relative to the first axis 100a, the free ends 132a of the multiple active segments 132 are close to the first axis 100a, and a generally conical receiving area 130a can be formed between the multiple active segments 132. The object 1 located in the receiving area 130a can be in contact with the inner side surface of the active segment 132, so as to realize the bottom support of the object 1.

[0040] When multiple active segments 132 are in the open position, the multiple active segments 132 and the first axis 100a can be arranged substantially in parallel. After adjusting the relative positions of the jaw 100 and the object 1 to align them, the jaw 100 moves vertically downward so that the multiple active segments 132 are located on the outer periphery of the object 1, and the active segments 132 will not damage the object 1 with a surface that is easily damaged.

[0041] In the jaw 100 provided in the embodiment of the present application, a plurality of finger assemblies 130 are provided on the base 110, and the finger assemblies 130 are distributed around the first axis 100a. The fixed segment 131 in each finger assembly 130 is fixed to the base 110, and the active segment 132 is pivotally connected to the fixed segment 131. The driving assembly 120 can drive the multiple active segments 132 so that the active segments 132 can be switched between the retracted position and the open position. Combining Figure 6 、 Figure 7 When the multiple active segments 132 are in the open position, the free ends 132a of the active segments 132 are far from the first axis 100a. After adjusting the relative positions of the jaw 100 and the object 1 to align them, combining Figure 8 ,the jaw 100 moves vertically downward so that the multiple active segments 132 are located on the outer periphery of the object 1. Combining Figure 9 ,the multiple active segments 132 are switched from the open position to the retracted position, and the free ends 132a of the active segments 132 are close to the first axis 100a. At this time, the active segments 132 are not in contact with the bottom of the object 1. The jaw 100 is moved upward, and the active segments 132 are in contact with the bottom of the object 1, and the object 1 can be lifted by the bottom support method. The object 1 can be automatically positioned among the multiple active segments 132 in the retracted position. When using the jaw 100 to grasp the object 1 with a surface that is easily damaged (such as fruits with an easily damaged outer surface), no clamping force is applied to the surface of the object 1, so that the object 1 is not easily damaged during the grasping and moving processes.

[0042] When setting a plurality of finger assemblies 130, referring to Figure 1 、 Figure 2 ,more than two finger assemblies 130 can be set, and the multiple finger assemblies 130 are arranged around the first axis 100a, which can better support the bottom of the object 1. The acting force between the bottom of the object 1 and the active segment 132 is small, avoiding surface damage to the object 1 during the grasping process.

[0043] Exemplarily, four finger assemblies 130 are evenly distributed around the first axis 100a on the base 110, which can better grasp the object 1.

[0044] In some embodiments, referring to Figure 1 , when multiple movable segments 132 are in the retracted position, the oblique angles of the multiple movable segments 132 in the retracted position relative to the first axis 100a can be equal, and the multiple movable segments 132 are arranged in a substantially conical shape, having better clamping accuracy. The range of the oblique angle can be from 30° to 90°.

[0045] When the movable segment 132 and the fixed segment 131 are pivotally connected, referring to Figures 1 to 3 , Figure 5 , it can be realized by using a pivot shaft 134 (such as a pin). The pivot shaft 134 passes through the movable segment 132 and the fixed segment 131, so that the movable segment 132 can be rotatably connected to the fixed segment 131.

[0046] In some embodiments, please refer to Figures 1 to 3 , the driving assembly 120 includes a linear driving member 121, a sliding member 122 and a plurality of transmission segments 123; the output shaft 1211 of the linear driving member 121 is connected to the sliding member 122, and the linear driving member 121 is used to drive the sliding member 122 to move along the direction of the first axis 100a; the plurality of transmission segments 123 are arranged in one-to-one correspondence with the plurality of finger assemblies 130, the transmission segments 123 are slidably mounted on the fixed segment 131 along the direction of the first axis 100a, one end of the transmission segment 123 is connected to the sliding member 122, and the other end of the transmission segment 123 is connected to the movable segment 132.

[0047] This solution has a simple structure and is easy to implement, and can realize the synchronous opening and closing movement of multiple movable segments 132. By driving the sliding member 122 to move linearly by the linear driving member 121, the plurality of transmission segments 123 are driven to move synchronously by the sliding member 122, and the movable segments 132 in the plurality of finger assemblies 130 are driven to swing one by one by the plurality of transmission segments 123, so as to realize the switching of the multiple movable segments 132 between the open position and the retracted position.

[0048] Referring to Figures 4 to 7 , during the process of the output shaft 1211 of the linear driving member 121 extending and moving, the sliding member 122 and the plurality of transmission segments 123 move along the direction of the first axis 100a, and the plurality of movable segments 132 can be switched from the open position to the retracted position.

[0049] During the process of the output shaft 1211 of the linear driving member 121 retracting and moving, the sliding member 122 and the plurality of transmission segments 123 move in the opposite direction along the direction of the first axis 100a, and the plurality of movable segments 132 can be switched from the retracted position to the open position.

[0050] The output shaft 1211 of the linear drive 121 and the sliding member 122 can be directly connected, or other components can be provided between them to achieve indirect connection.

[0051] In some embodiments, referring to Figures 1 to 3 , Figure 5 , the fixed section 131 is provided with a guiding portion 133 that extends along the direction of the first axis 100a. The transmission section 123 has a guiding groove 1231 that extends along the direction of the first axis 100a. The guiding portion 133 is inserted into the guiding groove 1231 so that the transmission section 123 is slidably mounted on the fixed section 131 along the direction of the first axis 100a.

[0052] The guiding portion 133 of the fixed section 131 and the guiding groove 1231 of the transmission section 123 are in sliding fit, so that the transmission section 123 is slidably mounted on the fixed section 131 along the direction of the first axis 100a. The transmission section 123 drives the movable section 132 to swing stably, realizing a stable switch between the open position and the closed position of the movable section 132.

[0053] In some embodiments, a limiting portion 1331 is provided on the guiding portion 133. The limiting portion 1331 can block the transmission section 123 to prevent the transmission section 123 from detaching from the fixed section 131 during the movement process.

[0054] In some embodiments, referring to Figure 1 , Figure 2 , Figure 5 , the transmission section 123 is located on the side of the fixed section 131 away from the first axis 100a. The connection position 132c between the transmission section 123 and the movable section 132 and the free end 132a of the movable section 132 are respectively located on both sides of the pivot end 132b of the movable section 132. The pivot end 132b of the movable section 132 is the position where the movable section 132 is pivotally connected to the fixed section 131.

[0055] By driving the transmission section 123 to move along the direction of the first axis 100a through the sliding member 122, the transmission section 123 can drive the movable section 132 to swing relative to the fixed section 131, so that the free end 132a of the movable section 132 approaches or moves away from the first axis 100a, that is, the movable section 132 switches between the closed position and the open position.

[0056] In some embodiments, referring to Figure 2 , Figure 3 , Figure 5 , Figure 7, one end of the transmission section 123 close to the movable section 132 has a transmission rod 1232. The movable section 132 has a transmission groove 1321. The transmission rod 1232 is inserted into the transmission groove 1321, and the wall surfaces of the transmission rod 1232 and the transmission groove 1321 are in abutting cooperation. During the movement of the transmission rod 1232 along the direction of the first axis 100a, the transmission rod 1232 of the transmission section 123 pushes the wall surface of the transmission groove 1321 of the movable section 132, and the movable section 132 can be driven to swing.

[0057] The transmission groove 1321 may have an opening 1321a, which is convenient for the transmission rod 1232 to be inserted into the transmission groove 1321 from the opening 1321a, so as to realize the movable connection between the transmission section 123 and the movable section 132.

[0058] In some embodiments, please refer to Figures 1 to 3 , the sliding member 122 has a plurality of sliding grooves 1221. The plurality of sliding grooves 1221 are distributed around the first axis 100a, and the plurality of fixed sections 131 are respectively inserted into the plurality of sliding grooves 1221. By correspondingly clamping the plurality of fixed sections 131 into the plurality of sliding grooves 1221 of the sliding member 122, the movement of the sliding member 122 along the direction of the first axis 100a can be limited, so that the sliding member 122 can drive the plurality of transmission sections 123 to move along the direction of the first axis 100a, and then the corresponding movable sections 132 are driven by the transmission sections 123 to swing, improving the movement stability of the transmission mechanism. One end of the sliding groove 1221 has a port 1221a, which is convenient for the fixed section 131 to be inserted into the sliding groove 1221 from the port 1221a.

[0059] In some embodiments, please refer to Figures 1 to 3 , one end of the transmission section 123 has a buckling portion 1233. The sliding member 122 has a buckling groove 1222. The buckling portion 1233 is arranged in the buckling groove 1222, so that the transmission section 123 is connected to the sliding member 122, which is easy to assemble, and the transmission section 123 can be driven by the sliding member 122 to move along the direction of the first axis 100a.

[0060] In some embodiments, please refer to Figures 1 to 3 , Figure 5 , Figure 7 , the linear driving member 121 is a cylinder, and it is easy to realize the extension and retraction movements of the linear output shaft 1211. The output shaft 1211 of the cylinder and the sliding member 122 are connected by a rod 1212. The assembly between the output shaft 1211 of the cylinder and the sliding member 122 is realized, and a predetermined distance is maintained between the cylinder and the sliding member 122.

[0061] In some embodiments, please refer to Figure 2 , Figure 3 , Figure 5, the base 110 includes a first base portion 111 and a second base portion 112. The first base portion 111 is generally cylindrical, and the cylinder can be installed on the first base portion 111. The second base portion 112 includes a cylindrical portion 1121 and a plate-like portion 1122. The cylindrical portion 1121 is inserted into the inner hole of the first base portion 111, and the first base portion 111 is connected to the plate-like portion 1122. The rod member 1212 can pass through the first base portion 111 and the second base portion 112. A bushing 113 (such as a non-lubricated bushing) can be provided inside the cylindrical portion 1121, and the rod member 1212 passes through the bushing 113 to guide the rod member 1212 and enable the rod member 1212 to move smoothly along the direction of the first axis 100a. The fixed segments 131 of the plurality of finger assemblies 130 can be fixed on the second base portion 112.

[0062] In some embodiments, refer to Figures 1 to 3 , Figure 5 , a first buffer layer 141 is provided on the wall surface of the movable segment 132 facing the first axis 100a. The first buffer layer 141 can be made of a flexible material such as rubber. During the process of the movable segment 132 contacting the object 1, the first buffer layer 141 can reduce the impact and reduce the damage to the surface of the object 1.

[0063] In some embodiments, refer to Figures 1 to 3 , Figure 5 , a second buffer layer 142 is provided on the wall surface of the fixed segment 131 facing the first axis 100a. The second buffer layer 142 can be made of a flexible material such as rubber. During the vertical movement of the jaw 100 relative to the object 1, the second buffer layer 142 can reduce the impact and reduce the damage to the surface of the object 1.

[0064] In some embodiments, refer to Figure 1 , Figure 2 , the base 110 has a plurality of positioning grooves 114, and the plurality of positioning grooves 114 are distributed around the first axis 100a. The plurality of fixed segments 131 are respectively provided at the plurality of positioning grooves 114. During assembly, the fixed segments 131 can be conveniently and quickly installed in the positioning grooves 114 to realize the installation of the fixed segments 131 on the base 110.

[0065] In the case where the base 110 includes the first base portion 111 and the second base portion 112, the positioning grooves 114 can be provided on the second base portion 112. The fixed segments 131 and the base 110 can be connected by fasteners (such as screws).

[0066] Refer to Figure 4 , Figure 5 , the embodiment of the present application provides a vehicle 200 for cooperating with the above-mentioned jaw 100. The vehicle 200 has a receiving groove 211 for receiving the object 1, and the wall surface of the receiving groove 211 has a plurality of hollow grooves 200a. Combining Figure 8, when in the open position, multiple movable segments 132 can be correspondingly inserted into multiple hollow slots 200a, and in combination with Figure 9 , the movable segments 132 located within the hollow slots 200a can be switched from the open position to the closed position.

[0067] For the vehicle 200 provided by the embodiments of the present application, refer to Figure 7 、 Figure 8 , an object 1 can be placed inside the receiving groove 211 of the vehicle 200. After adjusting the relative positions of the gripper 100 and the object 1 to align them, the gripper 100 moves vertically downward so that multiple movable segments 132 are inserted into multiple hollow slots 200a and are located on the outer periphery of the object 1. In combination with Figure 9 , multiple movable segments 132 are switched from the open position to the closed position, and the movable segments 132 and the object 1 may not be in contact. In combination with Figure 10 , the gripper 100 is moved upward, and the movable segments 132 come into contact with the bottom of the object 1, and then the object 1 can be lifted in a bottom-supporting manner. When using the gripper 100 to grasp an object 1 with a surface that is easily damaged (such as a fruit with an easily damaged outer surface), the object 1 is not likely to be damaged on the surface.

[0068] In some embodiments, refer to Figure 5 、 Figure 7 、 Figure 11 , the vehicle 200 includes a front shell 210 and a bottom shell 220. The front shell 210 is installed on the bottom shell 220, and the receiving groove 211 is formed in the front shell 210. The area between the front shell 210 and the bottom shell 220 forms the hollow slots 200a. The front shell 210 has multiple first slots 212 communicating with the hollow slots 200a. The projections of the first slots 212 on the vertical plane of the first axis 100a extend in a straight line. The first slots 212 are used for the movable segments 132 to enter and exit the hollow slots 200a.

[0069] In combination with Figure 7 、 Figure 8 , when the gripper 100 is aligned with the vehicle 200, the movable segments 132 in the open position can vertically pass through the first slots 212 downward and enter the hollow slots 200a. In combination with Figure 9 , the movable segments 132 located within the hollow slots 200a can be switched from the open position to the closed position, and the movable segments 132 will not collide with the front shell 210.

[0070] The bottom shell 220 can be generally in the shape of a box with a top opening 221. The front shell 210 is arranged at the top opening 221 of the bottom shell 220. The front shell 210 and the bottom shell 220 can be connected by means such as snap connection or fasteners.

[0071] In some embodiments, refer to Figure 5 、 Figure 11, the bottom surface of the bottom shell 220 has a plurality of second grooves 222. The plurality of second grooves 222 are correspondingly arranged with the plurality of first grooves 212. The movable section 132 in the open position extends downward into the first groove 212 of the carrier 200 and can continue to extend downward into the second groove 222. The second groove 222 can prevent the movable section 132 moving downward from directly colliding with the bottom shell 220.

[0072] Please refer to Figures 4 to 7 , an embodiment of the present application provides a jaw kit, including the above-mentioned jaw 100 and the above-mentioned carrier 200.

[0073] The jaw kit provided by the embodiment of the present application combines Figure 7 , Figure 8 , an object 1 can be placed in the inner shell of the accommodation groove 211 of the carrier 200. After adjusting the relative positions of the jaw 100 and the object 1 to make them aligned, the jaw 100 moves vertically downward so that a plurality of movable sections 132 are inserted into a plurality of hollow grooves 200a and are located on the outer periphery of the object 1. Combining Figure 9 , the plurality of movable sections 132 are switched from the open position to the closed position, and the movable sections 132 and the object 1 are not in contact. Combining Figure 10 , the jaw 100 is moved upward, and the movable sections 132 contact the bottom of the object 1, and then the object 1 can be lifted by the bottom-supporting method. When using the jaw 100 to grasp an object 1 with an easily damaged surface (such as a fruit with an easily damaged appearance), the object 1 is not easily damaged on the surface.

[0074] 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.

Claims

1. A clamping jaw, characterized in that: include: a base, a drive assembly, and a plurality of finger assemblies; A plurality of finger assemblies are distributed on the base around a first axis; each of the finger assemblies comprises a fixed section and a movable section; one end of the fixed section is fixed to the base, and the movable section is pivotally connected to the other end of the fixed section; When the plurality of movable segments are in the folded position, the free ends of the plurality of movable segments are arranged close to the first axis, and a receiving area for receiving objects is formed between the plurality of movable segments; When the plurality of movable segments are in the open position, the free ends of the plurality of movable segments are arranged away from the first axis; The driving assembly is disposed on the base, and is used to drive the plurality of movable segments to move so that the plurality of movable segments can switch between the retracted position and the extended position.

2. The clamping jaw according to claim 1, characterized in that The driving assembly comprises a linear driving member, a sliding member and a plurality of transmission sections; the output shaft of the linear driving member is connected to the sliding member, and the linear driving member is used to drive the sliding member to move along the direction of the first axis; The plurality of transmission segments and the plurality of finger assemblies are arranged in one-to-one correspondence, the transmission segment is slidably mounted on the fixed segment along the direction of the first axis, one end of the transmission segment is connected to the sliding member, and the other end of the transmission segment is connected to the movable segment; During the extension movement of the output shaft of the linear drive member, the sliding member and the plurality of transmission segments move along the direction of the first axis, and the plurality of movable segments can be switched from the open position to the retracted position.

3. The clamping jaw according to claim 2, characterized in that: The fixed section is provided with a guide portion, which extends along the direction of the first axis. The transmission section has a guide groove extending along the direction of the first axis. The guide portion is inserted into the guide groove so that the transmission section can be slidably installed on the fixed section along the direction of the first axis.

4. The clamping jaw according to claim 2, characterized in that: The transmission section is located at a side of the fixed section away from the first axis, and the connection position between the transmission section and the movable section and the free end of the movable section are respectively located at two sides of the pivot end of the movable section.

5. The clamping jaw according to claim 2, characterized in that: The transmission section has a transmission rod at one end close to the movable section, and the movable section has a transmission groove. The transmission rod passes through the transmission groove, and the transmission rod and the wall surface of the transmission groove are in abutment with each other.

6. The clamping jaw according to claim 2, characterized in that: The sliding member has a plurality of sliding grooves, the plurality of sliding grooves are distributed around the first axis, and the plurality of fixing sections are correspondingly disposed in the plurality of sliding grooves one by one; And / or, the linear driving member is a cylinder, and the output shaft of the cylinder and the sliding member are connected via a rod.

7. The clamping jaw according to any one of claims 1 to 6, characterized in that A first buffer layer is provided on the wall surface of the movable section facing the first axis; And / or, a second buffer layer is provided on a wall surface of the fixed section facing the first axis; And / or, the base has a plurality of positioning grooves, the plurality of positioning grooves are distributed around the first axis, and the plurality of fixing sections are disposed at the plurality of positioning grooves in a one-to-one correspondence.

8. A carrier, characterized in that: Used in conjunction with the clamp as described in any one of claims 1 to 7, the carrier has a receiving groove for accommodating objects, the wall surface of the receiving groove has a plurality of hollow grooves, the plurality of movable segments in the open position can be correspondingly inserted into the plurality of hollow grooves, and the movable segments located in the hollow grooves can be switched from the open position to the retracted position.

9. The carrier according to claim 8, characterized in that: The carrier comprises a front shell and a bottom shell, the front shell is mounted on the bottom shell, the receiving groove is formed on the front shell, and the hollow groove is formed in the area between the front shell and the bottom shell; The face shell has a plurality of first grooves connected to the hollow grooves, the projections of the first grooves on the vertical plane of the first axis extend along a straight line, and the first grooves are used for allowing the movable section to enter and exit the hollow grooves.

10. A clamping jaw kit, characterized in that: It comprises the clamping jaw according to any one of claims 1 to 7, and the carrier according to claim 8 or 9.

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