Clamping device

Abstract

The utility model discloses a clamping device which comprises a first fixing base, the side wall of one side of the first fixing base is fixedly connected with the side wall of one side of a first sub-fixing base of a second fixing base in an attached mode, the lower portion of the first sub-fixing base is fixedly connected with the second sub-fixing base, a servo steering engine is installed in the first fixing base, and one side of the servo steering engine is connected with a transmission structure. The transmission structure is rotationally connected with the outer side walls of a first clamping arm and a second clamping arm in the clamping arm structure, a camera module is installed in the first sub-fixing base, and a lighting module is fixedly connected to a groove in the front end of the first sub-fixing base. The clamping device is provided with a servo steering engine, a transmission structure and a clamping arm structure, the transmission structure and the clamping arm structure are both arranged close to the servo steering engine, the servo steering engine is connected with the transmission structure, the transmission structure is connected with the clamping arm structure, and the servo steering engine receives a control electric signal of an external controller and is controlled by an external control electric signal to rotate. And the transmission structure drives the clamping arm structure to clamp or loosen a target object.

Description

Technical Field

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

[0002] Clamping devices can be used to clamp objects for picking and placing operations. For example, in endoscopic detection operations, picking and placing foreign objects, or at the end joints of manipulators for picking and placing objects, and picking foreign objects during surgical operations, etc.

[0003] Generally, in a clamping system, one way is to place a heavier actuator at the rear end, and the actuator drives and controls the clamping action of the front-end clamping device through a soft mechanical transmission mechanism such as a steel wire rope to clamp an object. However, due to factors such as mechanical structure deformation and friction, the clamping control accuracy of the front-end clamping device is not high. Another way is to place the actuator and the clamping device together at the front end to control the clamping action of the clamping device. However, due to the complex structure, large volume and weight of the actuator, it occupies a large space. Summary of the Utility Model

[0004] The technical problem to be solved by the utility model is to provide a clamping device to solve the problems of low control accuracy of the existing clamping device and large space occupation of the existing clamping device.

[0005] To solve the above problems, the present application is realized through the following technical solutions:

[0006] A clamping device includes a first fixed seat. One side side wall of the first fixed seat is fixedly and fittingly connected to one side side wall of the first sub-fixed seat of the second fixed seat. The first sub-fixed seat is fixedly connected to the second sub-fixed seat below.

[0007] A servo-servo is installed in the first fixed seat. One side of the servo-servo is connected to a transmission structure, and the transmission structure is rotatably connected to the outer side walls of the first clamping arm and the second clamping arm in the clamping arm structure.

[0008] A camera module is installed in the first sub-fixed seat, and an illumination module is fixedly connected to the front-end groove of the first sub-fixed seat.

[0009] One end of the first rotating shaft and one end of the second rotating shaft of the clamping arm structure are respectively installed on each rotating hole on the lower side of the first sub-fixed seat, and the other end of the first rotating shaft and the other end of the second rotating shaft are respectively installed on each rotating hole on the upper side of the second sub-fixed seat.

[0010] The inner side wall of a first bearing is sleeved on the outer side wall of the first rotating shaft of the clamping arm structure, and the outer side wall of the first bearing is rotatably connected to the inner side wall of the first clamping arm.

[0011] The outer wall of the second rotating shaft of the clamping arm structure is sleeved with the inner wall of the second bearing, and the outer wall of the second bearing is rotatably connected to the inner wall of the second clamping arm.

[0012] The driving end of the motor inside the servo actuator is rotatably connected to the worm of the transmission structure, and the two side walls of the helical teeth of the worm are respectively meshed and rotatably connected to the first turbine on the first clamping arm and the second turbine on the second clamping arm.

[0013] The current detection module and the position sensing module inside the servo actuator are connected to an external controller through a data transmission line, and the external controller is connected to the motor drive module through a data transmission line.

[0014] The motor drive module of the motor inside the servo actuator is connected to the motor through a data transmission line, and the internally integrated current detection module is directly connected to the output end of the current sensor.

[0015] A lens protection sheet is installed on the outer wall of the camera of the camera module.

[0016] A plurality of LED lights are arranged on the lighting module, and the plurality of LED lights are evenly distributed on the outside of the shooting window of the camera module.

[0017] The servo actuator housing is equipped with a motor drive module, the motor drive module is directly connected to the motor, the motor drive module is also integrated with a drive current detection module of the motor, and the motor is also connected to the encoder of the position sensing module inside the servo actuator housing through a transmission line;

[0018] The current detection module is connected to the controller through a data transmission line;

[0019] The encoder of the position sensing module is connected to the controller through a data transmission line;

[0020] The motor drive module is connected to the controller through a data transmission line;

[0021] The motor drive module is connected to the current detection module through a data transmission line;

[0022] The controller is connected to the image processor of the camera module through a data transmission line, the image processor of the camera module is connected to the image sensor of the camera module through a transmission line, and the image sensor is connected to the camera through a data line;

[0023] The control terminal is connected to the data transmission module through a data transmission line, and the data transmission module is connected to the user terminal through a data transmission line.

[0024] Preferably, the second sub-fixed seat is provided with a first limit groove and a second limit groove, the first limit groove is used to limit the rotation angle of the first clamping arm, and the second limit groove is used to limit the rotation angle of the second clamping arm.

[0025] Compared with the prior art, the beneficial effects of the utility model are as follows:

[0026] 1. The clamping device is provided with a servo steering gear, a transmission structure and a clamping arm structure. The transmission structure and the clamping arm structure are both arranged close to the servo steering gear. The servo steering gear is connected to the transmission structure, and the transmission structure is connected to the clamping arm structure. The servo steering gear receives the control electrical signal of an external controller, rotates under the control of the external control electrical signal, and drives the clamping arm structure to clamp or release the target object through the transmission structure.

[0027] 2. The whole clamping device transmits the control electrical signal to the external controller at the rear end in the form of an electrical signal. There is no structural loss in the control transmission between the clamping device and the external controller, which can improve the clamping control accuracy of the clamping device. Moreover, the servo steering gear has a high integration degree, occupies a small space and has a small weight, which is beneficial to the miniaturization of the clamping device. Description of the Drawings

[0028] Figure 1 is a three-dimensional schematic diagram of the clamping device provided by the embodiment of the utility model;

[0029] Figure 2 is a three-dimensional schematic diagram of the connection of the servo steering gear, the transmission structure and the clamping arm structure provided by the embodiment of the utility model;

[0030] Figure 3 is Figure 1 a three-dimensional sectional schematic diagram of the clamping device shown;

[0031] Figure 4 is Figure 1 a sectional plane schematic diagram of the clamping device shown;

[0032] Figure 5 is a schematic diagram of the clamping device provided by the embodiment of the utility model;

[0033] Figure 6 is a schematic diagram of the control structure of the clamping device provided by the embodiment of the utility model.

[0034] Reference numerals: 10, servo steering gear; 11, motor; 12, current detection module; 13, position sensing module; 14, motor drive module; 20, transmission structure; 21, worm; 30, clamping arm structure; 31, first clamping arm; 311, first turbine; 32, second clamping arm; 321, second turbine; 33, first rotating shaft; 34, second rotating shaft; 35, first bearing; 36, second bearing; 40, camera module; 50, lighting module; 51, LED lamp; 60, first fixing seat; 70, second fixing seat; 71, first sub-fixing seat; 72, second sub-fixing seat, first limiting groove 721, second limiting groove 722. Detailed Embodiment

[0035] It should be understood that the orientation or positional relationship indicated by terms such as "one side, side wall, lower side, outer side wall, front end, one end, the other end, inner side wall, both side walls, outer side wall, outer side", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present novelty 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 novelty.

[0036] In the embodiments, the preferred models appear for the convenience of description, rather than restricting that the present application must use such models of electronic components. For those skilled in the art, the models of electronic components can be appropriately adjusted, and the models of other components can be correspondingly adjusted. Such equivalent replacement modifications all fall within the protection scope of the present application;

[0037] The electrical appliances in this patent, such as the servo actuator 10; the speed reducer; the motor 11; the current detection module 12; the position sensing module 13; the camera module 40; the image sensor, the image processor, the lighting module 50; the LED lamp 51; the external controller are all powered by an external power supply module or an external power supply.

[0038] Embodiment 1

[0039] Please refer to Figures 1 to 6 , a clamping device, including a first fixed seat 60, one side wall of the first fixed seat 60 is fixedly attached to one side wall of the first sub-fixed seat 71 of the second fixed seat 70, and the first sub-fixed seat 71 is fixedly connected to the second sub-fixed seat 72 below.

[0040] The first fixed seat 60 is equipped with a servo actuator 10, one side of the servo actuator 10 is connected to a transmission structure 20, and the transmission structure 20 is rotatably connected to the outer side walls of the first clamping arm 31 and the second clamping arm 32 in the clamping arm structure 30.

[0041] The first sub-fixed seat 71 is equipped with a camera module 40, and a lighting module 50 is fixedly connected to the front-end groove of the first sub-fixed seat 71.

[0042] One end of the first rotating shaft 33 and one end of the second rotating shaft 34 of the clamping arm structure 30 are respectively installed on each rotating hole on the lower side of the first sub-fixed seat 71, and the other end of the first rotating shaft 33 and the other end of the second rotating shaft 34 are respectively installed on each rotating hole on the upper side of the second sub-fixed seat 72.

[0043] The outer side wall of the first rotating shaft 33 of the clamping arm structure 30 is sleeved with the inner side wall of the first bearing 35, and the outer side wall of the first bearing 35 is rotatably connected to the inner side wall of the first clamping arm 31.

[0044] The outer sidewall of the second rotating shaft 34 of the clamping arm structure 30 is sleeved with the inner sidewall of the second bearing 36, and the outer sidewall of the second bearing 36 is rotatably connected to the inner sidewall of the second clamping arm 32.

[0045] The driving end of the motor 11 inside the servo actuator 10 is rotatably connected to the worm 21 of the transmission structure 20, and the two sidewalls of the helical teeth of the worm 21 are respectively meshed and rotatably connected to the first turbine 311 on the first clamping arm 31 and the second turbine 321 on the second clamping arm 32.

[0046] The current detection module 12 and the position sensing module 13 inside the servo actuator 10 are connected to an external controller through a data transmission line, and the external controller is connected to the motor drive module 14 through a data transmission line.

[0047] The motor drive module 14 of the motor 11 inside the servo actuator 10 is connected to the motor 11 through a data transmission line, and the internally integrated current detection module 12 is directly connected to the output end of the current sensor.

[0048] A lens protection film is installed on the outer sidewall of the camera of the camera module 40.

[0049] A plurality of LED lights 51 are arranged on the lighting module 50, and the plurality of LED lights 51 are evenly distributed outside the shooting window of the camera module 40.

[0050] The motor drive module 14 is installed inside the housing of the servo actuator 10. The motor drive module 14 is directly connected to the motor 11. The motor drive module 14 integrates the drive current detection module 12 of the motor 11. The motor 11 is also connected to the encoder of the position sensing module 13 inside the housing of the servo actuator 10 through a transmission line;

[0051] The current detection module 12 is connected to the controller through a data transmission line;

[0052] The encoder of the position sensing module 13 is connected to the controller through a data transmission line;

[0053] The motor drive module 14 is connected to the controller through a data transmission line;

[0054] The motor drive module 14 is connected to the current detection module 12 through a data transmission line;

[0055] The controller is connected to the image processor of the camera module 40 through a data transmission line. The image processor of the camera module 40 is connected to the image sensor of the camera module 40 through a transmission line, and the image sensor is connected to the camera through a data line;

[0056] The control terminal is connected to the data transmission module through a data transmission line, and the data transmission module is connected to the user terminal through a data transmission line.

[0057] Further preferably, a first limiting groove 721 and a second limiting groove 722 are provided on the second sub-fixed seat 72. Rotation holes are provided in both the first limiting groove 721 and the second limiting groove 722. The rotation hole of the first limiting groove 721 is used to install the first rotating shaft 33, and the rotation hole of the second limiting groove 722 is used to install the second rotating shaft 34. The first limiting groove 721 is used to limit the rotation angle of the first clamping arm 31, and the second limiting groove 721 is used to limit the rotation angle of the second clamping arm 32.

[0058] Preferably, a motor 11, a current detection module 12 and a position sensing module 13 are installed in the housing of the servo steering gear 10.

[0059] Preferably, both the first bearing 35 and the second bearing 36 are located between the first sub-fixed seat 71 and the second sub-fixed seat 72.

[0060] Preferably, the camera module 40 includes a camera, an image sensor and an image processor. The camera module 40 is connected to the input end of an external controller through a data transmission line.

[0061] Preferably, multiple LED lights 51 and the shooting window of the camera module 40 are located on the same side of the second fixed seat 70.

[0062] Preferably, the inner side walls of the front ends of the first clamping arm 31 and the second clamping arm 32 are provided with a threaded structure.

[0063] Preferably, the reducer is decelerated by a multi-stage gear set.

[0064] Preferably, the motor 11 is a 614 coreless motor produced by Zhaowei Company.

[0065] Preferably, the current detection module 12 is the INA138NA / 3K model produced by TI Company and its related supporting power supply and circuit.

[0066] Preferably, the position sensing module 13 is the 3313J-1-104E model produced by BOURNS Company and its related supporting power supply and circuit.

[0067] Preferably, the motor drive module 14 is the DRV8833CPWPR model produced by TI Company and its related supporting power supply and circuit.

[0068] Preferably, the encoder is the AS5600 model produced by AMS Company and its related supporting power supply and circuit.

[0069] Preferably, the image sensor is the OV5640 model produced by OV Company and its related supporting power supply and circuit.

[0070] Preferably, the image processor is purchased from the ADP32F035QP64S model produced by advchip company and its related supporting power supply and circuit.

[0071] Preferably, the data transmission module is purchased from the MAX3085ESA model produced by Shenzhen Lingxing Core Microelectronics Co., Ltd. and its related supporting power supply and circuit.

[0072] Preferably, the lighting module 50 is purchased from the CSP2323 model LED produced by Xijingliang Optoelectronic Technology Co., Ltd.

[0073] Preferably, the controller is selected from the CORE-3588JL model module produced by Tianqi Intelligent Technology Co., Ltd. and its related supporting power supply.

[0074] Embodiment 2

[0075] The utility model provides a clamping device, which is applied to the front end of a clamping system and can be used in endoscopic detection operations to pick up and place foreign objects, or in scenarios such as picking up and placing objects at the end joints of a manipulator.

[0076] As Figure 1 and Figure 2 shown, the clamping device of the embodiment of the utility model includes a servo steering gear 10, a transmission structure 20 and a clamping arm structure 30.

[0077] The servo steering gear 10 is used to receive the control electrical signal of an external controller at the rear end.

[0078] The transmission structure 20 is connected to the servo steering gear 10 and is arranged close to the servo steering gear 10.

[0079] The clamping arm structure 30 is connected to the transmission structure 20 and is arranged close to the servo steering gear 10. The clamping arm structure 30 is used to clamp a target object.

[0080] Among them, the servo steering gear 10 rotates under the control of an external control electrical signal and drives the clamping arm structure 30 to clamp or release the target object through the transmission structure 20.

[0081] The clamping device according to the embodiment of the present utility model is provided with a servo steering gear 10, a transmission structure 20 and a clamping arm structure 30. The transmission structure 20 and the clamping arm structure 30 are both arranged close to the servo steering gear 10. The servo steering gear 10 is connected to the transmission structure 20, and the transmission structure 20 is connected to the clamping arm structure 30. The servo steering gear 10 receives the control electrical signal from an external controller, rotates under the control of the external control electrical signal, and drives the clamping arm structure 30 to clamp or release the target object through the transmission structure 20. Since the clamping device as a whole transmits the control electrical signal to the external controller at the rear end in the form of an electrical signal, there is no structural loss in the control transmission between the clamping device and the external controller, which can improve the clamping control accuracy of the clamping device. Moreover, the servo steering gear 10 has a high integration degree, occupies a small space and has a small weight, which is beneficial to the miniaturization of the clamping device.

[0082] Among them, the servo steering gear 10 is an execution component integrating a motor 11, a speed reducer and a control drive circuit, etc. The motor 11 in the servo steering gear 10 is electrically connected to the speed reducer, and the speed reducer is electrically connected to the position sensing module 13; the servo steering gear 10 has a high integration degree.

[0083] In an alternative embodiment of the present application, with reference to Figures 2 to 4 , the transmission structure 20 includes a worm 21, and the clamping arm structure 30 includes a first clamping arm 31 and a second clamping arm 32. A clamping space for clamping the target object is formed between the first clamping arm 31 and the second clamping arm 32. A first turbine 311 meshing with the spiral teeth on the worm 21 is arranged on the first clamping arm 31, and a second turbine 321 meshing with the spiral teeth on the worm 21 is arranged on the second clamping arm 32. The driving end of the servo steering gear 10 is connected to the worm 21 and drives the worm 21 to rotate. The spiral teeth on the worm 21 mesh with the first turbine 311 and the second turbine 321 to drive the first clamping arm 31 and the second clamping arm 32 to approach or move away from each other.

[0084] The transmission structure 20 uses a worm 21 that meshes with a first turbine 311 on the first clamping arm 31 and a second turbine 321 on the second clamping arm 32. When the driving end of the servo actuator 10 rotates, it can drive the worm 21 to rotate. Due to the meshing action of the first turbine 311 and the second turbine 321 with the worm 21, the worm 21 can transmit the rotation of the driving end of the servo actuator 10 to the first turbine 311 on the first clamping arm 31 and the second turbine 321 on the second clamping arm 32, causing the first clamping arm 31 and the second clamping arm 32 to approach each other, thereby clamping the target object. When the driving end of the servo actuator 10 rotates in the reverse direction, driving the worm 21 to rotate in the opposite direction, it can drive the first clamping arm 31 and the second clamping arm 32 to move away from each other, thereby releasing the clamped target object. The structure of using the worm 21 in cooperation with the first turbine 311 and the second turbine 321 for transmission is simple, and it can reliably convert the angle value of the rotation of the servo actuator 10 into the angle values of the first clamping arm 31 and the second clamping arm 32, further improving the accuracy of the clamping action of the overall clamping device. Moreover, the simple structure is conducive to the miniaturization of the clamping device.

[0085] Reference Figures 3 to 5 In the embodiment, the clamping device further includes a camera module 40. The camera module 40 is used to capture images or videos of the front-end area of the clamping device and transmit the image data or video data to an external controller.

[0086] The camera module 40 integrates components such as a camera, an image sensor, and an image processor. By setting the camera module 40, images or videos of the front-end area of the clamping device can be captured to form stable image data or video data, and the environmental images or videos used by the clamping device can be fed back to the external controller for the external controller to use as a reference for visual detection and operation guidance of the environment in which the clamping device is used. The high integration degree of the camera module 40 is conducive to the miniaturization of the overall clamping device.

[0087] Further, continuing to refer to Figures 3 to 5 , the clamping device further includes an illumination module 50. The illumination module 50 is used to provide illumination for the shooting of the camera module 40.

[0088] By setting the illumination module 50, sufficient light is provided for the camera module 40. Appropriate illumination can improve the image quality, reduce noise and blurring, and further ensure that the camera module 40 obtains clear and accurate images.

[0089] Reference Figure 1 、 Figure 4 and Figure 5 , the clamping device further includes a first fixing seat 60 and a second fixing seat 70 connected to the first fixing seat 60. The servo actuator 10 is installed in the first fixing seat 60, the camera module 40 and the illumination module 50 are installed on the second fixing seat 70, and the first clamping arm 31 and the second clamping arm 32 are rotatably connected to the second fixing seat 70.

[0090] By setting the first fixed seat 60 as a carrier, the servo steering gear 10 can be installed and fixed. The second fixed seat 70 can be used as a carrier for installing the camera module 40 and the lighting module 50. The settings of the first fixed seat 60 and the second fixed seat 70 can closely combine the servo steering gear 10, the camera module 40 and the lighting module 50, making the overall structure more compact. Moreover, the second fixed seat 70 can provide a rotating support for the first clamping arm 31 and the second clamping arm 32 to approach or move away from each other, making the overall structure of the clamping device more reliable. During specific implementation, the servo steering gear 10 is installed in the first fixed seat 60, and the first fixed seat 60 can protect the servo steering gear 10.

[0091] Specifically, referring to Figure 1 、 Figure 2 and Figure 5 , the second fixed seat 70 includes a first sub-fixed seat 71 and a second sub-fixed seat 72. The camera module 40 and the lighting module 50 are installed on the first sub-fixed seat 71. The clamping arm structure 30 further includes a first rotating shaft 33, a second rotating shaft 34, a first bearing 35 and a second bearing 36. One end of the first rotating shaft 33 and one end of the second rotating shaft 34 are respectively installed on two rotating holes of the first sub-fixed seat 71, and the other end of the first rotating shaft 33 and the other end of the second rotating shaft 34 are respectively installed on two rotating holes of the second sub-fixed seat 72. The first bearing 35 is sleeved on the outer side wall of the first rotating shaft 33 and is located between the first sub-fixed seat 71 and the second sub-fixed seat 72. The second bearing 36 is sleeved on the outer side wall of the second rotating shaft 34 and is located between the first sub-fixed seat 71 and the second sub-fixed seat 72. The first clamping arm 31 is installed on the first bearing 35, and the second clamping arm 32 is installed on the second bearing 36.

[0092] Both the first clamping arm 31 and the second clamping arm 32 are rotatably connected to the second fixed seat 70 by means of the cooperation of bearings and rotating shafts, which can reduce the friction between the first clamping arm 31 and the second clamping arm 32 and the corresponding rotating shafts, improve the service life of the overall clamping device, and the first clamping arm 31 and the second clamping arm 32 are more stable during the clamping operation, and can accurately control the clamping force and position. Both ends of the first rotating shaft 33 and both ends of the second rotating shaft 34 are respectively connected to the first sub-fixed seat 71 and the second sub-fixed seat 72. The first bearing 35 and the second bearing 36 are both located between the first sub-fixed seat 71 and the second sub-fixed seat 72. The first sub-fixed seat 71 and the second sub-fixed seat 72 can limit the first bearing 35 and the second bearing 36 in the vertical direction of the axis of the corresponding rotating shaft to prevent the first bearing 35 and the second bearing 36 from disengaging from the corresponding rotating shafts, and prevent the first clamping arm 31 and the second clamping arm 32 from disengaging from the corresponding rotating shafts, ensuring the reliability of the rotation of the first clamping arm 31 and the second clamping arm 32.

[0093] Among them, the second sub-fixed seat 72 is provided with a first limiting groove 721 and a second limiting groove 722. The first limiting groove 721 is used to limit the rotation angle of the first clamping arm 31, and the second limiting groove 721 is used to limit the rotation angle of the second clamping arm 32. The first limiting groove 721 combines with the servo steering gear 10 to double-limit the rotation angle of the first clamping arm 31 from the hard limit and the soft range, ensuring the reliability of the first clamping arm 31 and preventing the loss of angle information. Similarly, the second limiting groove 722 combines with the servo steering gear 10 to double-limit the rotation angle of the second clamping arm 32 from the hard limit and the soft range, ensuring the reliability of the second clamping arm 32 and preventing the loss of angle information. During the specific process of installing the camera module 40, the camera module 40 can be arranged in the first sub-fixed seat 71, and the camera module 40 of the camera module 40 is exposed on the outer surface of the first sub-fixed seat 71. The first sub-fixed seat 71 can effectively protect the camera module 40. Moreover, a lens protection film can be arranged outside the camera of the camera module 40 to protect the camera.

[0094] Reference Figure 3 , the lighting module 50 includes a plurality of LED lights 51 arranged on the second fixed seat 70. The plurality of LED lights 51 and the shooting window of the camera module 40 are on the same side of the second fixed seat 70, and the plurality of LED lights 51 are evenly distributed outside the shooting window of the camera module 40.

[0095] The lighting module 50 includes a plurality of LED lights 51. By evenly distributing the plurality of LED lights 51 outside the shooting window of the camera module 40, a uniform lighting effect can be provided, which helps to eliminate the problems of shadows and uneven light, ensures that the target area is fully illuminated, and improves the image quality and clarity of the camera module 40; the arrangement position of the LED lights enables the light to directly irradiate the target area, reducing the light interference and influence caused by reflection, which helps the camera module 40 to obtain clear and accurate images and improves the accuracy of detection and recognition.

[0096] Among them, the lighting module 50 uses LED lights 51. The LED lights 51 have a high photoelectric conversion efficiency and can generate more light with less energy, so they can reduce energy consumption; the LED lights 51 have a high seismic resistance and are not easily affected by vibration and impact; the LED lights 51 have a fast startup speed and do not require a preheating time and can immediately reach the full-bright state; the heat generated by the LED lights 51 during operation is relatively low, which can reduce the impact on the application environment.

[0097] Reference Figure 2 、 Figure 5 and Figure 6, the servo actuator 10 is internally provided with a motor 11 and a current detection module 12. The driving end of the motor 11 is connected to the transmission structure 20. The current detection module 12 is used to detect the driving current of the motor 11 and transmit the driving current data to an external controller.

[0098] Through the current detection module 12 built in the servo actuator 10, the driving current of the motor 11 built in the servo actuator 10 can be detected. This driving current reflects the torque of the clamping arm structure 30 for clamping the target object. The driving current is feedback-transmitted to the external controller, and the external controller can adjust the control electrical signal, thereby adjusting the clamping torque of the clamping arm structure 30 to clamp the target object with an appropriate torque, avoiding damage to the target object caused by excessive clamping force, and achieving more precise clamping control of the clamping device. The external controller can also monitor the working state of the motor 11 based on the detection result of the current detection module 12.

[0099] Among them, the current detection module 12 transmits and feeds back to the external controller in the form of electrical signals, reducing the mechanical loss of the feedback transmission between the external controller and the clamping device. Specifically, in implementation, the current detection module 12 can use a current sensor to collect the driving current of the motor 11.

[0100] Furthermore, the servo actuator 10 is internally provided with a position sensing module 13. The position sensing module 13 is used to detect the rotation angle of the motor 11 and transmit the angle data to the external controller.

[0101] Through the position sensing module 13 built in the servo actuator 10, the rotation angle of the motor 11 built in the servo actuator 10 can be detected. This angle data reflects the clamping angle of the clamping arm structure 30, specifically the opening and closing angle of the first clamping arm 31 and the second clamping arm 32. The detected angle data is transmitted to the external controller, and the external controller can adjust the control signal, thereby adjusting the clamping angle of the clamping arm structure 30 to make the clamping arm structure 30 adapt to clamping target objects of different sizes, further improving the precise control of the clamping action of the clamping device.

[0102] Among them, the position sensing module 13 transmits and feeds back to the external controller in the form of electrical signals, reducing the mechanical loss of the feedback transmission between the external controller and the clamping device.

[0103] Specifically, the position sensing module 13 can use an encoder. The encoder can measure the rotation angle of the motor 11, detect the rotation position of the motor 11, and transmit the detection result to the external controller. The external controller can accurately know the rotation angle of the motor 11, thereby achieving more precise position control.

[0104] An embodiment of the present utility model further provides a clamping system. The clamping system includes a controller, a transmission line, and the above-mentioned clamping device. The controller is connected to the servo steering gear 10 of the clamping device through the transmission line and transmits a control electrical signal to the servo steering gear 10 through the transmission line.

[0105] Referring to Figure 1 , Figure 2 and Figure 6 , in the clamping system of the embodiment of the present utility model, by providing a servo steering gear 10, a transmission structure 20, and a clamping arm structure 30, the transmission structure 20 and the clamping arm structure 30 are both arranged close to the servo steering gear 10. The servo steering gear 10 is connected to the transmission structure 20, and the transmission structure 20 is connected to the clamping arm structure 30. The servo steering gear 10 receives the control electrical signal from the controller, rotates under the control of the external control electrical signal, and drives the clamping arm structure 30 to clamp or release the target object through the transmission structure 20. Since the clamping device as a whole transmits the control electrical signal to the backend controller in the form of an electrical signal, there is no structural loss in the control transmission between the clamping device and the controller, which can improve the clamping control accuracy of the clamping device. Moreover, the servo steering gear 10 has a high integration degree, occupies a small space, and has a small weight, which is beneficial to the miniaturization of the clamping device.

[0106] Among them, the clamping system of the present application includes the hardware structure of the controller and the clamping device. The external controller is connected to the user terminal through a data line, and the external controller synchronously transmits the working state of the clamping device to the user terminal through the data line. The staff of the user terminal adjusts the working position of the clamping device through the controller.

[0107] The controller receives the motor drive current data of the motor 11 connected to the motor drive module 14 and the motor rotation angle data of the motor 11 feedback by the position sensing module 13 through the transmission line. Adjusting the control signal according to the drive current data and the rotation angle data can be realized by an existing chip.

[0108] Preferably, the chip is purchased from the STMB2F10BCSTS model of STMicroelectronics.

[0109] It should be understood that the above embodiments are only used to illustrate the technical solutions of the present utility model, rather than to limit it. For those skilled in the art, the technical solutions recorded in the above embodiments can be modified, or some of the technical features can be equivalently replaced;

[0110] For example, in the embodiment, teeth can also be provided on the first clamping arm 31 and the second clamping arm 32, and the transmission structure 20 can also be configured to cooperate with the teeth on the first clamping arm 31 and the second clamping arm 32 through a plurality of gears to achieve the transmission of the driving end of the servo motor 10, driving the first clamping arm 31 and the second clamping arm 32 to approach or move away from each other to clamp or release the target object. In the embodiment, the first clamping arm 31 and the second clamping arm 32 can also be directly rotatably connected to the second fixed seat 70 through corresponding rotating shafts. The above method of cooperating the bearing and the rotating shaft makes the rotation more reliable. In the embodiment, the lighting module 50 can adopt a fiber light source to provide illumination for the imaging module 40. In the new embodiment, other connection methods can also be set by means of screw fixed connection, such as welding, clamping, etc. For those using data cables to connect corresponding components, wireless connection can also be used.

[0111] All such modifications and substitutions shall fall within the protection scope of the appended claims of the present utility model.

Claims

1. A clamping device, comprising a first fixing base (60), characterized in that, One side wall of the first fixed seat (60) is fixedly and fittingly connected to one side wall of the first sub-fixed seat (71) of the second fixed seat (70). The second sub-fixed seat (72) is fixedly connected below the first sub-fixed seat (71). A servo steering gear (10) is installed in the first fixed seat (60). One side of the servo steering gear (10) is connected to a transmission structure (20). The transmission structure (20) is rotatably connected to the outer side walls of the first clamping arm (31) and the second clamping arm (32) in the clamping arm structure (30). A camera module (40) is installed in the first sub-fixed seat (71). A lighting module (50) is fixedly connected to the front groove of the first sub-fixed seat (71).

2. The clamping device according to claim 1, wherein One end of the first rotating shaft (33) and one end of the second rotating shaft (34) of the clamping arm structure (30) are respectively installed on each rotating hole on the lower side of the first sub-fixed seat (71). The other end of the first rotating shaft (33) and the other end of the second rotating shaft (34) are respectively installed on each rotating hole on the upper side of the second sub-fixed seat (72).

3. The clamping device according to claim 1, characterized in that, The inner side wall of the first bearing (35) is sleeved on the outer side wall of the first rotating shaft (33) of the clamping arm structure (30). The outer side wall of the first bearing (35) is rotatably connected to the inner side wall of the first clamping arm (31).

4. The clamping device according to claim 1, characterized in that, The inner side wall of the second bearing (36) is sleeved on the outer side wall of the second rotating shaft (34) of the clamping arm structure (30). The outer side wall of the second bearing (36) is rotatably connected to the inner side wall of the second clamping arm (32).

5. A clamping device according to claim 1, wherein, The driving end of the motor (11) inside the servo steering gear (10) is rotatably connected to the worm (21) of the transmission structure (20). The two side walls of the helical teeth of the worm (21) are respectively meshed and rotatably connected to the first turbine (311) on the first clamping arm (31) and the second turbine (321) on the second clamping arm (32).

6. The clamping device according to claim 1, wherein The current detection module (12) and the position sensing module (13) inside the servo steering gear (10) are connected to an external controller through a data transmission line. The external controller is connected to a motor drive module (14) through a data transmission line.

7. A clamping device according to claim 1, characterized in that, The motor drive module (14) of the motor (11) inside the servo steering gear (10) is connected to the motor (11) through a data transmission line. The internally integrated current detection module (12) is directly connected to the output end of the current sensor.

8. The clamping device according to claim 1, characterized in that, A lens protection sheet is installed on the outer side wall of the camera of the camera module (40).

9. A clamping device according to claim 1, wherein A plurality of LED lights (51) are arranged on the lighting module (50). The plurality of LED lights (51) are evenly arranged on the outer side of the shooting window of the camera module (40).

10. A clamping device according to claim 1, wherein A motor drive module (14) is installed inside the housing of the servo steering gear (10). The motor drive module (14) is directly connected to the motor (11). The motor drive module (14) also integrates a drive current detection module (12) of the motor (11). The motor (11) is also connected to the encoder of the position sensing module (13) inside the housing of the servo steering gear (10) through a transmission line; The current detection module (12) is connected to the controller through a data transmission line; The encoder of the position sensing module (13) is connected to the controller through a data transmission line; The motor drive module (14) is connected to the controller through a data transmission line; The motor drive module (14) is connected to the current detection module (12) through a data transmission line; The controller is connected to the image processor of the camera module (40) through a data transmission line. The image processor of the camera module (40) is connected to the image sensor of the camera module (40) through a transmission line, and the image sensor is connected to the camera through a data line; The control terminal is connected to the data transmission module through a data transmission line, and the data transmission module is connected to the user terminal through a data transmission line.

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