Clamping mechanism and carrying robot with same

Abstract

The clamping mechanism comprises a linear driving mechanism, a connecting base and two opposite clamping arms, the linear driving mechanism is provided with a driving rod, the connecting base is connected with the linear driving mechanism, the driving rod telescopically penetrates through the connecting base, and each clamping arm is provided with a first end and a second end which are opposite. The first end and the driving rod are movably connected and can rotate and slide relatively, the two second ends arranged on the two clamping arms are hinged to the two opposite ends of the connecting base in a one-to-one correspondence mode, the driving rod has an extending state and a retracting state, and in the extending state, the driving rod pushes the two first ends of the two clamping arms to drive the two clamping arms to rotate. In the retraction state, the driving rod pulls the two first ends of the two clamping arms to enable the two second ends of the two clamping arms to reversely rotate relative to the connecting base, and in the retraction state, the driving rod pulls the two first ends of the two clamping arms to enable the two second ends of the two clamping arms to oppositely rotate relative to the connecting base. The self weight is reduced, the cost is saved, the clamping arms can act synchronously, and the clamping precision and efficiency are ensured.

Description

Technical Field

[0001] The present application relates to the technical field of workpiece handling, and in particular to a clamping mechanism and a handling robot having the same. Background Art

[0002] This section merely provides background information related to the present disclosure and is not necessarily prior art.

[0003] Current tool handling grippers generally use multiple clamping units to clamp and position the workpiece to ensure the relative stability of the workpiece during the handling process.

[0004] The existing clamping unit uses a double-cylinder clamping method to clamp the two sides of the workpiece. This solution requires the cylinders on both sides to move in a coordinated manner, which increases the movement rhythm. In addition, the double-cylinder drive method will lead to an increase in the manufacturing cost and weight of the gripper. The increase in the weight of the gripper will increase the load of the robot and lead to an increase in the cost of robot selection. Utility Model Content

[0005] The purpose of this application is to at least solve the technical problems that the existing clamping mechanism uses a double-cylinder clamping method, which increases the cost and weight of the gripper and makes it difficult to ensure clamping efficiency and precision. This purpose is achieved through the following technical solutions:

[0006] The first aspect of the present application provides a clamping mechanism, including a linear drive mechanism, a connecting seat and two relatively arranged clamping arms, the linear drive mechanism is provided with a driving rod, the connecting seat and the linear drive mechanism are connected, and the driving rod can telescopically pass through the connecting seat, the clamping arm has a first end and a second end that are relatively arranged, the first end of the clamping arm and the driving rod are movably connected and the first end and the driving rod can rotate and slide relative to each other, the two second ends respectively arranged on the two clamping arms are hinged to the opposite ends of the connecting seat in a one-to-one correspondence, the driving rod has an extended state and a retracted state, in the extended state, the driving rod pushes the two first ends of the two clamping arms to make the two second ends of the two clamping arms rotate in opposite directions relative to the connecting seat, and in the retracted state, the driving rod pulls the two first ends of the two clamping arms to make the two second ends of the two clamping arms rotate towards each other relative to the connecting seat.

[0007] By setting up a linear drive mechanism to drive the two clamping arms to rotate, the workpiece can be clamped or released. Since there is only one linear drive mechanism, on the one hand, the weight of the mechanism is reduced and the cost of cylinder setting is saved. On the other hand, the clamping arms on both sides can move simultaneously, ensuring clamping accuracy and clamping efficiency.

[0008] In some embodiments, an elongated sliding hole is provided on one of the first end of the clamping arm and the driving rod, and a connecting hole is provided on the other one. The clamping mechanism also includes a first connecting component, which connects the elongated sliding hole and the connecting hole, and the first connecting component can slide along the elongated sliding hole.

[0009] In some embodiments, when the elongated sliding hole is provided at the first end of the clamping arm, the elongated sliding hole has a first inner side wall away from the second end of the clamping arm, and in the retracted state, a first fitting gap L1 is provided between the first inner side wall and the first connecting component.

[0010] In some embodiments, the value of the first fitting gap L1 is 3mm≤L1≤5mm.

[0011] In some embodiments, the elongated sliding hole has a second inner side wall close to the second end of the clamping arm. In the retracted state, a second fitting gap L2 is defined between the second inner side wall and the first connecting assembly.

[0012] In some embodiments, the value of the second fitting gap L2 is 0mm<L2≤1mm.

[0013] In some embodiments, the first connecting assembly includes a first shaft, and the first shaft is engaged with the elongated sliding hole and the connecting hole.

[0014] In some embodiments, the first connecting component further includes a bearing, the bearing is sleeved on the first shaft, and the bearing is slidably and rotatably disposed in the elongated sliding hole.

[0015] In some embodiments, a first hole is provided on one of the second end of the clamping arm and the connecting seat, and a second hole corresponding to the first hole is provided on the other one, and the clamping mechanism also includes a second connecting component, which can be rotatably provided in the first hole and the second hole.

[0016] In some embodiments, the second connecting assembly includes a second shaft and a sleeve, the second shaft is rotatably disposed in the first hole and the second hole, and the sleeve is sleeved on the second shaft.

[0017] In some embodiments, the clamping arm includes a pressure arm and a pressure head, the pressure arm is provided with the first end and the second end, the pressure arm is provided with an L-shaped structure, the second end is provided at the corner of the L-shaped structure, the pressure head and the pressure arm are fixedly connected, and the pressure head is suitable for clamping or releasing the workpiece.

[0018] The second aspect of the present application further provides a handling robot comprising the clamping mechanism of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present application. The same reference symbols are used throughout the drawings to represent the same components. In the drawings:

[0020] Figure 1 This is a schematic diagram of the overall structure of a clamping mechanism according to an embodiment of the present application;

[0021] Figure 2 This is a schematic diagram of the three-dimensional exploded structure of a clamping mechanism according to one embodiment of the present application;

[0022] Figure 3 This is a schematic diagram of the overall structure of the piston rod of the clamping mechanism in an embodiment of the present application in an extended state;

[0023] Figure 4 A cross-sectional view of a clamping mechanism according to an embodiment of the present application;

[0024] Figure 5 This is an enlarged view of a detail of a clamping mechanism according to an embodiment of the present application;

[0025] Figure 6 This is a schematic diagram of the partial structure of a handling robot according to an embodiment of the present application.

[0026] The accompanying drawings are numerals as follows:

[0027] 10. Linear drive mechanism; 11. Drive rod; 111. U-shaped connector; 1111. Connecting hole;

[0028] 20. Connecting seat; 21. Second hole;

[0029] 30. Clamping arm; 31. Pressing arm; 311. Long sliding hole; 3111. First inner side wall; 3112. Second inner side wall; 312. First hole; 32. Pressing head;

[0030] 40. Bearings;

[0031] 50. Bushing;

[0032] 100. Workpiece;

[0033] 200. Robot body. DETAILED DESCRIPTION

[0034] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that the present application illustrates the mounting assembly through the external camera of the vehicle, which is only a preferred embodiment and is not a limitation on the scope of application of the mounting assembly. For example, the mounting assembly of the present application can also be used to install other external sensors such as radar sensors, etc. Such adjustments also fall within the scope of protection of the mounting assembly of the present application.

[0035] It should be understood that the terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, as used herein, the singular forms "a," "an," and "the" may also be intended to include the plural forms. The terms "comprise," "include," and "have" are inclusive and, therefore, specify the presence of the stated features, elements, and / or components, but do not preclude the presence or addition of one or more other features, elements, components, and / or combinations thereof.

[0036] Although the terms first, second, etc. may be used herein to describe multiple elements, components, regions, layers and / or sections, these elements, components, regions, layers and / or sections should not be limited by these terms. These terms may only be used to distinguish one element, component, region, layer or section from another region, layer or section. Unless the context clearly indicates otherwise, terms such as "first", "second" and other numerical terms do not imply a sequence or order when used herein. In addition, in the description of this application, unless otherwise clearly specified and limited, the terms "set" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0037] For ease of description, spatial relative terms may be used herein to describe the relationship of one element or feature relative to another element or feature as shown in the figures, such as "outside," "inside," "side," "end," "bottom," "edge," "inside," "outside," "front," "back," "top," "bottom," etc. Such spatial relative terms are intended to include different orientations of the mechanism in use or operation in addition to the orientation depicted in the figures. For example, if the mechanism in the figures flips, an element described as "below other elements or features" or "below other elements or features" will subsequently be oriented as "above other elements or features" or "above other elements or features." Therefore, the example term "below..." may include both upper and lower orientations. The mechanism may be otherwise oriented (rotated 90 degrees or in other directions) and the spatial relative descriptors used herein are interpreted accordingly.

[0038] like Figures 1 to 4 As shown, the first aspect of the embodiment of the present application provides a clamping mechanism, including a linear drive mechanism 10, a connecting seat 20 and two oppositely arranged clamping arms 30, wherein the linear drive mechanism 10 is provided with a drive rod 11, the connecting seat 20 and the linear drive mechanism 10 are connected, the drive rod 11 can telescopically pass through the connecting seat 20, the clamping arm 30 has a first end and a second end that are oppositely arranged, the first end of the clamping arm 30 and the drive rod 11 are movably connected and the first end and the drive rod 11 can rotate and slide relative to each other, the two second ends of the two clamping arms 30 are respectively arranged and hinged to the opposite ends of the connecting seat 20 in a one-to-one correspondence, the drive rod 11 has an extended state and a retracted state, in the extended state, the drive rod 11 pushes the two first ends of the two clamping arms 30 to make the two second ends of the two clamping arms 30 rotate in opposite directions relative to the connecting seat 20 to release the workpiece 100, in the retracted state, the drive rod 11 pulls the two first ends of the two clamping arms 30 to make the two second ends of the two clamping arms 30 rotate toward each other relative to the connecting seat 20 to clamp the workpiece 100.

[0039] The clamping mechanism of this embodiment is provided with a linear drive mechanism 10 to drive the two relative clamping arms 30 to rotate, thereby achieving clamping or releasing of the workpiece 100. Since there is only one linear drive mechanism 10 for driving, on the one hand, the weight of the mechanism is reduced and the cost of setting up the cylinder is saved. On the other hand, the clamping arms 30 on both sides can move simultaneously, ensuring the clamping accuracy and clamping efficiency.

[0040] It should be noted that before clamping the workpiece 100, the driving rod 11 also pushes the two first ends of the two clamping arms 30 to rotate the two second ends of the two clamping arms 30 in opposite directions relative to the connecting base 20, thereby opening the clamping arms 30 to facilitate the insertion of the workpiece 100. Similarly, the relative rotation of the two clamping arms 30 may also be a reset movement of the clamping arms 30 after clamping the workpiece 100.

[0041] Furthermore, the linear drive mechanism 10 and the two clamping arms 30 form a three-hinge connection form, and the linear drive mechanism 10 directly drives the two clamping arms 30 to move synchronously through the drive rod 11. Its power transmission path is short, the efficiency is high, and the overall size of the machine is small.

[0042] It should be noted that the workpiece 100 of the present application is a sheet metal part, specifically a thin plate, usually less than 10 mm thick. The clamping mechanism of the present application can be used to clamp and transport the sheet metal part, which is very convenient. Of course, in other embodiments, the type of workpiece 100 can be selected as needed and is not limited to the solution of this embodiment.

[0043] For example, the linear drive mechanism 10 may be a driving cylinder or a hydraulic cylinder, etc., which is not specifically limited in this embodiment.

[0044] Specifically, the driving cylinder drives the internal driving rod 11 to extend or retract by inflation or deflation. The specific structure and principle of the driving cylinder are prior art and will not be described in detail here.

[0045] The hydraulic cylinder drives the internal driving rod 11 to extend or retract through the inflow or outflow of hydraulic oil. The specific structure and principle of the hydraulic cylinder are prior art and will not be described in detail here.

[0046] The end of the driving rod 11 is provided with a U-shaped connector 111, and the driving rod 11 is connected to the first end of the clamping arm 30 through the U-shaped connector 111. Specifically, the first end of the clamping arm 30 extends into the interior of the U-shaped connector 111 and is connected to both sides of the U-shaped connector 111.

[0047] In terms of the specific connection method, in some embodiments, an elongated sliding hole 311 is provided on the first end of the clamping arm 30 and one of the driving rods 11, and a connecting hole 1111 is provided on the other one. The clamping mechanism also includes a first connecting component, which connects the elongated sliding hole 311 and the connecting hole 1111, and the first connecting component can slide along the elongated sliding hole 311.

[0048] By setting a long strip sliding hole 311 on the first end of the clamping arm 30 and one of the driving rods 11, and setting a connecting hole 1111 on the other one, a first connecting component connects the long strip sliding hole 311 and the connecting hole 1111, and the first connecting component can be slidably set along the long strip sliding hole 311, thereby realizing the rotation and movable connection between the driving rod 11 and the clamping arm 30, so that the clamping arm 30 and the driving rod 11 can achieve relative rotation, completing the clamping and release action of the workpiece 100.

[0049] It can be understood that if the first connecting component can only be rotatably set in the elongated sliding hole 311 and the connecting hole 1111, when the driving rod 11 drives the clamping arm 30 to rotate, the clamping arm 30 will be instantly locked and unable to rotate. However, through the setting of the elongated sliding hole 311, when the driving rod 11 drives the clamping arm 30 to rotate, the first connecting component can slide along the elongated sliding hole 311 to adapt to the angle change caused by the rotation of the clamping arm 30, thereby avoiding the situation where the clamping arm 30 is locked.

[0050] For example, a long strip sliding hole 311 can be provided at the first end of the clamping arm 30, and a connecting hole 1111 can be provided on the driving rod 11. Of course, in other embodiments, a connecting hole 1111 can also be provided at the first end of the clamping arm 30, and a long strip sliding hole 311 can be provided on the driving rod 11, so as to achieve a rotational and sliding connection between the clamping arm 30 and the driving rod 11.

[0051] In this embodiment, the connecting hole 1111 is specifically arranged on the U-shaped connecting head 111 at one end of the driving rod 11, and the two side walls of the U-shaped connecting head 111 are provided with connecting holes 1111. The first ends of the two clamping arms 30 are extended into the interior of the U-shaped connecting head 111, and the long strip sliding holes 311 on the two clamping arms 30 and the connecting holes 1111 on the two side walls of the U-shaped connecting head 111 are correspondingly arranged to facilitate the connection of the first connecting component.

[0052] like Figure 4 and Figure 5 As shown, in this embodiment, the elongated sliding hole 311 has a first inner side wall 3111 away from the second end of the clamping arm 30 . In the retracted state, a first fitting gap L1 is defined between the first inner side wall 3111 and the first connecting assembly.

[0053] The set first fitting gap L1 ensures that the clamping arm 30 can rotate and open under the push of the drive rod 11, and the size of the first fitting gap L1 limits the degree of rotation and opening of the clamping arm 30, that is, the larger the first fitting gap L1, the greater the driving rod 11 drives the clamping arm 30 to open, and vice versa. Therefore, the degree of rotation and opening of the clamping arm 30 can be controlled by designing the first fitting gap L1.

[0054] In this embodiment, the value of the first fitting clearance L1 is 3 mm ≤ L1 ≤ 5 mm. By setting the value of the first fitting clearance L1 within an appropriate range, the present application ensures that the driving rod 11 pushes the clamping arm 30 to open to a degree that facilitates the workpiece 100 to enter the clamping arm 30 for clamping, while preventing the clamping arm 30 from opening too much and occupying space.

[0055] It should be noted that, by designing the length of the clamping arm 30 and the value range of the first fitting gap L1, the opening distance between the two clamping arms 30 of the present application can reach 10 mm when they are opened, which can facilitate the placement of the workpiece 100 between the two clamping arms 30 without taking up space.

[0056] For example, the value of the first fitting clearance L1 may be 3 mm, 4 mm, or 5 mm, etc., which is not specifically limited in this embodiment.

[0057] In addition, since the clamping end of the clamping arm 30 often contacts and rubs against the workpiece 100, it is easy to wear out, causing the clamping arm 30 to loosen the workpiece 100, or due to manufacturing errors of the workpiece 100 (the actual size is thinner than the designed size), the clamping arm 30 rotates to the original clamping point (that is, the drive rod 11 is in the retracted state) and cannot clamp the workpiece 100.

[0058] Based on the above situation, in some embodiments, the elongated sliding hole 311 has a second inner wall 3112 close to the second end of the clamping arm 30. In the retracted state, a second fitting gap L2 is defined between the second inner wall 3112 and the first connecting assembly.

[0059] When the clamping end of the clamping arm 30 is worn and the workpiece 100 becomes loose due to manufacturing errors, the setting of the second fitting gap L2 can enable the driving rod 11 to continue to pull the first end of the clamping arm 30 in the retracted state so that the two clamping arms 30 continue to rotate closer to each other relative to the connecting seat 20, thereby further reducing the distance between the clamping ends of the two clamping arms 30 to keep the workpiece 100 clamped.

[0060] Optionally, the value of the second fitting clearance L2 is 0 mm < L2 ≤ 1 mm. By setting the value of the second fitting clearance L2 within a suitable range, the adjustment range of the clamping distance between the two clamping arms 30 is defined.

[0061] For example, the value of the second fitting clearance L2 may be 0.5 mm or 1 mm, etc., which is not specifically limited in this embodiment.

[0062] In terms of specific structural settings, in some embodiments, the first connecting assembly includes a first shaft, which is engaged with the elongated sliding hole 311 and the connecting hole 1111 to achieve the connection between the clamping arm 30 and the driving rod 11.

[0063] Furthermore, the first connecting assembly further includes a bearing 40 . The bearing 40 is sleeved on the first shaft, and the bearing 40 is slidably and rotatably disposed in the elongated sliding hole 311 .

[0064] The present application realizes the rotational connection between the driving rod 11 and the clamping arm 30 through the first shaft, and the bearing 40 can rotate in the elongated sliding hole 311 and the connecting hole 1111 to reduce friction, making the rotation between the driving rod 11 and the clamping arm 30 smoother, and also protecting the first shaft and reducing its wear.

[0065] Specifically, the bearing 40 is first sleeved on the first shaft, and then the bearing 40 and the first shaft are inserted as a whole into the elongated sliding holes 311 of the two clamping arms 30 and the connecting holes 1111 on the two side walls of the U-shaped connecting head 111. The outer ring of the bearing 40 contacts and fits with the hole walls of the elongated sliding hole 311 and the connecting hole 1111.

[0066] It can be understood here that the above-mentioned first fitting clearance L1 specifically refers to the distance between the first inner wall 3111 of the elongated sliding hole 311 and the outer surface of the bearing 40; the above-mentioned second fitting clearance L2 specifically refers to the distance between the second inner wall 3112 of the elongated sliding hole 311 and the outer surface of the bearing 40.

[0067] The connecting seat 20 specifically includes a base plate and vertical plates relatively fixed on both sides of the base plate (not shown in the figure). The base plate is fixedly connected to the cylinder body of the linear drive mechanism 10. An avoidance hole is provided on the base plate, and the drive rod 11 is arranged through the avoidance hole. The U-shaped connecting head 111 at the end of the drive rod 11 is located between the vertical plates on both sides. The vertical plate is used to be hinged to the second end of the clamping arm 30.

[0068] More specifically, two vertical plates may be provided on each side of the base plate, and the second end of the clamping arm 30 extends between the two vertical plates and is hinged to the two vertical plates, so as to guide the rotation of the clamping arm 30 through the two vertical plates.

[0069] In addition to the above-mentioned configuration, in some embodiments, a first hole 312 is provided on the second end of the clamping arm 30 and one of the connecting bases 20, and a second hole 21 is provided on the other one, and the clamping mechanism further includes a second connecting assembly, which can be rotatably disposed in the first hole 312 and the second hole 21.

[0070] By providing a first hole 312 on the second end of the clamping arm 30 and one of the connecting base 20, and providing a second hole 21 corresponding to the first hole 312 on the other one, the second connecting component can be rotatably provided in the first hole 312 and the second hole 21, thereby realizing the hinge between the clamping arm 30 and the connecting base 20.

[0071] In terms of specific structure, in some embodiments, the second connecting assembly includes a second shaft and a sleeve 50 , wherein the second shaft is rotatably disposed in the first hole 312 and the second hole 21 , and the sleeve 50 is sleeved on the second shaft.

[0072] The second shaft realizes the hinge connection between the second end of the clamping arm 30 and the connecting seat 20, and the sleeve 50 has good wear resistance and heat resistance. It can reduce the direct contact between the second shaft and the clamping arm 30 and the connecting seat 20, reduce the friction of the second shaft, protect the second shaft, reduce the wear of the second shaft, and ensure the service life of the components.

[0073] The two clamping arms 30 are symmetrically arranged on the connecting base 20 . The two clamping arms 30 are rotated toward each other to clamp the workpiece 100 , and the two clamping arms 30 are rotated away from each other to release the workpiece 100 .

[0074] In terms of specific structure, in some embodiments, the clamping arm 30 includes a pressing arm 31 and a pressing head 32, wherein the pressing arm 31 is provided with a first end and a second end, the pressing arm 31 is provided with an L-shaped structure, and the second end is provided at the corner of the L-shaped structure, the pressing head 32 and the pressing arm 31 are fixedly connected, and the pressing head 32 is suitable for clamping or releasing the workpiece 100.

[0075] By configuring the clamping arm 30 to include a pressure arm 31 and a pressure head 32 , the pressure arm 31 is connected to the connecting seat 20 and the driving rod 11 , and the pressure head 32 is used to abut against the workpiece 100 to clamp the workpiece 100 .

[0076] Specifically, the second end is arranged at the connection between the horizontal section and the vertical section of the L-shaped structure, and the first end is set at the end of the horizontal section of the L-shaped structure away from the vertical section. The vertical section of the L-shaped structure is used to be fixedly connected to the pressure head 32.

[0077] Correspondingly, the pressing head 32 can be set as an L-shaped head, the vertical section of the L-shaped head is fixedly connected to the vertical section of the pressing arm 31, and is used to abut and cooperate with the side of the workpiece 100. The horizontal section of the L-shaped arm is set away from the connecting seat 20, and is used to abut and cooperate with the top surface of the workpiece 100, thereby achieving stable clamping of the workpiece 100.

[0078] In this embodiment, the first hole 312 is arranged at the second end of the L-shaped structure, and the second hole 21 is arranged on the vertical plate of the connecting seat 20. The connection between the horizontal section and the vertical section of the L-shaped structure extends between the two vertical plates, so that the first hole 312 and the second holes 21 on the two vertical plates correspond to each other, and the second shaft with the shaft sleeve 50 is inserted into the first hole 312 and the two second holes 21 to realize the hinged connection of the clamping arm 30 and the connecting seat 20.

[0079] Of course, in other embodiments, the shapes of the pressing arm 31 and the pressing head 32 can be adjusted as needed and are not limited to the solution of this embodiment.

[0080] Below, in order to facilitate the understanding of the clamping mechanism of this application, Figure 1 To the attached Figure 4 , the usage process is introduced as follows:

[0081] When releasing the workpiece 100, the driving rod 11 is in an extended state, and the linear driving mechanism 10 drives the driving rod 11 to extend. The driving rod 11 pushes the first ends of the two clamping arms 30, so that the sleeve 50 rotates in the long strip sliding hole 311 and the connecting hole 1111. At the same time, the sleeve 50 adaptively slides along the long strip sliding hole 311, so that the second ends of the two clamping arms 30 rotate away from the connecting seat 20 to release the workpiece 100.

[0082] When clamping the workpiece 100, the driving rod 11 is in a retracted state, and the linear driving mechanism 10 drives the driving rod 11 to retract. The driving rod 11 pulls the first ends of the two pressing arms 31, so that the shaft sleeve 50 rotates in the long strip sliding hole 311 and the connecting hole 1111, and the shaft sleeve 50 adaptively slides back along the long strip sliding hole 311, driving the second ends of the two pressing arms 31 to rotate closer to the connecting seat 20, thereby driving the pressing heads 32 on the two pressing arms 31 to approach each other to clamp the workpiece 100;

[0083] When there is a manufacturing error in the workpiece 100 or the pressure head 32 is worn, resulting in loose clamping, when the clamping mechanism is in the retracted state of clamping the workpiece 100, the driving mechanism continues to drive the driving rod 11 to retract, and the driving rod 11 continues to pull the first end of the clamping arm 30, so that the sleeve 50 further slides in the second fitting gap of the elongated sliding hole 311, driving the two pressure arms 31 to rotate closer together, thereby further reducing the distance between the two pressure heads 32 to keep the workpiece 100 clamped.

[0084] like Figure 6 As shown, the second aspect of the embodiment of the present application further provides a handling robot, including the clamping mechanism of the present application.

[0085] The handling robot of this embodiment has a clamping mechanism that only has one linear drive mechanism 10 to drive the clamping arms 30 on both sides to rotate to clamp or release the workpiece 100, so that the weight of the clamping mechanism is reduced, which can reduce the load of the handling robot and save the selection cost of the handling robot.

[0086] Specifically, the handling robot further includes a robot body 200 , and the above-mentioned clamping mechanism is installed on the robot body 200 .

[0087] In some embodiments, the robot body 200 is configured to move in the vertical direction and / or the horizontal direction to drive the clamping mechanism to move in the vertical direction and / or the horizontal direction, thereby driving the workpiece 100100 to move.

[0088] The above is only a preferred specific implementation method of the present application, but the scope of protection of the present application is not limited thereto. Any changes or replacements that can be easily thought of by any technician familiar with this technical field within the technical scope disclosed in this application should be covered by the scope of protection of the present application.

Claims

1. A clamping mechanism, characterized in that: include: A linear drive mechanism (10), wherein the linear drive mechanism (10) is provided with a drive rod (11); A connecting seat (20) is connected to the linear drive mechanism (10), and the drive rod (11) can telescopically pass through the connecting seat (20); Two clamping arms (30) are arranged opposite to each other, each of the clamping arms (30) having a first end and a second end arranged opposite to each other, the first end of the clamping arm (30) and the driving rod (11) being movably connected and being able to rotate and slide relative to each other, and the two second ends respectively arranged on the two clamping arms (30) being hinged to the opposite ends of the connecting seat (20) in a one-to-one correspondence; The driving rod (11) has an extended state and a retracted state. In the extended state, the driving rod (11) pushes the two first ends of the two clamping arms (30) to make the two second ends of the two clamping arms (30) rotate in opposite directions relative to the connecting seat (20). In the retracted state, the driving rod (11) pulls the two first ends of the two clamping arms (30) to make the two second ends of the two clamping arms (30) rotate in opposite directions relative to the connecting seat (20).

2. The clamping mechanism according to claim 1, characterized in that: An elongated sliding hole (311) is provided on one of the first end of the clamping arm (30) and the driving rod (11), and a connecting hole (1111) is provided on the other one of the first end and the driving rod (11). The clamping mechanism further comprises a first connecting component, which connects the elongated sliding hole (311) and the connecting hole (1111), and the first connecting component can slide along the elongated sliding hole (311).

3. The clamping mechanism according to claim 2, characterized in that: When the elongated sliding hole (311) is arranged at the first end of the clamping arm (30), the elongated sliding hole (311) has a first inner side wall (3111) away from the second end of the clamping arm (30), and in the retracted state, a first fitting gap L1 is provided between the first inner side wall (3111) and the first connecting component.

4. The clamping mechanism according to claim 3, characterized in that: The value of the first fitting gap L1 is: 3mm≤L1≤5mm.

5. The clamping mechanism according to claim 3, characterized in that: The elongated sliding hole (311) has a second inner side wall (3112) close to the second end of the clamping arm (30), and in the retracted state, a second fitting gap L2 is provided between the second inner side wall (3112) and the first connecting assembly.

6. The clamping mechanism according to claim 5, characterized in that: The value of the second fitting gap L2 is: 0mm<L2≤1mm.

7. The clamping mechanism according to any one of claims 2 to 6, characterized in that: The first connecting assembly comprises a first shaft, and the first shaft is fitted in the elongated sliding hole (311) and the connecting hole (1111).

8. The clamping mechanism according to claim 7, characterized in that: The first connecting component further comprises a bearing (40), the bearing (40) being sleeved on the first shaft, and the bearing (40) being slidably and rotatably disposed in the elongated sliding hole (311).

9. The clamping mechanism according to any one of claims 1 to 6, characterized in that: A first hole (312) is provided on one of the second end of the clamping arm (30) and the connecting seat (20), and a second hole (21) corresponding to the first hole (312) is provided on the other end thereof. The clamping mechanism further comprises a second connecting assembly, which is rotatably disposed in the first hole (312) and the second hole (21).

10. The clamping mechanism according to claim 9, characterized in that: The second connection component includes: a second shaft rotatably disposed in the first hole (312) and the second hole (21); A shaft sleeve (50) is sleeved on the second shaft.

11. The clamping mechanism according to any one of claims 1 to 6, characterized in that: The clamping arm (30) comprises: A pressure arm (31) having the first end and the second end provided thereon, the pressure arm (31) being configured as an L-shaped structure, the second end being disposed at a corner of the L-shaped structure; A pressing head (32) is fixedly connected to the pressing arm (31), and the pressing head (32) is suitable for clamping or releasing the workpiece (100).

12. A transport robot, characterized in that: The invention comprises the clamping mechanism according to any one of claims 1 to 11.

Images