Clamping device and mechanical arm

Abstract

The utility model relates to the technical field of product clamping, in particular to a clamping device and a mechanical arm. The clamping device comprises a mounting part, a clamping arm mechanism and an elastic mechanism, the clamping arm mechanism comprises a floating part and two clamping arms arranged on the floating part, each clamping arm comprises a clamping end, the two clamping ends can be close to or away from each other, and the floating part is in floating connection with the mounting part in the first preset direction through the elastic mechanism; when the mechanical arm clamps the product, the elastic mechanism can allow the floating piece to deviate to a certain extent in the first preset direction, position compensation of the product in the first preset direction is achieved, and jamming of the clamping arm and deformation of the product can be avoided. The clamping device is applied to the mechanical arm, so that clamping of the clamping arm and deformation of a product can be avoided.

Description

Technical Field

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

[0002] During the production process of products, it is often necessary to use a robotic arm to transfer products from one workstation to the next. The robotic arm usually includes a robotic arm body and a clamping device. The clamping device is used to grab the product, and the robotic arm body is used to drive the clamping device and the product to move, thereby realizing the transfer of products from different workstations.

[0003] Existing clamping devices usually include a driving cylinder and two clamping arms. The driving cylinder can drive the two clamping arms to move closer to or away from each other. However, the output end of the driving cylinder is rigidly connected to the clamping arm. When the clamping device is clamping or opening the product, the relative position of the clamping device and the product is not ideal or there is a deviation, which may cause the clamping jaws to get stuck or the product to be deformed.

[0004] Therefore, it is urgent to design a new clamping device and robotic arm to improve the problems of clamping jaws or product deformation. Utility Model Content

[0005] One purpose of the present utility model is to provide a clamping device that can avoid the jamming of the clamping arm and the deformation of the product.

[0006] To achieve this purpose, the present invention adopts the following technical solutions:

[0007] A clamping device comprising:

[0008] Mounting parts;

[0009] A clamping arm mechanism, comprising a floating member and two clamping arms disposed thereon, wherein the clamping arms include clamping ends, and the two clamping ends can move closer to or farther away from each other; and

[0010] An elastic mechanism, wherein the floating member is connected to the mounting member in a floating manner along a first preset direction via the elastic mechanism.

[0011] As an optional solution, the elastic mechanism includes two springs that can be telescopically deformed along the first preset direction, one end of each spring is connected to the mounting member, and the other end of each spring is connected to the floating member, and the two springs are arranged along the first preset direction and are located on both sides of the floating member.

[0012] As an optional solution, the clamping device further includes:

[0013] A guide mechanism is provided between the mounting member and the floating member, and the guide mechanism is configured to cause the floating member to move relative to the mounting member along the first preset direction.

[0014] As an optional solution, the guide mechanism is a guide member extending along the first preset direction, and the mounting member is provided with a guide through hole extending along the first preset direction. The guide member is inserted into the guide through hole and can slide along the guide through hole.

[0015] As an optional solution, the number of the guide members is two, and the two guide members are arranged on both sides of the floating member and spaced apart along the first preset direction; and / or

[0016] The clamping device further includes a sliding bearing, which is arranged between the guide member and the side wall of the guide through hole.

[0017] As an optional solution, the two clamping arms are cross-arranged and are both rotatably connected to the mounting member, the clamping arm further includes a driving end, and the clamping device further includes a driving mechanism, which is configured to move the two driving ends closer to or farther away from each other.

[0018] As an optional solution, the driving mechanism includes a driving mechanism main body, an output end and an elastic member, the output end is arranged between the two driving ends, the output end has an inclined surface, and an elastic member is arranged between the driving end and the mounting member, the elastic member can make the driving end abut against the corresponding inclined surface, and the output end can move relative to the driving mechanism main body along a second preset direction so that the driving end slides along the inclined surface to drive the two driving ends to approach or move away from each other along the first preset direction, and the first preset direction and the second preset direction are different.

[0019] As an optional solution, the driving end includes a driving end body and a follower rotatably connected relative to the driving end body, and the follower abuts against the inclined surface; and / or

[0020] The mounting member includes a mounting member body and a guide shaft. The guide shaft extends along the first preset direction and is fixedly connected to the mounting member body. A avoidance hole is opened on the driving end, and the guide shaft is passed through the avoidance hole.

[0021] As an optional solution, the elastic member is provided through the outer periphery of the guide shaft; and / or

[0022] The mounting member body includes a mounting member body and an elastic member limiting member, each of the elastic member limiting members corresponds to one of the driving ends one by one, the guide shaft and the elastic member limiting member are fixedly connected to the mounting member body, and the elastic member limiting member and the corresponding driving end jointly clamp the corresponding elastic member.

[0023] Another object of the present invention is to provide a robotic arm that can avoid jamming of the clamping arm and deformation of the product.

[0024] To achieve this purpose, the present invention adopts the following technical solutions:

[0025] A robotic arm comprises the clamping device described above.

[0026] Beneficial effects of the utility model:

[0027] The clamping device provided by the utility model includes a mounting part, a clamping arm mechanism and an elastic mechanism. The clamping arm mechanism includes a floating part and two clamping arms arranged thereon. The clamping arm includes a clamping end, and the two clamping ends can approach or move away from each other. The floating part is connected to the mounting part in a floating manner along a first preset direction through an elastic mechanism. When the robotic arm clamps the product, the setting of the elastic mechanism can allow the floating part to be offset to a certain extent along the first preset direction, thereby realizing position compensation of the product along the first preset direction, and avoiding obstruction of the clamping arm and deformation of the product.

[0028] The mechanical arm provided by the present invention can avoid the jamming of the clamping arm and the deformation of the product by applying the above clamping device. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a structural schematic diagram of the robotic arm provided by an embodiment of the present utility model.

[0030] In the picture:

[0031] 100. Clamping device;

[0032] 10. Mounting member; 11. Mounting member body; 111. Mounting member body; 1111. Guide through hole; 112. Elastic member limiter; 12. Guide shaft;

[0033] 20. Clamping arm mechanism; 21. Floating member; 22. Clamping arm; 221. Clamping end; 222. Connecting portion; 223. Driving end; 2231. Driving end body; 2232. Follower; 2233. Avoidance hole;

[0034] 30. Elastic mechanism;

[0035] 40. Guide member;

[0036] 50. Sliding bearings;

[0037] 60. Driving mechanism; 61. Driving mechanism body; 62. Output end; 621. Inclined surface; 63. Elastic member. DETAILED DESCRIPTION

[0038] The technical solution of the present invention is further described below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely for the purpose of explaining the present invention, and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all of it.

[0039] In the description of this utility model, unless otherwise specified or limited, the terms "connected," "connect," and "fixed" should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0040] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Moreover, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0041] In the description of this embodiment, the terms "upper," "lower," "left," "right," and other orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely for ease of description and simplified operation. They do not indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used solely for descriptive purposes and have no special meaning.

[0042] In the production process of products, it is often necessary to use a robot arm to transfer products from one station to the next station. The embodiment of the present disclosure discloses a robot arm, which generally includes a robot arm body and a robot arm body. Figure 1The clamping device 100 shown is used to grab the product, and the robot arm body is used to drive the clamping device 100 and the product to move, thereby realizing the transfer of the product from different workstations.

[0043] The existing clamping device 100 usually includes a driving cylinder and two clamping arms. The driving cylinder can drive the two clamping arms to move closer to or away from each other. However, the output end of the driving cylinder is rigidly connected to the clamping arm. When the clamping device 100 is clamping or opening the product, the relative position of the clamping device 100 and the product is not ideal or there is a deviation, which may cause the clamping claws to get stuck or the product to be deformed.

[0044] In order to solve the above problems, Figure 1 As shown, the clamping device 100 provided in the embodiment of the present disclosure includes a mounting part 10, a clamping arm mechanism 20 and an elastic mechanism 30. The clamping arm mechanism 20 includes a floating part 21 and two clamping arms 22 arranged thereon. The clamping arm 22 includes a clamping end 221. The two clamping ends 221 can approach or move away from each other. The floating part 21 is floatingly connected to the mounting part 10 along the left and right directions (i.e., the first preset direction) through the elastic mechanism 30. When the robotic arm clamps the product, the setting of the elastic mechanism 30 can allow the floating part 21 to be offset to a certain extent along the left and right directions, thereby realizing position compensation of the product along the left and right directions, and avoiding jamming of the clamping arm 22 and deformation of the product.

[0045] In an optional embodiment, if Figure 1 As shown, the elastic mechanism 30 includes two springs that can be stretched and deformed in the left and right directions. One end of each spring is connected to the mounting member 10, and the other end of each spring is connected to the floating member 21. The two springs are arranged in the left and right directions and are located on both sides of the floating member 21. Through the setting of the two springs, it can be ensured that the floating member 21 has a good floating effect both to the left and to the right.

[0046] In an optional embodiment, if Figure 1 As shown, the clamping device 100 also includes a guide mechanism, which is arranged between the mounting part 10 and the floating part 21. The guide mechanism is used for the floating part 21 to move in the left and right directions relative to the mounting part 10, thereby ensuring that the floating part 21 floats smoothly in the left and right directions, avoiding the floating part 21 from rotating in the up and down directions or moving in the up and down directions, and ensuring that the clamping arm mechanism 20 has a better clamping effect on the product.

[0047] Specifically, if Figure 1As shown, the guide mechanism can be a guide member 40 extending along the left and right directions. A guide through hole 1111 extending along the left and right directions is provided on the mounting member 10. The guide member 40 is inserted into the guide through hole 1111 and can slide along the guide through hole 1111. The cooperation between the guide member 40 and the guide through hole 1111 can realize a relatively smooth movement of the floating member 21 along the left and right directions.

[0048] In an optional embodiment, if Figure 1 As shown, there are two guide members 40, which are arranged on both sides of the floating member 21 and spaced apart along the left and right directions, thereby ensuring that the floating member 21 floats smoothly along the left and right directions and ensuring that the clamping arm mechanism 20 has a better clamping effect on the product.

[0049] In an optional embodiment, if Figure 1 As shown, the clamping device 100 also includes a sliding bearing 50, which is arranged between the guide member 40 and the side wall of the guide through hole 1111, and can ensure that the guide member 40 moves smoothly relative to the mounting member 10, avoiding the jamming problem that occurs when the clamping arm mechanism 20 moves in the left and right directions.

[0050] In an optional embodiment, the guide mechanism may further include a guide block (not shown in the figure) and a guide rail (not shown in the figure) extending along the left and right directions. The guide block is arranged on the floating member 21, and the guide rail is arranged on the mounting member 10. The guide block is arranged on the guide rail and can slide along the guide rail. Through the cooperation between the guide block and the guide rail, it can be ensured that the floating member 21 always moves smoothly along the left and right directions.

[0051] In an optional embodiment, the guide mechanism is provided in at least two groups, and at least two groups of guide mechanisms are arranged along the up and down direction (i.e., the second preset direction), which can achieve a better guiding effect on the movement of the floating part 21 along the left and right directions, and ensure that the clamping arm mechanism 20 has a better clamping effect on the product.

[0052] In an optional embodiment, if Figure 1 As shown, the two clamping arms 22 are cross-arranged and are both rotatably connected to the mounting member 10. The clamping arm 22 also includes a driving end 223. The clamping device 100 also includes a driving mechanism 60. The driving mechanism 60 is used to make the two driving ends 223 move closer to or away from each other. The simple structure can achieve a better clamping effect of the clamping arm mechanism 20 on the product.

[0053] In an optional embodiment, if Figure 1 As shown, the clamping arm 22 further includes a connecting portion 222 , the clamping end 221 is connected to the driving end 223 via the connecting portion 222 , and the connecting portion 222 is rotatably connected to the floating member 21 .

[0054] In an optional embodiment, if Figure 1As shown, the drive mechanism 60 includes a drive mechanism body 61, an output end 62, and an elastic member 63. The output end 62 is disposed between the two drive ends 223 and has an inclined surface 621. The elastic member 63 is disposed between the drive ends 223 and the mounting member 10. The elastic member 63 enables the drive ends 223 to abut against the corresponding inclined surface 621. The output end 62 can move in the vertical direction relative to the drive mechanism body 61, so that the drive ends 223 slide along the inclined surface 621, thereby driving the two drive ends 223 toward or away from each other in the left-right direction. The structure of the drive mechanism 60 is simple and the arrangement of its components is compact. The overall volume of the drive mechanism 60 is small, thereby ensuring a small volume of the clamping device 100. The cooperation between the output end 62 and the elastic member 63 can achieve rapid switching between the clamping state and the open state of the clamping arm mechanism 20. The elastic member 63 can ensure that the clamping arm mechanism 20 always has a good and tight clamping effect on the product. For example, the elastic member 63 can be a spring, an elastic rubber block, etc. It should be noted that the driving mechanism body 61 and the output end 62 constitute a driving component, which can be a cylinder, a linear output motor, etc. All driving components that can achieve output in the up and down directions are within the protection scope of this optional implementation.

[0055] In an optional embodiment, if Figure 1 As shown, the driving end 223 includes a driving end body 2231 and a follower 2232 rotatably connected thereto. The follower 2232 abuts against the inclined surface 621, thereby ensuring that the output end 62 slides smoothly along the inclined surface 621 and preventing the output end 62 from getting stuck during the sliding process relative to the inclined surface 621. For example, the follower 2232 may be a roller, a bearing, or the like.

[0056] In an optional embodiment, if Figure 1 As shown, the mounting member 10 includes a mounting member body 11 and a guide shaft 12. The guide shaft 12 extends in the left and right directions and is fixedly connected to the mounting member body 11. A avoidance hole 2233 is provided on the driving end 223. The guide shaft 12 is passed through the avoidance hole 2233. The guide shaft 12 and the guide member 40 are set at the same time, which can prevent the floating member 21 from rotating around the left and right directions, ensure that the floating member 21 always has a good floating effect in the left and right directions, and can ensure that the clamping arm mechanism 20 has a better clamping effect on the product.

[0057] In an optional embodiment, if Figure 1 As shown, the elastic member 63 is provided on the outer periphery of the guide shaft 12, which can ensure that the elastic member 63 always elastically deforms in the left-right direction and prevents the elastic member 63 from bending during the elastic deformation process. In addition, the elastic member 63 is provided on the outer periphery of the guide shaft 12, which can also prevent the elastic member 63 from loosening or falling off the mounting member 10.

[0058] In an optional embodiment, if Figure 1 As shown, the mounting member body 11 includes a mounting member body 111 and an elastic member limiter 112, each elastic member limiter 112 corresponds to a driving end 223 one by one, the guide shaft 12 and the elastic member limiter 112 are fixedly connected to the mounting member body 111, the elastic member limiter 112 and the corresponding driving end 223 jointly clamp the corresponding elastic member 63, and the setting of the elastic member limiter 112 can achieve a better limiting effect on the elastic member 63, ensuring that the elastic member 63 applies sufficient elastic force to the corresponding driving end 223, so that the clamping arm mechanism 20 always clamps the product tightly.

[0059] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention, and are not intended to limit the implementation methods of the present invention. Those skilled in the art will appreciate that other variations or modifications can be made based on the above description. It is not necessary and impossible to enumerate all implementation methods here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. A clamping device, characterized in that: include: Mounting member (10); A clamping arm mechanism (20) includes a floating member (21) and two clamping arms (22) disposed thereon, wherein the clamping arms (22) include clamping ends (221), and the two clamping ends (221) can move closer to or farther away from each other; and An elastic mechanism (30), wherein the floating member (21) is connected to the mounting member (10) in a floating manner along a first preset direction via the elastic mechanism (30).

2. The clamping device according to claim 1, characterized in that The elastic mechanism (30) includes two springs capable of telescopic deformation along the first preset direction, one end of each spring is connected to the mounting member (10), and the other end of each spring is connected to the floating member (21), and the two springs are arranged along the first preset direction and located on both sides of the floating member (21).

3. The clamping device according to claim 1, characterized in that The clamping device further comprises: A guide mechanism is provided between the mounting member (10) and the floating member (21), and the guide mechanism is configured to cause the floating member (21) to move relative to the mounting member (10) along the first preset direction.

4. The clamping device according to claim 3, characterized in that The guide mechanism is a guide member (40) extending along the first preset direction; a guide through hole (1111) extending along the first preset direction is provided on the mounting member (10); the guide member (40) is inserted into the guide through hole (1111) and can slide along the guide through hole (1111).

5. The clamping device according to claim 4, characterized in that: The guide members (40) are provided in pairs, and the two guide members (40) are provided on both sides of the floating member (21) and are arranged at intervals along the first preset direction; and / or The clamping device further comprises a sliding bearing (50), wherein the sliding bearing (50) is arranged between the guide member (40) and the side wall of the guide through hole (1111).

6. The clamping device according to claim 1, characterized in that The two clamping arms (22) are cross-arranged and are both rotatably connected to the mounting member (10). The clamping arms (22) further include a driving end (223). The clamping device further includes a driving mechanism (60). The driving mechanism (60) is configured to move the two driving ends (223) closer to or farther away from each other.

7. The clamping device according to claim 6, characterized in that The driving mechanism (60) comprises a driving mechanism body (61), an output end (62) and an elastic member (63); the output end (62) is arranged between the two driving ends (223); the output end (62) has an inclined surface (621); an elastic member (63) is arranged between the driving end (223) and the mounting member (10); the elastic member (63) can make the driving end (223) abut against the corresponding inclined surface (621); the output end (62) can move relative to the driving mechanism body (61) along a second preset direction, so that the driving end (223) slides along the inclined surface (621), so as to drive the two driving ends (223) to approach or move away from each other along the first preset direction, and the first preset direction and the second preset direction are different.

8. The clamping device according to claim 7, characterized in that: The driving end (223) comprises a driving end body (2231) and a follower (2232) rotatably connected relative to the driving end body, wherein the follower (2232) abuts against the inclined surface (621); and / or The mounting member (10) comprises a mounting member body (11) and a guide shaft (12), wherein the guide shaft (12) extends along the first preset direction and is fixedly connected to the mounting member body (11), and a avoidance hole (2233) is provided on the driving end (223), and the guide shaft (12) is passed through the avoidance hole (2233).

9. The clamping device according to claim 8, characterized in that: The elastic member (63) is provided on the outer periphery of the guide shaft (12); and / or The mounting member body (11) includes a mounting member body (111) and an elastic member limiting member (112), each of the elastic member limiting members (112) corresponds to one of the driving ends (223) on a one-to-one basis, the guide shaft (12) and the elastic member limiting member (112) are both fixedly connected to the mounting member body (111), and the elastic member limiting member (112) and the corresponding driving end (223) jointly clamp the corresponding elastic member (63).

10. A robotic arm, characterized in that: The device comprises the clamping device according to any one of claims 1 to 9.

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