Clamping mechanism and robot

Abstract

The utility model discloses a clamping mechanism and a robot, and relates to the technical field of robots. The clamping mechanism comprises an installation body, a limiting piece and two clamping pieces, at least one clamping piece is rotationally connected with the installation body and movably connected with the limiting piece, and the limiting piece is driven to move relative to the installation body and drives the clamping pieces to move relative to the installation body so as to achieve the clamping action of the clamping pieces. According to the clamping mechanism and the robot, the clamping action of taking parts can be completed through the clamping mechanism, so that manual labor is replaced by the clamping mechanism, the labor intensity is reduced, the production efficiency is improved, and the clamping mechanism and the robot have the advantage of being high in automation degree.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, specifically, relate to a clamping mechanism and robot. BACKGROUND

[0002] In prior art, on the production line of mechanized factory, mainly rely on manual taking spare parts to produce and process, there is the problem of great labor intensity, low production efficiency. With the continuous development of science and technology, more and more enterprises put forward the demand of building intelligent factory, therefore, it is urgent to design a kind of high degree of automation clamping mechanism to replace manual work, to complete the action of taking spare parts by clamping mechanism. UTILITY MODEL CONTENT

[0003] The utility model discloses a kind of clamping mechanism and robot, can complete the clamping action of taking spare parts by clamping mechanism, to replace manual labor by clamping mechanism, reduce labor intensity, improve production efficiency, with the advantage of high degree of automation.

[0004] The embodiment of the utility model is implemented as follows:

[0005] The first aspect of the embodiment of the utility model provides a kind of clamping mechanism, including installation main body, limit piece and two clamping pieces, at least one described clamping piece is rotatably connected with the installation main body and is movably connected with the limit piece, the limit piece is driven relative to the installation main body movement, drive the clamping piece relative to the installation main body movement to realize the clamping action of the clamping piece.This clamping mechanism can complete the clamping action of taking spare parts by clamping mechanism, to replace manual labor by clamping mechanism, reduce labor intensity, improve production efficiency, with the advantage of high degree of automation.

[0006] As a kind of implementable mode, the first end of two described clamping pieces is rotatably connected in the opposite ends of the installation main body, and the middle segment of two described clamping pieces is movably connected with the opposite ends of the limit piece, the limit piece is driven towards the side close to or away from the installation main body movement, drive the second end of two described clamping pieces away from each other or close to each other.

[0007] As a kind of implementable mode, the first end of one described clamping piece is rotatably connected in one end of the installation main body, and the middle segment of one described clamping piece is movably connected with the limit piece, the first end of another described clamping piece is fixedly connected in the other end of the installation main body, the limit piece is driven towards the side close to or away from the installation main body movement, drive the second end of one described clamping piece towards the side away from or close to the second end of another described clamping piece movement.

[0008] As an implementable mode, the clamping mechanism further comprises a connecting piece, the clamping piece is provided with a first limiting part, the limiting piece is provided with a second limiting part, and the connecting piece is arranged in the first limiting part and the second limiting part, so that the clamping piece and the limiting piece are movably connected.

[0009] As an implementable mode, the first limiting part is a through hole, and the second limiting part is a chute matched with the through hole, or the first limiting part is a chute, and the second limiting part is a through hole matched with the chute.

[0010] As an implementable mode, the shapes of the opposite ends of the chute are matched with the cross-sectional shape of the connecting piece.

[0011] As an implementable mode, the clamping mechanism further comprises a driving piece, the driving piece is fixedly connected with the limiting piece, and the driving piece is used for driving the limiting piece to move relative to the mounting body.

[0012] As an implementable mode, the mounting body is provided with a mounting hole, the driving piece is arranged in the mounting hole and is threadedly connected with the mounting body.

[0013] As an implementable mode, the clamping mechanism further comprises an elastic piece, the elastic piece is sleeved on the driving piece and abuts between the limiting piece and the mounting body.

[0014] The second aspect of the embodiment of the utility model provides a kind of robot, including the clamping mechanism described above. The clamping mechanism can complete the clamping action of taking parts by clamping mechanism, so as to replace manual labor by clamping mechanism, reduce the labor intensity, improve production efficiency, with the advantages of high degree of automation.

[0015] The beneficial effects of the embodiment of the utility model include:

[0016] The clamping mechanism comprises a mounting body, a limiting piece and two clamping pieces, at least one clamping piece is rotationally connected with the mounting body and movably connected with the limiting piece, the limiting piece is driven to move relative to the mounting body, and the clamping piece is driven to move relative to the mounting body to realize the clamping action of the clamping piece. In this way, when the included angle between the two clamping pieces becomes smaller and smaller, it means that the distance between the clamping ends of the two clamping pieces becomes smaller and smaller, at this time, the two clamping pieces are gradually switched from the loosening state to the clamping state, and the parts can be clamped between the two clamping pieces; when the included angle between the two clamping pieces becomes larger and larger, it means that the distance between the clamping ends of the two clamping pieces becomes larger and larger, at this time, the two clamping pieces are gradually switched from the clamping state to the loosening state, and the parts originally clamped between the two clamping pieces can be released. As described above, the clamping mechanism provided by the present application drives the clamping piece to move relative to the mounting body through the limiting piece, thereby changing the actual size of the included angle between the two clamping pieces, i.e. changing the actual size of the distance between the clamping ends of the two clamping pieces, and further enabling the two clamping pieces to jointly complete the clamping action. Compared with the manual taking and placing of parts in the prior art, the clamping mechanism provided by the present application can be assembled on a robot, thereby replacing manual labor with the clamping mechanism, reducing labor intensity, improving production efficiency, and having the advantages of high automation and high intelligence. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical scheme of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0018] Figure 1 A perspective view of the clamping mechanism provided by the embodiments of the present application is provided.

[0019] Figure 2 An exploded view of the clamping mechanism provided by the embodiments of the present application is provided.

[0020] Figure 3 A structure view of the clamping mechanism provided by the embodiments of the present application in the loosening state is provided.

[0021] Figure 4 A structure view of the clamping mechanism provided by the embodiments of the present application in the clamping state is provided.

[0022] Legend: 100 - clamping mechanism; 10 - mounting body; 20 - limiting piece; 21 - second limiting part; 30 - clamping piece; 31 - first end; 32 - second end; 33 - first limiting part; 40 - connecting piece; 50 - driving piece; 60 - elastic piece. DETAILED DESCRIPTION

[0023] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some but not all of the embodiments of the present application. The components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0024] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0025] It should be noted that: similar reference numerals and letters indicate similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0026] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship commonly placed when the product of the present application is used, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", "third" and the like are only used for differentiation in description, and cannot be understood as indicating or implying relative importance.

[0027] In addition, the terms "horizontal", "vertical" and the like do not mean that the components must be absolutely horizontal or vertical, but can be slightly inclined. For example, "horizontal" only means that its direction is relatively more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0028] In the description of the utility model, still need to explain, unless another explicit provision and limitation, term "arrangement", "installation", "link", "connection" should do broad sense understanding, for example, can be fixed connection, also can be detachable connection, or integrally connected;Can be mechanical connection, also can be electrical connection;Can be directly connected, also can be indirectly connected through the intermediate medium, can be two elements inside the connection.For ordinary skilled in the art, can understand the specific meaning of the above terms in the utility model according to specific circumstances.

[0029] Please refer to Figures 1 to 4 The embodiment of the application provides a clamping mechanism 100, including installation main body 10, limiting piece 20 and two clamping pieces 30, at least one clamping piece 30 is rotatably connected with the installation main body 10 and is movably connected with the limiting piece 20, the limiting piece 20 is driven to move relative to the installation main body 10, and the clamping piece 30 is driven to move relative to the installation main body 10 to realize the clamping action of the clamping piece 30.The clamping mechanism 100 can complete the clamping action of taking parts through the clamping mechanism 100, thereby replacing manual labor through the clamping mechanism 100, reducing the labor intensity, improving the production efficiency, and having the advantages of high automation degree.

[0030] It should be noted that, as Figure 1 And Figure 2 The clamping mechanism 100 includes installation main body 10, limiting piece 20 and two clamping pieces 30, so that the installation main body 10 serves as the installation basis of the limiting piece 20 and the two clamping pieces 30, thereby the installation main body 10 plays the role of installation and support for the limiting piece 20 and the two clamping pieces 30.In addition, the installation main body 10 can also serve as the connection basis when the clamping mechanism 100 is assembled on the robot, so that the clamping mechanism 100 is assembled as a whole on the mechanical arm of the robot through the installation main body 10, so that the actual position and working state of the clamping mechanism 100 can be changed by controlling the movement of the mechanical arm through the control unit of the robot.

[0031] Specifically, as Figure 1 And Figure 2 At least one clamping piece 30 is rotatably connected with the installation main body 10, and the clamping piece 30 is also movably connected with the limiting piece 20, so that in actual use, the limiting piece 20 can be driven to move relative to the installation main body 10, and the clamping piece 30 is driven to move relative to the installation main body 10, so as to change the actual size of the included angle between the two clamping pieces 30, that is, to change the actual size of the distance between the clamping ends of the two clamping pieces 30, so that the two clamping pieces 30 can cooperate to complete the clamping action.

[0032] For example, please follow Figures 3 to 4The order of the sequence can be understood as follows: when the angle between the two clamping pieces 30 becomes smaller and smaller, it means that the distance between the clamping ends of the two clamping pieces 30 becomes smaller and smaller, at this time, the two clamping pieces 30 are gradually switched from the loosened state to the clamped state, so that the parts can be clamped between the two clamping pieces 30. Figures 4 to 3 The order of the sequence can be understood as follows: when the angle between the two clamping pieces 30 becomes smaller and smaller, it means that the distance between the clamping ends of the two clamping pieces 30 becomes smaller and smaller, at this time, the two clamping pieces 30 are gradually switched from the loosened state to the clamped state, so that the parts can be clamped between the two clamping pieces 30.

[0033] As described above, the clamping mechanism 100 provided by the present application drives the clamping pieces 30 to move relative to the mounting body 10 through the limiting piece 20, so as to change the actual size of the angle between the two clamping pieces 30, that is, to change the actual size of the distance between the clamping ends of the two clamping pieces 30, and then to make the two clamping pieces 30 cooperate to complete the clamping action. Compared with the manual taking and placing of parts in the prior art, the clamping mechanism 100 provided by the present application can be assembled on a robot, thereby replacing manual labor with the clamping mechanism 100, reducing labor intensity and improving production efficiency, and having the advantages of high automation and high intelligence.

[0034] As shown in Figures 1 to 4 In this embodiment, the first ends 31 of the two clamping pieces 30 are respectively rotatably connected to the opposite ends of the mounting body 10, and the middle sections of the two clamping pieces 30 are respectively movably connected to the opposite ends of the limiting piece 20. The limiting piece 20 is driven to move towards the side close to or away from the mounting body 10, thereby driving the second ends 32 (i.e. the clamping ends) of the two clamping pieces 30 to move away from or close to each other.

[0035] As shown in Figures 3 to 4 The order of the sequence can be understood as follows: when the angle between the two clamping pieces 30 becomes smaller and smaller, it means that the distance between the clamping ends of the two clamping pieces 30 becomes smaller and smaller, at this time, the two clamping pieces 30 are gradually switched from the loosened state to the clamped state, so that the parts can be clamped between the two clamping pieces 30. Figures 4 to 3 The order of the sequence can be understood as follows: when the angle between the two clamping pieces 30 becomes smaller and smaller, it means that the distance between the clamping ends of the two clamping pieces 30 becomes smaller and smaller, at this time, the two clamping pieces 30 are gradually switched from the loosened state to the clamped state, so that the parts can be clamped between the two clamping pieces 30.

[0036] Of course, in other embodiments, it can also be that the first end 31 of one of the clamping members 30 is rotatably connected at one end of the mounting body 10, and the middle section of the clamping member 30 is movably connected with the limiting member 20, the first end 31 of the other clamping member 30 is fixedly connected at the other end of the mounting body 10, and the limiting member 20 is driven to move towards the side close to or away from the mounting body 10, thereby driving the second end 32 of one of the clamping members 30 to move towards the side away from or close to the second end 32 of the other clamping member 30.

[0037] In addition, in other embodiments, it can also be that the first end 31 of each of the two clamping members 30 is rotatably connected at opposite ends of the mounting body 10, and the middle section of each of the two clamping members 30 is movably connected with opposite ends of the limiting member 20, and the limiting member 20 is driven to move towards the side close to or away from the mounting body 10, thereby driving the second ends 32 (i.e. the clamping ends) of the two clamping members 30 to move close to or away from each other.

[0038] As to whether one clamping member 30 is rotatably connected with the mounting body 10 or two clamping members 30 are rotatably connected with the mounting body 10, and whether the limiting member 20 is close to the mounting body 10 to drive the second ends 32 of the two clamping members 30 to move away from each other or the limiting member 20 is close to the mounting body 10 to drive the second ends 32 of the two clamping members 30 to move close to each other, those skilled in the art should be able to make reasonable choices and designs according to actual conditions, which are not specifically limited here.

[0039] For example, as shown in Figure 1 and Figure 2 , the limiting member 20 includes a limiting body and extension arms extending outward from opposite sides of the limiting body. In short, the limiting member 20 has an H-shaped structure, and the clamping member 30 is accommodated in a U-shaped cavity formed by the two extension arms and the limiting body, so as to improve the stability and reliability of the movable connection between the clamping member 30 and the limiting member 20.

[0040] As shown in Figure 2 , as an implementable manner, the clamping mechanism 100 further includes a connecting member 40, the clamping member 30 is provided with a first limiting portion 33, the limiting member 20 is provided with a second limiting portion 21, and the connecting member 40 is arranged in the first limiting portion 33 and the second limiting portion 21, so as to movably connect the clamping member 30 with the limiting member 20. For example, the connecting member 40 can be a hinge pin, which can not only ensure the hinge connection between the clamping member 30 and the limiting member 20, but also avoid the connecting member 40 from falling out of the first limiting portion 33 and the second limiting portion 21.

[0041] For example, as shown in Figure 2As shown, in the present embodiment, the first limiting part 33 is a through hole, and the second limiting part 21 is a slanted slot which is matched with the through hole, or, in other embodiments, the first limiting part 33 is a slanted slot, and the second limiting part 21 is a through hole which is matched with the slanted slot. Among them, the through hole plays a connecting role, while the slanted slot plays both a connecting role and a guiding role for the movement of the limiting part 20 and the clamping part 30. Therefore, the inclination direction of the slanted slot determines whether the limiting part 20 drives the second ends 32 of the two clamping parts 30 to move away from each other or to move closer to each other when the limiting part 20 moves close to the mounting body 10.

[0042] Preferably, the shapes of the opposite ends of the slanted slot are matched with the cross-sectional shape of the connecting part 40, so as to ensure that the profile of the connecting part 40 is matched with the profile of the slanted slot when the connecting part 40 moves to the opposite ends of the slanted slot. For example, as shown in the figure, Figure 2 As shown, the cross-sectional shape of the connecting part 40 is circular, at this time, the cross-sectional shape of the through hole is the same as the cross-sectional shape of the connecting part 40, and the shapes of the opposite ends of the slanted slot are the same as the cross-sectional shape of the connecting part 40, in other words, the cross-sectional shape of the slanted slot is a waist shape.

[0043] As an implementable manner, as shown in the figure, Figures 1 to 4 As shown, the clamping mechanism 100 further comprises a driving part 50, the driving part 50 is fixedly connected with the limiting part 20, and the driving part 50 is used to drive the limiting part 20 to move relative to the mounting body 10. For example, the driving part 50 is a butterfly handle, so as to drive the limiting part 20 to move close to or away from the mounting body 10 by driving the driving part 50.

[0044] As an implementable manner, as shown in the figure, Figures 1 to 4 As shown, the mounting body 10 is provided with a mounting hole, the driving part 50 is arranged in the mounting hole and is threadedly connected with the mounting body 10, so that the actual position of the driving part 50 relative to the mounting body 10 can be adjusted by screwing the driving part 50, and the actual position of the limiting part 20 relative to the mounting body 10 is changed accordingly.

[0045] As an implementable manner, as shown in the figure, Figures 1 to 4 As shown, the clamping mechanism 100 further comprises a resilient part 60, the resilient part 60 is sleeved on the driving part 50 and abuts between the limiting part 20 and the mounting body 10, so as to play a buffering role between the limiting part 20 and the mounting body 10 through the resilient part 60, thereby avoiding that the position change between the limiting part 20 and the mounting body 10 is too large, causing the distance between the clamping ends of the two clamping parts 30 to change too fast, and further protecting the clamping action on the parts to be softer and avoiding damage to the parts.

[0046] The embodiment of the present application further provides a robot comprising the clamping mechanism 100.

[0047] The above merely describes preferred embodiments of the present application and is not intended to limit the present application. The present application can be changed and modified in various ways by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

[0048] In addition, it should be noted that various specific technical features described in the foregoing specific embodiments can be combined in any appropriate manner without contradiction, and in order to avoid unnecessary repetition, the present application will not describe various possible combinations again.

Claims

1. A clamping mechanism, characterized by, The clamping mechanism comprises a mounting body, a limiting member and two clamping members, at least one of the clamping members is rotationally connected with the mounting body and movably connected with the limiting member, the limiting member is driven to move relative to the mounting body, and drives the clamping member to move relative to the mounting body to realize the clamping action of the clamping member.

2. The clamping mechanism of claim 1, wherein, The first ends of the two clamping members are rotationally connected with the opposite ends of the mounting body respectively, and the middle sections of the two clamping members are movably connected with the opposite ends of the limiting member respectively, the limiting member is driven to move towards one side close to or away from the mounting body, and drives the second ends of the two clamping members to move away from or close to each other.

3. The clamping mechanism of claim 1, wherein, The first end of one of the clamping members is rotationally connected with one end of the mounting body, and the middle section of the clamping member is movably connected with the limiting member, the first end of the other clamping member is fixedly connected with the other end of the mounting body, the limiting member is driven to move towards one side close to or away from the mounting body, and drives the second end of one of the clamping members to move towards one side away from or close to the second end of the other clamping member.

4. The clamping mechanism of claim 1, wherein, The clamping mechanism further comprises a connecting member, the clamping member is provided with a first limiting part, the limiting member is provided with a second limiting part, and the connecting member is arranged in the first limiting part and the second limiting part to movably connect the clamping member with the limiting member.

5. The clamping mechanism of claim 4, wherein, The first limiting part is a through hole, and the second limiting part is a chute matched with the through hole, or the first limiting part is a chute, and the second limiting part is a through hole matched with the chute.

6. The clamping mechanism of claim 5, wherein, The shapes of the opposite ends of the chute are matched with the cross-sectional shape of the connecting member.

7. The chucking mechanism of claim 1, wherein The clamping mechanism further comprises a driving member, the driving member is fixedly connected with the limiting member, and the driving member is used to drive the limiting member to move relative to the mounting body.

8. The clamping mechanism of claim 7, wherein, The mounting body is provided with a mounting hole, the driving member is arranged in the mounting hole and is threadedly connected with the mounting body.

9. The clamping mechanism of claim 8, wherein, The clamping mechanism further comprises an elastic member, the elastic member is sleeved on the driving member and abuts between the limiting member and the mounting body.

10. A robot, characterized in that The clamping mechanism comprises any one of claims 1-9.

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