Clamping device and manipulator

Abstract

The utility model discloses a clamping device and a manipulator. The clamping device comprises a power part and two oppositely-arranged first clamping mechanisms, the power part can drive the two first clamping mechanisms to be opened and closed, each first clamping mechanism comprises a first clamping jaw and a collision induction mechanism, the first clamping jaws are movably arranged, and the collision induction mechanisms are arranged on the sides of the first clamping jaws. When the clamping end of the first clamping jaw is collided, the first clamping jaw can move and trigger the collision sensing mechanism, and therefore the clamping device has the collision feedback function. Compared with the prior art that the first clamping jaw is seriously damaged due to the fact that the first clamping jaw is not buffered after being subjected to rigid collision, the first clamping jaw provided by the utility model can retract immediately after being collided, the damage degree of the first clamping jaw can be reduced, and the clamping device can stop running due to the collision feedback function, so that the working efficiency is improved. Therefore, secondary damage to the first clamping jaw can be avoided.

Description

TECHNICAL FIELD

[0001] The utility model relates to clamping anti -collision technical field especially, relates to a kind of clamping device and manipulator. BACKGROUND

[0002] The gripper of manipulator is the mechanism for clamping articles, in the process that manipulator transfers gripper to take and place articles, there is the situation that gripper accidentally collides, since gripper is generally rigid structure, if gripper collides with other metal structure, it can cause gripper to be damaged, even can make gripper scrap.

[0003] Therefore, how to provide a kind of clamping device that stops running in time after colliding with other structure is the technical problem that needs to be solved urgently at present. SUMMARY

[0004] The first purpose of the utility model is to provide a kind of clamping device, the first gripper is retracted and triggers collision sensing mechanism after being collided, can avoid the first gripper because of rigid collision is seriously damaged, and has collision feedback function.

[0005] To achieve this purpose, the utility model adopts the following technical scheme:

[0006] A kind of clamping device, comprising: power piece;Two oppositely arranged first clamping mechanisms, the power piece is transmission connection with the first clamping mechanism, and two the first clamping mechanism can be driven to open and close, each first clamping mechanism includes first gripper and collision sensing mechanism, the first gripper is movably arranged, and the collision sensing mechanism is arranged in the side of the first gripper;Wherein, the clamping end of the first gripper is impacted so that the first gripper moves and triggers the collision sensing mechanism.

[0007] As preferred, each first clamping mechanism further includes fixing piece, the fixing piece is connected to the output end of the power piece, the first gripper is movably arranged on the fixing piece, and the collision sensing mechanism is fixedly arranged on the fixing piece.

[0008] As preferred, slide rail is provided on the fixing piece, and the first gripper is slidably arranged on the slide rail.

[0009] As preferred, the first clamping mechanism further includes elastic piece, and the elastic piece is arranged between the first gripper and the fixing piece.

[0010] As preferred, the collision sensing mechanism is photoelectric sensor.

[0011] As preferred, the first clamping mechanism further comprises a sensing rod protruding on the first clamping jaw, and the collision sensing mechanism comprises a transmitting end and a receiving end arranged oppositely, and the sensing rod is movable to between the transmitting end and the receiving end to trigger the collision sensing mechanism.

[0012] As preferred, the first clamping jaw moves in a first direction to trigger the collision sensing mechanism, and the power member drives the two first clamping mechanisms to move towards or away from each other in a second direction, and the first direction and the second direction are perpendicular.

[0013] As preferred, the clamping device further comprises a second clamping mechanism, and the second clamping mechanism comprises second clamping jaws arranged oppositely in a third direction.

[0014] As preferred, the second clamping mechanism further comprises a mounting member, one end of the mounting member is fixed on the housing of the power member, and at least one of the two second clamping jaws is rotatably connected to the mounting member.

[0015] The second purpose of the utility model is to provide a mechanical hand, which can control the mechanical arm to stop moving after receiving the signal sent by the collision sensing mechanism, thereby avoiding secondary damage to the clamping device caused by the continuous movement of the mechanical arm.

[0016] To achieve the purpose, the utility model adopts the following technical scheme:

[0017] A mechanical hand comprises a mechanical arm and the above-mentioned clamping device, the clamping device is arranged on the output end of the mechanical arm, and the mechanical hand can control the mechanical arm to stop moving when the first clamping jaw triggers the collision sensing mechanism.

[0018] The utility model has the advantages of:

[0019] The clamping device provided by the utility model comprises a power member and two oppositely arranged first clamping mechanisms, the power member is in transmission connection with the first clamping mechanisms and can drive the two first clamping mechanisms to open and close, each first clamping mechanism comprises a first clamping jaw and a collision sensing mechanism, the first clamping jaw is movably arranged, and the collision sensing mechanism is arranged on the side of the first clamping jaw. When the clamping end of the first clamping jaw is impacted, the first clamping jaw can move and trigger the collision sensing mechanism, so that the clamping device has a collision feedback function. Compared with the prior art, the first clamping jaw is not damaged after being impacted, the first clamping jaw provided by the utility model can retract immediately after being impacted, which is beneficial to reducing the damage degree of the first clamping jaw, and the collision feedback function enables the clamping device to pause operation, thereby avoiding secondary damage to the first clamping jaw. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1This is a schematic diagram of the clamping device provided by this utility model;

[0021] Figure 2 This is a front view of the clamping device provided by this utility model;

[0022] Figure 3 This is a top view of the clamping device provided by this utility model;

[0023] Figure 4 This is a schematic diagram of the first clamping mechanism of the clamping device provided by this utility model;

[0024] Figure 5 This is a schematic diagram of the first clamping mechanism of the clamping device provided by this utility model from another perspective;

[0025] Figure 6 This is a schematic diagram of the second clamping mechanism of the clamping device provided by this utility model.

[0026] In the picture:

[0027] 10. Clamping objects;

[0028] 100. Power components;

[0029] 200, First clamping mechanism; 210, First gripper; 211, First part; 2111, Limiting groove; 212, Second part; 220, Fixing component; 221, Vertical plate; 222, Horizontal plate; 223, Limiting plate; 230, Slide rail; 240, Slider; 250, Elastic component; 260, Sensing rod; 270, Photoelectric sensor;

[0030] 300. Second clamping mechanism; 310. Second gripper; 320. Mounting component. Detailed Implementation

[0031] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, not the entire structure.

[0032] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0033] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0034] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0035] like Figures 1 to 3 As shown, this utility model provides a clamping device that can hold an object 10, facilitating other operations on the object 10. The clamping device provided by this utility model can be used in robotic arms or other equipment requiring clamping.

[0036] Specifically, the clamping device includes a power component 100 and two opposing first clamping mechanisms 200, forming a clamping space between the two opposing first clamping mechanisms 200 for accommodating the clamped object 10. The power component 100 is drively connected to the first clamping mechanisms 200 and can drive the two first clamping mechanisms 200 to open and close. This opening and closing can be rotational or translational. Regarding the clamped object 10, it can be a bag-shaped object, a sheet-shaped object, a flat object, etc., such as a blood bag. In the embodiments of this application, the shape of the clamped object 10 is not specifically limited.

[0037] like Figure 4 and Figure 5As shown, each first clamping mechanism 200 includes a first gripper 210 and a collision sensing mechanism 270. The first gripper 210 is movably disposed, and the collision sensing mechanism 270 is disposed to the side of the first gripper 210. Specifically, the first gripper 210 includes a gripping end and a non-gripping end disposed opposite to the gripping end. The collision sensing mechanism 270 is spaced apart from the first gripper 210, and the first gripper 210 is disposed close to the non-gripping end. When the gripping end of the first gripper 210 is impacted, the first gripper 210 can move under the impact force, and the moving first gripper 210 can trigger the collision sensing mechanism 270. The collision sensing mechanism 270 can emit a signal that the first gripper 210 has been impacted, so that the clamping device has a collision feedback function. In one embodiment, the first gripper 210 is movably disposed along a first direction, and the collision sensing mechanism 270 is disposed to one side of the first gripper 210 in the first direction. In one embodiment, the first direction is as follows: Figure 2 As shown in direction a, and which is the length direction of the clamping object 10.

[0038] Compared to existing technologies where the grippers suffer severe damage from rigid impacts without cushioning, and where the gripping device continues to move along its original trajectory after an impact, making the grippers susceptible to secondary damage, the first gripper 210 provided by this invention can immediately retract after an impact, reducing the degree of damage to the first gripper 210. Furthermore, the impact feedback function of the gripping device allows it to pause or reverse operation based on the signal, thus preventing secondary damage to the first gripper 210 that might occur if it continues to move along its original trajectory. This gripping device has a low probability of damage and a long service life.

[0039] In some embodiments, driven by the power member 100, the first clamping mechanism 200 can move in a second direction. By translating along the second direction, the two first clamping mechanisms 200 can move closer to or further apart, thereby changing the distance between them. Increasing the distance allows the two first clamping mechanisms 200 to be easily positioned on both sides of the object 10, while decreasing the distance allows them to be stably clamped on both sides of the object 10 in the second direction. In one embodiment, the second direction is as follows: Figure 2 As shown in the middle b direction, and which is the height direction of the clamping object 10.

[0040] The power unit 100 can drive the two first clamping mechanisms 200 to move closer to or further away from each other in a second direction. In some embodiments, the power unit 100 includes a housing, a motor, a gear, and a rack. The motor is housed within the housing, and its shaft is connected to the gear. The gear and rack mesh with each other, and the first clamping mechanism 200 is connected to the rack via a transmission connection. Driven by the motor, the gear rotates, and as the gear rotates, the rack moves, thereby driving the first clamping mechanism 200 to move in the second direction. To drive the two first clamping mechanisms 200, two racks can be provided, each meshing with the same gear simultaneously. The two racks are located on opposite sides of the gear, and when the gear rotates, the two racks move in opposite directions, thereby enabling the two first clamping mechanisms 200 to move closer to or further away from each other. Alternatively, two sets of motors, gears, and racks can be provided to drive the two first clamping mechanisms 200 separately.

[0041] Continue to refer to Figure 4 As shown, each first clamping mechanism 200 further includes a fixing member 220, which is connected to the output end of the power member 100. Optionally, the fixing member 220 is fixedly connected to the rack and can move linearly with the rack. The first gripper 210 is movably disposed on the fixing member 220, and the collision sensing mechanism 270 is fixedly disposed on the fixing member 220.

[0042] In some specific embodiments, the fixing member 220 includes a horizontal plate 222 and a vertical plate 221 that are vertically connected. The vertical plate 221 is fixedly connected to the output end of the power member 100. The fixed connection method includes, but is not limited to, screw connection, welding, etc. The first gripper 210 is movably disposed on the horizontal plate 222.

[0043] To achieve a sliding connection between the first gripper 210 and the fixing member 220, in some embodiments, the fixing member 220 is provided with a slide rail 230 along the first direction. Optionally, the slide rail 230 is provided on the horizontal plate 222, and the first gripper 210 is slidably disposed on the slide rail 230. Optionally, the first gripper 210 is provided with a sliding groove, and the sliding groove and the slide rail 230 are slidably engaged; or, the first gripper 210 is provided with a slider 240, and the slider 240 is slidably engaged with the slide rail 230. The engagement between the slide rail 230 and the first gripper 210 can improve the movement accuracy of the first gripper 210 in the first direction.

[0044] The first gripper 210 retracts after being subjected to external force. To ensure the first gripper 210 automatically resets after the external force is released, in some embodiments, the first clamping mechanism 200 further includes an elastic element 250, which is disposed between the first gripper 210 and the fixing member 220. Optionally, the elastic element 250 is a spring, connected between the non-clamping end of the first gripper 210 and the cross plate 222 of the fixing member 220.

[0045] Furthermore, the fixing member 220 also includes a limiting plate 223. The limiting plate 223 and the vertical plate 221 are respectively protruding at both ends of the horizontal plate 222 in the first direction. The first gripper 210 is provided with a limiting groove 2111. After the first gripper 210 moves to the limiting groove 2111 and engages with the limiting plate 223, the limiting plate 223 can restrict the first gripper 210 from continuing to move. At this time, the first gripper 210 is reset to the initial position.

[0046] Optionally, the first gripper 210 includes a first part 211 and a second part 212 connected to each other. The thickness of the first part 211 is greater than the thickness of the second part 212. The end of the second part 212 away from the first part 211 forms a gripping end, and the end of the first part 211 away from the second part 212 forms a non-gripping end. A limiting groove 2111 is provided on the first part 211.

[0047] In some embodiments, the collision sensing mechanism 270 is a photoelectric sensor.

[0048] In some embodiments, the first clamping mechanism 200 further includes a sensing rod 260 protruding from the first gripper 210, and the collision sensing mechanism 270 includes a transmitter and a receiver disposed opposite to each other. The sensing rod 260 can move between the transmitter and the receiver to trigger the collision sensing mechanism 270.

[0049] To improve the clamping effect on the clamped object 10, such as Figures 1 to 3 , Figure 6 As shown, the clamping device further includes a second clamping mechanism 300, which includes two second grippers 310 disposed opposite each other in a third direction. The first direction, the second direction, and the third direction are perpendicular to each other. In one embodiment, the third direction is as follows: Figure 3 As shown in the c-direction, which is the width direction of the clamped object 10. The first clamping mechanism 200 and the second clamping mechanism 300 work together to achieve multi-directional clamping of the clamped object 10, which helps to improve the clamping stability of the clamped object 10.

[0050] In some embodiments, the second clamping mechanism 300 further includes a mounting member 320, one end of which is fixed to the housing of the power member 100, and at least one of the two second grippers 310 is rotatably connected to the mounting member 320. In one embodiment, one of the two second grippers 310 is fixedly connected to the mounting member 320, and the other is rotatably connected to the mounting member 320; in another embodiment, both second grippers 310 are rotatably connected to the mounting member 320.

[0051] Optionally, each second gripper 310 has a bevel at its gripping end, and a flared opening is formed between the two bevels. The larger opening of the flared opening faces outward, and the width of the larger opening is not less than the width of the object 10 being gripped. This allows the object 10 to enter between the two bevels and, after entering between the two bevels, to continue moving between the two grippers 310 by squeezing them apart. In this way, the second grippers 310 have both a gripping function and a guiding function.

[0052] Alternatively, a torsion spring (not shown) is provided at the rotatable connection between the second gripper 310 and the mounting member 320, so that the second gripper 310 can be reset to the initial position after the clamped object 10 moves out between the two second grippers 310.

[0053] This invention also provides a robotic hand, which includes a robotic arm and the aforementioned gripping device. The gripping device is located at the output end of the robotic arm. The robotic hand can control the robotic arm to stop moving when the first gripper 210 triggers the collision sensing mechanism 270. After receiving a signal from the collision sensing mechanism 270, the robotic hand can control the robotic arm to stop moving or adjust its movement trajectory, thereby preventing the robotic arm from continuing to drive the gripping device along the original trajectory and causing secondary damage to the gripping device.

[0054] The robotic arm also includes a control mechanism, which can be a centralized or distributed controller. For example, the controller can be a single microcontroller or a combination of multiple distributed microcontrollers. The microcontroller can run a control program to control the power component 100 and the robotic arm to perform their respective functions.

[0055] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make various obvious changes, readjustments, and substitutions without departing from the protection scope of this utility model. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A clamping device, characterized in that The clamping device comprises: a power element (100); two oppositely arranged first clamping mechanisms (200), the power element (100) is in transmission connection with the first clamping mechanisms (200) and can drive the two first clamping mechanisms (200) to open and close, each first clamping mechanism (200) comprises a first clamping jaw (210) and a collision sensing mechanism (270), the first clamping jaw (210) is movably arranged, and the collision sensing mechanism (270) is arranged on the side of the first clamping jaw (210); wherein the clamping end of the first clamping jaw (210) is impacted to make the first clamping jaw (210) move and trigger the collision sensing mechanism (270).

2. The clamping device of claim 1, wherein Each first clamping mechanism (200) further comprises a fixing element (220) connected to the output end of the power element (100), the first clamping jaw (210) is movably arranged on the fixing element (220), and the collision sensing mechanism (270) is fixedly arranged on the fixing element (220).

3. The clamping device of claim 2, wherein The fixing element (220) is provided with a sliding rail (230), and the first clamping jaw (210) is slidingly arranged on the sliding rail (230).

4. The clamping device of claim 2, wherein The first clamping mechanism (200) further comprises a resilient element (250) arranged between the first clamping jaw (210) and the fixing element (220).

5. The clamping device of claim 1, wherein The collision sensing mechanism (270) is an optical sensor.

6. The clamping device of claim 1, wherein The first clamping mechanism (200) further comprises a sensing rod (260) protruding from the first clamping jaw (210), the collision sensing mechanism (270) comprises an opposite arranged emitting end and receiving end, and the sensing rod (260) can be moved between the emitting end and the receiving end to trigger the collision sensing mechanism (270).

7. The clamping device of claim 1, wherein The first clamping jaw (210) moves in a first direction to trigger the collision sensing mechanism (270), the power element (100) drives the two first clamping mechanisms (200) to move towards or away from each other in a second direction, and the first direction and the second direction are perpendicular.

8. The clamping device according to any one of claims 1-7, characterized in that The clamping device further comprises a second clamping mechanism (300), the second clamping mechanism (300) comprises second clamping jaws (310) oppositely arranged in a third direction.

9. The clamping device of claim 8, wherein The second clamping mechanism (300) further comprises a mounting element (320), one end of the mounting element (320) is fixed on the housing of the power element (100), and at least one of the two second clamping jaws (310) is rotatably connected to the mounting element (320).

10. A robot, characterized in that The clamping device comprises a mechanical arm and the clamping device of any one of claims 1-9, the clamping device is arranged at the output end of the mechanical arm, and the mechanical hand can control the mechanical arm to stop moving when the first clamping jaw (210) triggers the collision sensing mechanism (270).

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