Manipulator and robot

Abstract

The utility model provides a manipulator and a robot. The manipulator comprises at least two clamping units, each clamping unit comprises a frame part, a first clamping part, a matching part and a second clamping part, the first end of the frame part is rotatably connected with the first clamping part, the matching part is arranged at the second end of the frame part, the matching part is arranged on the second clamping part in a relative movement mode in the extending direction of the second clamping part, and the second clamping part is arranged on the frame part; the second clamping piece is rotatably arranged relative to the second end of the frame piece, and the second clamping piece is rotatably connected with the first clamping piece; the transmission unit is used for enabling the manipulator to be in a first clamping state that the second clamping pieces of the at least two clamping units clamp the target object in parallel; or the manipulator is in a second clamping state that the target object is enveloped and clamped by the second clamping pieces and the first clamping pieces of the at least two clamping units or by the second clamping pieces of the at least two clamping units and partial structures of the transmission units. According to the mechanical arm, the structure is simplified while the mechanical arm has two clamping states.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robot or mechanical execution device, in particular, the present application relates to a mechanical hand and robot. BACKGROUND

[0002] The mechanical hand is a kind of automatic operation device that can imitate the action function of human hand to grab, carry objects or operate tools according to fixed program. The mechanical hand can replace the heavy labor of human to realize the mechanization and automation of production, and can operate in harmful environment to protect personal safety, so it is widely used in mechanical manufacturing, metallurgy, electronics, light industry and atomic energy departments.

[0003] The mechanical hand is a kind of end effector with high frequency of use at present, generally having flat clamping function or envelope function. However, the structure of the commonly used mechanical hand is complex. CONTENT OF THE UTILITY MODEL

[0004] The present application aims at the shortcomings of the prior art, and proposes a mechanical hand and robot to solve the technical problem of complex structure of the mechanical hand in the related art.

[0005] In a first aspect, the embodiments of the present application provide a mechanical hand for a robot, comprising:

[0006] At least two clamping units, the clamping unit comprising a frame piece, a first clamping piece, a matching piece and a second clamping piece, the first end of the frame piece being rotatably connected with the first clamping piece, the matching piece being arranged on the second end of the frame piece, the matching piece being movably arranged on the second clamping piece along the extension direction of the second clamping piece, the second clamping piece being rotatably arranged relative to the second end of the frame piece, and the second clamping piece being rotatably connected with the first clamping piece.

[0007] A transmission unit is in transmission connection with the frame piece of the clamping unit, for making the mechanical hand in a first clamping state that the second clamping pieces of the at least two clamping units are parallelly close to clamp the target object, or making the mechanical hand in a second clamping state that the second clamping pieces and the first clamping pieces of the at least two clamping units are enveloped and clamped on the periphery of the target object, or making the mechanical hand in a second clamping state that the second clamping pieces of the at least two clamping units and part of the structure of the transmission unit are enveloped and clamped on the periphery of the target object.

[0008] Optionally, the clamping unit further comprises a guide part arranged on the second clamping piece.

[0009] The matching piece is pivotally connected with the frame piece, the matching piece is slidingly matched with the guide part, and the guide part is used for limiting the movement of the matching piece along the extension direction of the guide part.

[0010] Optionally, the second clamping member has a first clamping portion away from the first clamping member and a second clamping portion close to the first clamping member, and the first clamping member has a third clamping portion; the transmission unit at least comprises a seat body;

[0011] In the first clamping state, the first clamping portions of the at least two clamping units cooperate to clamp the target object in parallel;

[0012] In the second clamping state, the second clamping portions of the at least two clamping units cooperate with the third clamping portions, or the second clamping portions of the at least two clamping units cooperate with the seat body to envelope the target object.

[0013] Optionally, the frame member comprises:

[0014] The first rod segment has two ends each pivotally connected with the transmission unit, and a first end of the first rod segment is pivotally connected with the first clamping member;

[0015] The second rod segment has a first end fixedly connected with a second end of the first rod segment, and the second rod segment is arranged at an angle with the first rod segment;

[0016] The third rod segment has a first end fixedly connected with a second end of the second rod segment, and the third rod segment is inclined to an axis of the second rod segment; the cooperating member is pivotally connected with a second end of the third rod segment.

[0017] Optionally, the third rod segment extends to a side away from the first rod segment.

[0018] Optionally, the first rod segment, the second rod segment and the third rod segment enclose an accommodation space;

[0019] In the first clamping state, the cooperating member is close to a first end of the second clamping member, and the axes of the first clamping member and the second clamping member are collinear;

[0020] In the second clamping state, the cooperating member is close to a second end of the second clamping member, and the first clamping member and the second clamping member swing to partially protrude into the accommodation space.

[0021] Optionally, the clamping unit further comprises a reset member connected with at least one of the first clamping member and the second clamping member, so as to restore the first clamping member and the second clamping member to be collinear.

[0022] Optionally, the clamping unit further comprises a limiting member connected with at least one of the first clamping member and the second clamping member, so as to limit the swing of the first clamping member and the second clamping member to a side away from the accommodation space.

[0023] Optionally, in the second clamping state, a connection between the first clamping member and the second clamping member abuts against the frame member and / or the cooperating member abuts against the guide portion away from the first clamping member.

[0024] In a second aspect, the embodiments of the present application provide a robot, comprising a mechanical arm and a manipulator as described above, the manipulator being installed at an execution end of the mechanical arm.

[0025] The technical scheme provided by the embodiments of the present application has the beneficial technical effects including:

[0026] The first clamping member is rotatable, the second clamping member is movable and rotatable, and the first clamping member and the second clamping member are relatively rotatable, so that the manipulator has both parallel clamping and envelope clamping functions, and the structure of the manipulator is simplified.

[0027] In the embodiments of the present application, the first clamping member and the second clamping member of the clamping unit are rotatably connected, the first clamping member is rotatably connected to the first end of the frame member, and the second clamping member is arranged in a relatively movable manner with the frame member and in a rotatable manner relative to the second end of the frame member through the matching member.

[0028] The transmission unit is in transmission connection with the frame member of the clamping unit, and under the driving of the transmission unit, the at least two clamping units can be brought close to or away from each other, so that the manipulator is in the first clamping state or the second clamping state.

[0029] When the manipulator is in the first clamping state, the second clamping members of the at least two clamping units are parallel to each other and cooperated to achieve the function of parallel clamping of the target object. When the at least two clamping units are close to each other so that the first clamping member and the second clamping member abut against the target object at or near the position, the manipulator is switched to the second clamping state, the first clamping member of the clamping unit is rotated relative to the frame member, the second clamping member is moved and rotated relative to the frame member, the first clamping member and the second clamping member are relatively rotated into a half-enclosed shape, the second clamping member abuts against the target object from the outside (for example, the side of the target object away from the transmission unit), and the target object is abutted against the part of the structure of the transmission unit through the cooperation of the second clamping member and the first clamping member or through the second clamping member, so as to achieve the function of the manipulator being enveloped around the target object and clamping the target object (at this time, the manipulator is in the second clamping state).

[0030] Additional aspects and advantages of the present application will be made apparent from the following description, which provides, by way of non-limiting example, specific embodiments thereof. BRIEF DESCRIPTION OF DRAWINGS

[0031] The above and / or additional aspects and advantages of the present application will become apparent and be readily appreciated from the following description, taken in conjunction with the following drawings in which:

[0032] Figure 1 FIG. 1 is a structural schematic diagram of a manipulator in a first clamping state according to an embodiment of the present application;

[0033] Figure 2 Fig. 1 is a schematic view of a mechanical hand according to an embodiment of the present application; Figure 1 Fig. 2 is a schematic view of a partial enlarged structure of the mechanical hand according to an embodiment of the present application;

[0034] Figure 3 Fig. 3 is a schematic view of a sectional structure of the mechanical hand according to an embodiment of the present application when the mechanical hand is in a first clamping state;

[0035] Figure 4 Fig. 4 is a schematic view of a structure of the mechanical hand according to an embodiment of the present application when the mechanical hand is in a second clamping state in which a second clamping member and a first clamping member envelop a target object;

[0036] Figure 5 Fig. 5 is a schematic view of a partial enlarged structure of the mechanical hand according to an embodiment of the present application; Figure 4 Fig. 6 is a schematic view of a sectional structure of the mechanical hand according to an embodiment of the present application when the mechanical hand is in the second clamping state in which the second clamping member and the first clamping member envelop the target object;

[0037] Figure 6 Fig. 7 is a schematic view of a sectional structure of the mechanical hand according to an embodiment of the present application when the mechanical hand is in the second clamping state in which a second clamping member and a seat body of a transmission unit envelop a target object;

[0038] Figure 7 Fig. 8 is a schematic view of a structure of the mechanical hand according to an embodiment of the present application when the mechanical hand is in the second clamping state in which the second clamping member and the seat body of the transmission unit envelop the target object;

[0039] Figure 8 Fig. 9 is a schematic view of a sectional structure of the mechanical hand according to an embodiment of the present application when the mechanical hand is in the second clamping state in which the second clamping member and the seat body of the transmission unit envelop the target object.

[0040] Reference signs:

[0041] 100 - mechanical hand;

[0042] 10 - clamping unit;

[0043] 11 - frame member; 111 - first rod segment; 112 - second rod segment; 113 - third rod segment; 114 - accommodating space;

[0044] 12 - first clamping member; 121 - third clamping part;

[0045] 13 - matching member;

[0046] 14 - second clamping member; 141 - first clamping part; 142 - second clamping part;

[0047] 15 - guide part; 16 - reset member; 17 - limiting member;

[0048] 20 - transmission unit;

[0049] 21 - first transmission rod; 22 - second transmission rod; 23 - seat body; 24 - transmission assembly;

[0050] 200 - target object. DETAILED DESCRIPTION

[0051] Embodiments of the present application will be described below with reference to the accompanying drawings. It should be understood that the embodiments described below with reference to the accompanying drawings are exemplary descriptions of the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions of the embodiments of the present application.

[0052] Those skilled in the art can understand that, unless specifically stated otherwise, "said" and "the" used herein can also include plural forms. It should be further understood that the phrase "comprising" used in the specification of the present application means that the features, integers, operations and / or components exist, but does not exclude other features, information, data, steps, operations, elements, components and / or combinations thereof supported by the present technology. The term "and / or" used herein means at least one of the items defined by the term, for example, "A and / or B" can be implemented as "A", or as "B", or as "A and B".

[0053] In order to make the purposes, technical solutions and advantages of the present application clearer, the embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

[0054] The mechanical hand and robot provided by the present application aim to solve the technical problem of complex mechanical hand structure in the related art.

[0055] The technical solutions of the present application and how the technical solutions of the present application solve the above technical problems will be described in detail below with specific embodiments. It should be pointed out that the following embodiments can be mutually referenced, borrowed or combined, and the same terms, similar features and similar implementation steps in different embodiments will not be described repeatedly.

[0056] The mechanical hand 100 provided by the embodiments of the present application has a structural schematic diagram as shown in Figures 1 to 8 The mechanical hand 100 is used for a robot, and includes at least two clamping units 10 and a transmission unit 20.

[0057] The clamping unit 10 includes a frame member 11, a first clamping member 12, a matching member 13 and a second clamping member 14. The first end of the frame member 11 is rotatably connected with the first clamping member 12. The matching member 13 is arranged at the second end of the frame member 11. The matching member 13 is movably arranged on the second clamping member 14 along the extension direction of the second clamping member 14. The second clamping member 14 is rotatably arranged relative to the second end of the frame member 11. The second clamping member 14 is rotatably connected with the first clamping member 12.

[0058] The transmission unit 20 is in transmission connection with the frame member 11 of the clamping unit 10, and is used to make the manipulator 100 in a first clamping state in which the second clamping members 14 of the at least two clamping units 10 are parallelly close to the target object 200, or in a second clamping state in which the second clamping members 14 and the first clamping members 12 of the at least two clamping units 10 are enveloped and clamped around the periphery of the target object 200, or in a second clamping state in which the second clamping members 14 of the at least two clamping units 10 and part of the structure of the transmission unit 20 are enveloped and clamped around the periphery of the target object 200.

[0059] In the embodiment, the first clamping member 12 is rotatable, the second clamping member 14 is movable and rotatable, and the first clamping member 12 and the second clamping member 14 are relatively rotatable, so that the manipulator 100 has both parallel clamping and enveloping clamping functions, and the structure of the manipulator 100 is simplified.

[0060] In the embodiment, the first clamping member 12 and the second clamping member 14 of the clamping unit 10 are rotatably connected, the first clamping member 12 is rotatably connected with the first end of the frame member 11, and the second clamping member 14 is arranged in a relatively movable manner with the frame member 11 and in a rotatable manner relative to the second end of the frame member 11 through the matching member 13.

[0061] The transmission unit 20 is in transmission connection with the frame member 11 of the clamping unit 10, and is used to make the manipulator 100 in a first clamping state in which the second clamping members 14 of the at least two clamping units 10 are parallelly close to the target object 200, or in a second clamping state in which the second clamping members 14 and the first clamping members 12 of the at least two clamping units 10 are enveloped and clamped around the periphery of the target object 200, or in a second clamping state in which the second clamping members 14 of the at least two clamping units 10 and part of the structure of the transmission unit 20 are enveloped and clamped around the periphery of the target object 200.

[0062] When the manipulator 100 is in the first clamping state, the second clamping members 14 of the at least two clamping units 10 are parallelly close to each other and cooperatively clamp the target object 200.

[0063] When the manipulator 100 is switched to the second clamping state, the first clamping member 12 of the clamping unit 10 rotates relative to the frame member 11, the second clamping member 14 moves and rotates relative to the frame member 11, the first clamping member 12 and the second clamping member 14 relatively rotate to a half-enclosing shape, the second clamping member 14 abuts against the target object 200 from the outside (for example, the side of the target object 200 away from the transmission unit 20), and the target object 200 is abutted against part of the structure of the transmission unit 20 through the cooperation of the second clamping member 14 and the first clamping member 12 or through the second clamping member 14, so that the manipulator 100 is enveloped around the periphery of the target object 200 and clamps the target object 200 (at this time, the manipulator 100 is in the second clamping state).

[0064] Of course, in the embodiment of the present application, the manipulator 100 also has a loosening state in which the at least two clamping units 10 are away from each other to loosen the target object 200.

[0065] In the embodiment of the present application, when the manipulator 100 switches to the second clamping state, the matching piece 13 moves along the extension direction of the second clamping piece 14 from the first end (the end close to the first clamping piece 12) to the second end (the end away from the first end of the first clamping piece 12) of the second clamping piece 14, so that the distance between the first end of the second clamping piece 14 and the matching piece 13 increases, and the distance between the second end of the second clamping piece 14 and the matching piece 13 decreases, which can reduce the interference (e.g. collision) of the second end of the second clamping piece 14 to the target object 200 or other second clamping pieces 14.

[0066] Optionally, as shown in Figure 1 , Figure 3 , Figure 4 , Figures 6 to 8 In the embodiment of the present application, the number of clamping units 10 is two, and the two clamping units 10 are symmetrically arranged. The two clamping units 10 are close to each other to achieve parallel clamping or envelope clamping of the target object 200.

[0067] Of course, in other optional embodiments of the present application, three or more clamping units 10 can also be arranged according to actual needs.

[0068] Optionally, as shown in Figure 1 , Figure 2 , Figure 4 and Figure 5 In the embodiment of the present application, the clamping unit 10 further comprises a guide portion 15 arranged on the second clamping piece 14; the matching piece 13 is pivotally connected with the frame piece 11, the matching piece 13 is slidingly matched with the guide portion 15, and the guide portion 15 is used to limit the movement of the matching piece 13 along the extension direction of the guide portion 15.

[0069] In the embodiment of the present application, the guide portion 15 is arranged on the second clamping piece 14, the guide portion 15 is slidingly matched with the matching piece 13 to limit the movement of the matching piece 13 along the extension direction of the guide portion 15, so that the second clamping piece 14 can move along the extension direction of the guide portion 15 relative to the matching piece 13 and the frame piece 11. The matching piece 13 is pivotally connected with the frame piece 11, so that the second clamping piece 14 arranged on the frame piece 11 through the matching piece 13 can rotate relative to the frame piece 11.

[0070] Optionally, as shown in Figure 1 , Figure 2 , Figure 4 and Figure 5As shown, in the embodiment of the present application, the guide part 15 comprises a sliding slot in the shape of a long hole, and the sliding slot extends in parallel with the extending direction of the second clamping member 14. The cooperating member 13 comprises a sliding block, which is pivotally connected with the frame member 11, and the sliding block is in sliding cooperation with the sliding slot through the long hole of the sliding slot.

[0071] In the embodiment of the present application, the sliding slot extends in parallel with the extending direction of the second clamping member 14, so as to ensure that the sliding block moves in the extending direction of the second clamping member 14.

[0072] Of course, in other alternative embodiments of the present application, the extending direction of the sliding slot can be arranged at an angle with the extending direction of the second clamping member 14 according to actual needs. The sliding slot extends in the direction at an angle with the extending direction of the second clamping member 14, so that the sliding block moves in the direction at an angle with the extending direction of the second clamping member 14. It should be noted that the embodiment of the present application does not limit the angle between the extending direction of the sliding slot and the extending direction of the second clamping member 14, as long as the sliding block can slide back and forth between the first end and the second end of the second clamping member 14.

[0073] In the embodiment of the present application, since the sliding slot is arranged on the second clamping member 14, when the manipulator 100 switches from the second clamping state, the sliding block moves along the sliding slot from the first end to the second end of the second clamping member 14, so that the distance between the first end of the second clamping member 14 and the cooperating member 13 increases, and the distance between the second end of the second clamping member 14 and the cooperating member 13 decreases. In this way, the part of the second clamping member 14 that swings into the accommodating space 114 increases, and when the second ends of the second clamping members 14 of the at least two clamping units 10 are close to each other, the second ends of the second clamping members 14 are not easy to contact. Compared with the related art in which the second clamping member and the third rod segment cannot move relative to each other, in the embodiment of the present application, the second clamping member 14 is arranged to be movably arranged relative to the third rod segment 113 of the frame member 11, so that the manipulator 100 can envelope a smaller target object 200 (at least the size of the target object 200 in the up-down direction can be smaller) when in the second clamping state. Figure 4 and Figure 6 The size of the target object 200 in the up-down direction can be smaller.

[0074] Of course, in other alternative embodiments of the present application, the cooperating member 13 can be fixedly arranged on the frame member 11, and the cooperating member 13 and the second clamping member 14 are arranged to be rotatable relative to each other, that is, the second clamping member 14 is rotatable and movable relative to the fixed cooperating member 13.

[0075] Optionally, in some alternative embodiments of the present application, the cooperating member 13 is arranged to be rotatable relative to the frame member 11, and the second clamping member 14 is arranged to be rotatable relative to the cooperating member 13. Figure 2 and Figure 5As shown, the second clamping part 14 has a first clamping part 141 away from the first clamping part 12 and a second clamping part 142 close to the first clamping part 12, and the first clamping part 12 has a third clamping part 121. In the first clamping state, the first clamping parts 141 of the at least two clamping units 10 cooperate to clamp the target object 200 in parallel. In the second clamping state, the second clamping parts 142 of the at least two clamping units 10 cooperate with the third clamping part 121 to envelope the target object 200.

[0076] In the embodiment, when the manipulator 100 switches to the first clamping state, the first clamping parts 141 of the at least two clamping units 10 are parallelly close to each other. When the manipulator 100 is in the first clamping state, the first clamping parts 141 of the at least two clamping units 10 are respectively in abutment with the target object 200 to clamp the target object 200 in parallel, thereby realizing the parallel clamping function of the manipulator 100.

[0077] When the manipulator 100 switches to the second clamping state, the second clamping parts 142 and the third clamping part 121 of the at least two clamping units 10 are close to each other, and then contact the surface of the target object 200, so that the second clamping part 14 is forced to move and rotate relative to the frame part 11, and the first clamping part 12 is forced to rotate relative to the frame part 11, and the second clamping part 14 and the first clamping part 12 are arranged at an angle and in a semi-enclosed manner.

[0078] When the manipulator 100 is in the second clamping state, the second clamping parts 142 of the second clamping part 14 and the third clamping part 121 of the first clamping part 12 of the at least two clamping units 10 are respectively in abutment with the target object 200 to envelope the periphery of the target object 200, thereby realizing the envelope clamping function of the manipulator 100.

[0079] Alternatively, in other optional embodiments of the present application, as shown in Figure 7 and Figure 8 The transmission unit 20 includes a seat body 23. In the second clamping state, the second clamping parts 142 of the at least two clamping units 10 cooperate with the seat body 23 to envelope the target object 200.

[0080] At this time, when the manipulator 100 is in the second clamping state, the second clamping parts 142 of the second clamping part 14 of the at least two clamping units 10 are in abutment with the target object 200 from the outside, and the seat body 23 of the transmission unit 20 is in abutment with the target object 200 from the inside (for example, the side of the seat body 23 close to the target object 200), and the second clamping part 14 and the seat body 23 envelope and clamp the periphery of the target object 200, thereby realizing the envelope clamping function of the manipulator 100.

[0081] Alternatively, as shown in Figure 4 ,Figures 6 to 8 In the embodiment shown, the size of the target object 200 clamped by the second clamping part 14 and the seat 23 (which at least includes the size of the target object 200 along the left-right direction) is greater than the size of the target object 200 clamped by the second clamping part 14 and the first clamping part 12 (which at least includes the size of the target object 200 along the left-right direction). Figure 7 Figure 8 Figure 4 Figure 6 In the embodiment shown, the size of the target object 200 clamped by the second clamping part 14 and the seat 23 (which at least includes the size of the target object 200 along the left-right direction) is greater than the size of the target object 200 clamped by the second clamping part 14 and the first clamping part 12 (which at least includes the size of the target object 200 along the left-right direction).

[0082] Optionally, as shown in Figure 1 Figure 2 In the embodiment shown, the first clamping part 141 has a flat clamping surface. The corresponding clamping surfaces of the first clamping part 141 of any two clamping units 10 are parallel or have a certain relative angle.

[0083] Optionally, as shown in Figure 2 Figure 5 In the embodiment shown, the first clamping part 141 and the second clamping part 142 partially overlap. Of course, in other alternative embodiments of the present application, the first clamping part 141 and the second clamping part 142 can not have overlapping parts according to actual needs.

[0084] Optionally, as shown in Figure 1 Figure 3 In the embodiment shown, the at least two clamping units 10 of the manipulator 100 parallelly clamp the target object 200 (the manipulator 100 is in the first clamping state) taking the target object 200 with a rectangular or rectangular-like cross-sectional shape in a cross section perpendicular to the extension direction of the target object 200 as an example.

[0085] Optionally, as shown in Figure 4 Figures 6 to 8 In the embodiment shown, the manipulator 100 clamps the target object 200 (the manipulator 100 is in the second clamping state) taking the target object 200 with a circular cross-sectional shape in a cross section perpendicular to the extension direction of the target object 200 (for example, a cylindrical object) as an example.​​​​​​​

[0086] Optionally, as shown in Figure 2 and Figure 5 , in the embodiment of the present application, the guide part 15 is arranged on the side of the second clamping part 14 away from the first clamping part 141 and the second clamping part 142. Along the extension direction of the second clamping part 14, the guide part 15 is located between the first clamping part 141 and the second clamping part 142.

[0087] Optionally, in the embodiment of the present application, the orthographic projection of the guide part 15 on the second clamping part 14 intersects and overlaps at least one of the first clamping part 141 and the second clamping part 142.

[0088] Specifically, the orthographic projection of the guide part 15 on the second clamping part 14 can intersect and overlap the part of the first clamping part 141 close to the second clamping part 142, or the orthographic projection of the guide part 15 on the second clamping part 14 can intersect and overlap the part of the second clamping part 142 close to the first clamping part 141, or the orthographic projection of the guide part 15 on the second clamping part 14 can simultaneously intersect and overlap the part of the first clamping part 141 close to the second clamping part 142 and the part of the second clamping part 142 close to the first clamping part 141.

[0089] Optionally, as shown in Figure 1 , Figure 2 , Figure 4 and Figure 5 , in the embodiment of the present application, the sliding groove is arranged between the first end and the second end of the second clamping part 14 and does not contain the part of the first clamping part 141 located at the second end of the second clamping part 14.

[0090] Optionally, as shown in Figures 1 to 6 , in the embodiment of the present application, the frame part 11 comprises a first rod segment 111, a second rod segment 112 and a third rod segment 113. The two ends of the first rod segment 111 are respectively pivotally connected with the transmission unit 20, and the first end of the first rod segment 111 is pivotally connected with the first clamping part 12.

[0091] The first end of the second rod segment 112 is fixedly connected with the second end of the first rod segment 111, and the second rod segment 112 is arranged at an angle with the first rod segment 111. The first end of the third rod segment 113 is fixedly connected with the second end of the second rod segment 112, and the third rod segment 113 is inclined to the axis of the second rod segment 112. The cooperation part 13 is pivotally connected with the second end of the third rod segment 113.

[0092] In the embodiment of the present application, the two ends of the first rod segment 111 are respectively pivotally connected with the transmission unit 20, and under the driving of the transmission unit 20, the first rod segment 111 moves in the direction parallel to the extension direction of the first rod segment 111.

[0093] The first rod segment 111, the second rod segment 112 and the third rod segment 113 are sequentially fixedly connected, and the transmission unit 20 drives the first rod segment 111, the second rod segment 112 and the third rod segment 113 to move in a direction parallel to the extension direction of the first rod segment 111, so as to drive the first clamping piece 12, the matching piece 13 and the second clamping piece 14 to translate in a direction parallel to the extension direction of the first rod segment 111.

[0094] In the embodiment of the present application, the third rod segment 113 is arranged obliquely relative to the second rod segment 112, which can avoid the second clamping piece 14 when the mechanical hand 100 switches to the second clamping state and is in the second clamping state, so as to avoid the interference with the rotation and movement of the second clamping piece 14, and ensure the smooth rotation and movement of the second clamping piece 14.

[0095] Optionally, as shown in Figure 1 , Figure 4 and Figure 5 , in the embodiment of the present application, the second rod segment 112 is perpendicular to the first rod segment 111.

[0096] Optionally, as shown in Figure 1 and Figure 4 , in the embodiment of the present application, the first end of the first clamping piece 12 is pivotally connected with the transmission unit 20.

[0097] Optionally, the pivot points between the first clamping piece 12 and the first rod segment 111, between the first end of the first rod segment 111 and the transmission unit 20, and between the first clamping piece 12 and the transmission unit 20 coincide. Optionally, the first clamping piece 12, the first rod segment 111 and the transmission unit 20 (specifically the first transmission rod 21) are rotatably arranged around the same rotation shaft.

[0098] Optionally, as shown in Figure 1 and Figure 4 , in the embodiment of the present application, the fixed connection point between the second rod segment 112 and the first rod segment 111 is pivotally connected with the transmission unit 20 (specifically the second transmission rod 22).

[0099] Optionally, as shown in Figure 1 and Figure 4 , in the embodiment of the present application, the second rod segment 112 extends to a side away from the transmission unit 20 relative to the first rod segment 111.

[0100] Optionally, as shown in Figure 1 , Figure 4 and Figure 5 , in the embodiment of the present application, the third rod segment 113 extends to a side away from the first rod segment 111 relative to the second rod segment 112. The third rod segment 113 is arranged obliquely to a side away from the axis of the second rod segment 112. The third rod segment 113 is located on the same side of the second rod segment 112 as the first rod segment 111.

[0101] Optionally, such as Figure 5 As shown in the embodiment of this application, the pivot connection point between the mating part 13 and the third link segment 113 (specifically, the second end of the third link segment 113) (e.g.) Figure 5 The vertical distance between point a (as shown) and the first segment 111 is greater than the fixed connection point between the second segment 112 and the third segment 113 (specifically, the first end of the third segment 113) (as shown). Figure 5 The vertical distance between point c (as shown) and the first segment 111. That is, the pivot connection point a, and the pivot connection point between the first clamping member 12 and the first segment 111 (as shown). Figure 5 The distance between point b shown is greater than the distance between the fixed connection point c and the pivot connection point b.

[0102] In the embodiments of this application, such as Figure 5 As shown, the force-bearing points of the manipulator 100 enveloping the target object 200 include pivot connection point a and pivot connection point b. When the centroid G of the target object 200 is located between pivot connection point a and pivot connection point b, the manipulator 100 can envelop and clamp the target object 200. Because the distance between pivot connection point a and pivot connection point b is relatively large, the manipulator 100 can envelop a larger target object 200.

[0103] Optionally, such as Figure 4 , Figures 6 to 8 As shown in this embodiment, the third link segment 113 is fixedly connected to the second link segment 112 and bends relative to the second link segment 112 towards the side where the other gripping units 10 and the target object 200 are located. When the robot arm 100 envelops and grips the target object 200, the second gripping member 14 rotates and moves relative to the end of the third link segment 113 away from the second link segment 112, and the second gripping part 142 of the second gripping member 14 moves from the outside (e.g., from the outside). Figure 4 , Figures 6 to 8 The first clamping member 12 (located above and to the side of the target object 200) abuts against the target object 200. The first clamping member 12 rotates relative to the first end of the first rod segment 111, and the third clamping part 121 of the first clamping member 12 clamps from the inside (e.g., from the inside). Figure 4 and Figure 6 The target object 200 shown is located on its side below, or the seat 23 is located from the inside (e.g., below). Figure 7 and Figure 8 The object 200 is placed below the target object 200. The second clamping part 142 of the second clamping member 14 and the third clamping part 121 of the first clamping member 12 cooperate, or the second clamping part 142 of the second clamping member 14 cooperates with the seat 23 to achieve enveloping clamping of the target object 200.

[0104] According to the size of the target object 200, the swing angle of the first transmission rod 21 and the second transmission rod 22 of the transmission unit 20 can be adjusted, so as to adjust the distance between the at least two clamping units 10.

[0105] By driving the at least two clamping units 10 away from each other through the transmission unit 20, the distance between the at least two clamping units 10 is increased, and the target object 200 is clamped from above the side of the target object 200 as shown in Figure 4 、 Figures 6 to 8 and from below the side of the target object 200 as shown in Figure 4 and Figure 6 , or the target object 200 is clamped from above the side of the target object 200 as shown in Figure 4 、 Figures 6 to 8 and from below the target object as shown in Figure 7 and Figure 8 , so that even if the size of the target object 200 is large enough to contact or abut against the seat body 23 of the transmission unit 20, the manipulator 100 can still stably envelop and clamp the target object 200, so that the manipulator 100 can envelop a larger target object 200.

[0106] Optionally, as shown in Figure 1 、 Figure 3 、 Figure 4 and Figure 6 , in the embodiment of the present application, the first rod segment 111, the second rod segment 112 and the third rod segment 113 enclose the accommodation space 114. As shown in Figure 1 and Figure 3 , in the first clamping state, the engaging piece 13 is close to the first end of the second clamping piece 14, and the axes of the first clamping piece 12 and the second clamping piece 14 are collinear. As shown in Figure 4 、 Figures 6 to 8 , in the second clamping state, the engaging piece 13 is close to the second end of the second clamping piece 14, and the first clamping piece 12 and the second clamping piece 14 are swung to partially penetrate into the accommodation space 114.

[0107] In the embodiment of the present application, the accommodation space 114 is used to accommodate and avoid the first clamping piece 12 and the second clamping piece 14 that are bent.

[0108] Optionally, as shown in Figure 1 、 Figure 3 、 Figure 4 and Figure 6 , in the embodiment of the present application, each clamping unit 10 has an initial position in which the engaging piece 13 is close to the first end of the second clamping piece 14, and the axes of the first clamping piece 12 and the second clamping piece 14 are collinear (as shown in Figure 1 and Figure 3The second end of the second clamping member 14 is close to the engaging member 13, and the first clamping member 12 and the second clamping member 14 are partially swung into the envelope position in the accommodating space 114 (as shown in Figure 4 , Figures 6 to 8 The intermediate position is between the initial position and the envelope position. At any time, the clamping unit 10 is in any one of the initial position, the envelope position and the intermediate position.

[0109] Optionally, as shown in Figure 1 and Figure 3 , if the clamping unit 10 is in the initial position and the at least two clamping units 10 are close to each other, the first clamping part 141 of the at least two clamping units 10 can parallelly clamp the target object 200 (at this time, the first clamping part 141 abuts against the surface of the target object 200), so that the manipulator 100 is in the first clamping state.

[0110] That is, when the manipulator 100 is in the first clamping state, the engaging member 13 of each clamping unit 10 is close to the first end of the second clamping member 14, and the axes of the first clamping member 12 and the second clamping member 14 are collinear.

[0111] As shown in Figure 4 and Figure 6 , if the clamping unit 10 is in the envelope position and the at least two clamping units 10 are close to each other, the second clamping part 142 and the third clamping part 121 of the at least two clamping units 10 can envelope clamp the target object 200 (at this time, the second clamping part 142 and the third clamping part 121 abut against the surface of the target object 200), or the second clamping part 142 and the seat body 23 of the at least two clamping units 10 can envelope clamp the target object 200 (at this time, the second clamping part 142 and the seat body 23 abut against the surface of the target object 200), so that the manipulator 100 is in the second clamping state.

[0112] That is, when the manipulator 100 is in the second clamping state, the engaging member 13 of each clamping unit 10 is close to the second end of the second clamping member 14, and the first clamping member 12 and the second clamping member 14 are swung into the accommodating space 114.

[0113] Optionally, as shown in Figure 4 and Figure 5 , in the second clamping state, the connection between the first clamping member 12 and the second clamping member 14 abuts against the frame member 11 (for example, the second rod segment 112), and the engaging member 13 is located between the two ends of the guide part 15.

[0114] In the embodiment of the present application, the frame member 11 is used to mount and support the first clamping member 12, the matching member 13 and the second clamping member 14, and is used to carry the target object 200. When the manipulator 100 is in the second clamping state, the second clamping portion 142 abuts against the target object 200, the third clamping portion 121 or the seat body 23 abuts against the target object 200, and the joint between the first clamping member 12 and the second clamping member 14 abuts against the second rod segment 112, thereby realizing stable clamping of the target object 200.

[0115] Of course, in other optional embodiments of the present application, the matching member 13 can be arranged to abut against the second end of the guide portion 15 away from the first clamping member 12 (i.e., the second end) in the second clamping state, and the joint between the first clamping member 12 and the second clamping member 14 can have a gap with the frame member 11. At this time, when the manipulator 100 is in the second clamping state, the matching member 13 abuts against the second end of the guide portion 15 to clamp the second clamping member 14 and provide a clamping force for clamping the target object 200, which is much greater than the restoring force provided by the restoring member 16. Under the action of the clamping force, the second clamping portion 142 abuts against the target object 200, the third clamping portion 121 or the seat body 23 abuts against the target object 200, and the target object 200 can be stably clamped.

[0116] Of course, in other optional embodiments of the present application, the matching member 13 can be arranged to abut against the second end of the guide portion 15 away from the first clamping member 12 (i.e., the second end) in the second clamping state, and the joint between the first clamping member 12 and the second clamping member 14 can have a gap with the frame member 11. At this time, when the manipulator 100 is in the second clamping state, the matching member 13 abuts against the second end of the guide portion 15 to clamp the second clamping member 14 and provide a clamping force for clamping the target object 200, which is much greater than the restoring force provided by the restoring member 16. Under the action of the clamping force, the second clamping portion 142 abuts against the target object 200, the third clamping portion 121 or the seat body 23 abuts against the target object 200, and the target object 200 can be stably clamped.

[0117] Optionally, as shown in Figure 3 and Figure 6 In the embodiment of the present application, the clamping unit 10 further includes a restoring member 16 connected to at least one of the first clamping member 12 and the second clamping member 14, so as to restore the first clamping member 12 and the second clamping member 14 to be coaxial. The restoring member 16 is configured to apply a force to the first clamping member 12 or the second clamping member 14 to make the first clamping member 12 and the second clamping member 14 open in a direction away from the frame member 11.

[0118] In the embodiment of the present application, the reset member 16 acts on at least one of the first clamping member 12 and the second clamping member 14, so as to restore the first clamping member 12 and the second clamping member 14 to the coaxial state, and achieve the reset. When the manipulator 100 is not working, the reset member 16 can be used to restore the clamping unit 10 to the initial position.

[0119] Optionally, as shown in Figure 3 and Figure 6 , in the embodiment of the present application, the reset member 16 includes an elastic member, which is arranged at the connection between the first clamping member 12 and the second clamping member 14. The elastic member applies an action force to the first clamping member 12 and the second clamping member 14 in the direction opposite to the swinging direction into the accommodating space 114.

[0120] Optionally, in the embodiment of the present application, the elastic member includes but is not limited to a spring or a spring sheet, etc. The spring includes but is not limited to a torsion spring, etc.

[0121] Optionally, in the embodiment of the present application, when the first clamping member 12 and the second clamping member 14 are coaxial, the elastic member is in the original state (at this time, the elastic member is in a natural state without pre-tightening force or has a pre-tightening force). In this way, when the first clamping member 12 and the second clamping member 14 swing into the accommodating space 114 under the extrusion of the target object 200, the elastic member deforms and stores energy. When the target object 200 disappears, the elastic member releases the energy and restores to the original state, thereby driving the first clamping member 12 and the second clamping member 14 to restore to the coaxial state.

[0122] Of course, in other optional embodiments of the present application, the reset member 16 can also be arranged at the connection between the first clamping member 12 and the frame member 11 according to actual needs.

[0123] Optionally, as shown in Figure 1 and Figure 4 , in the embodiment of the present application, the first clamping member 12 includes but is not limited to a rod member. The second clamping member 14 includes but is not limited to a rod member.

[0124] Optionally, as shown in Figure 1 , Figure 3 , Figure 4 and Figure 6 , in the embodiment of the present application, the clamping unit 10 further includes a limiting member 17, which is connected with at least one of the first clamping member 12 and the second clamping member 14, so as to limit the swinging of the first clamping member 12 and the second clamping member 14 to the side away from the accommodating space 114. The limiting member 17 is used to prevent the first clamping member 12 and the second clamping member 14 from opening more than a predetermined opening angle in the direction away from the frame member 11. The predetermined opening angle can be 180 degrees, at this time, the first clamping member 12 and the second clamping member 14 tend to keep coaxial.

[0125] In the embodiment of the present application, the limiting member 17 is arranged to prevent the first clamping member 12 and the second clamping member 14 from swinging away from the containing space 114 (i.e. the side where the target object 200 is located). In this way, when the mechanical hand 100 holds the target object 200 in parallel through the first clamping part 141, the first clamping member 12 and the second clamping member 14 will not swing away from the containing space 114, which will cause the second end of the second clamping member 14 to open outward, resulting in unstable clamping of the target object 200 or even causing the target object 200 to fall off. Therefore, the target object 200 can be held in parallel more stably. The limiting member 17 prevents the first clamping member 12 and the second clamping member 14 from swinging away from the containing space 114, thereby ensuring the switching of the clamping unit 10 between the initial position, the intermediate position and the envelope position.

[0126] Optionally, in the embodiment of the present application, the limiting member 17 includes, but is not limited to, a baffle or a protrusion, etc.

[0127] Optionally, the baffle or the protrusion can be arranged at the second end of the first clamping member 12 (i.e. the end facing the second clamping member 14) and located on the side of the first clamping member 12 facing the containing space 114. When the axis of the first clamping member 12 and the second clamping member 14 is collinear, the baffle or the protrusion is attached to the outer wall of the second clamping member 14. When the second clamping member 14 has a tendency to swing away from the containing space 114, the baffle or the protrusion abuts against the outer wall of the second clamping member 14 to prevent the second clamping member 14 from swinging away from the containing space 114.

[0128] Of course, in other optional embodiments of the present application, the baffle or the protrusion can also be arranged at the first end of the second clamping member 14 (i.e. the end facing the first clamping member 12) and located on the side of the second clamping member 14 facing the containing space 114. When the axis of the first clamping member 12 and the second clamping member 14 is collinear, the baffle or the protrusion is attached to the outer wall of the first clamping member 12. Alternatively, the baffle or the protrusion can be arranged at the pivot connection between the first clamping member 12 and the frame member 11 or at the pivot connection between the first clamping member 12 and the transmission unit 20. Alternatively, the baffle or the protrusion can be arranged at least two of the second clamping member 14, the first clamping member 12, the frame member 11 and the transmission unit 20, as long as it can limit the swinging of the first clamping member 12 and the second clamping member 14 away from the containing space 114.

[0129] Optionally, as shown in Figure 1 , Figure 3 , Figure 4 and Figure 6 , in the embodiment of the present application, the transmission unit 20 further includes a first transmission rod 21 and a second transmission rod 22, and the first transmission rod 21 and the second transmission rod 22 are arranged in parallel and rotatably on the seat body 23.

[0130] The first transmission rod 21 is pivotally connected to the first end of the first rod segment 111, and the second transmission rod 22 is pivotally connected to the second end of the first rod segment 111. The first transmission rod 21 and the second transmission rod 22 are parallel to the extension direction of the first rod segment 111 with respect to the first rotation axis and the second rotation axis of the seat 23, and the length of the connecting line between the first rotation axis and the second rotation axis is equal to the length of the first rod segment 111. That is, the first transmission rod 21, the first rod segment 111, the second transmission rod 22, and the part of the seat 23 corresponding to the connecting line form a parallelogram.

[0131] In this way, the first transmission rod 21 and the second transmission rod 22 rotate relative to the seat 23, which can synchronously drive the first rod segment 111 to move along the extension direction of the first rod segment 111, that is, the transmission unit 20 drives the first rod segment 111 to translate, so that the frame 11, the first clamping member 12, the cooperating member 13, and the second clamping member 14 translate, and the clamping unit 10 moves closer to or farther away from each other.

[0132] Optionally, in the embodiment of the present application, the manipulator 100 further comprises a power unit (not shown in the figure), which is used to drive the transmission unit 20 to drive the frame 11 to move in a translational manner, so as to drive the first clamping member 12 and the second clamping member 14 to move.

[0133] Optionally, in the embodiment of the present application, the power unit can directly drive at least one of the first transmission rod 21 and the second transmission rod 22 to rotate, so that the first transmission rod 21 and the second transmission rod 22 both rotate relative to the seat 23.

[0134] Of course, in other optional embodiments of the present application, the transmission unit 20 can also comprise a transmission assembly 24 (as shown in FIGS. 1 and 2) according to actual needs. Figure 3 and Figure 6 The power unit is drivingly connected with the transmission assembly 24, the transmission assembly 24 is connected with at least one of the first transmission rod 21 and the second transmission rod 22, and drives the first transmission rod 21 and the second transmission rod 22 to rotate relative to the seat 23. Optionally, the transmission assembly 24 includes but is not limited to a ball screw or a worm gear structure.

[0135] Based on the same inventive concept, the embodiment of the present application provides a robot, which comprises: a manipulator 100 as described above and a mechanical arm.

[0136] In the embodiment of the present application, the manipulator 100 is installed at the execution end of the mechanical arm as an end effector. The robot can use the mechanical arm and the manipulator 100 to perform operations such as grasping, carrying objects, or operating tools.

[0137] It should be noted that the robot provided by the embodiments of the present application includes the manipulator provided by the embodiments of the present application, and therefore the robot provided by the embodiments of the present application also has the above beneficial effects of the manipulator provided by the embodiments of the present application, which will not be described here.

[0138] Optionally, the mechanical arm can include one or more joints for driving the manipulator to move along one or more degrees of freedom. For example, the goods can be clamped by the manipulator, and the clamped goods are carried from one position to another position by the mechanical arm. For another example, a tool such as a forceps can be clamped by the manipulator, and the physical world is modified by the clamped tool through the movement of the mechanical arm.

[0139] The embodiments of the present application can achieve at least the following beneficial effects:

[0140] The first clamping piece rotatable, the second clamping piece movable and rotatable, and the relative rotatable arrangement of the first clamping piece and the second clamping piece can not only make the manipulator have the functions of parallel clamping and envelope clamping, but also simplify the structure of the manipulator, and make the structure of the manipulator more simple.

[0141] In the description of the present application, the directions or position relationships indicated by the words "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like are exemplary directions or position relationships shown based on the drawings, and are for the convenience of description or simplification of the description of the embodiments of the present application, and are not intended to indicate or imply that the devices or components referred to must have a particular orientation, or be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0142] The terms "first", "second" are only for descriptive purpose, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified, the meaning of "multiple" is two or more.

[0143] In the description of the present application, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0144] The above only describes some embodiments of the present application, and it should be noted that, for those skilled in the art, other similar implementation manners based on the technical concept of the present application without departing from the technical concept of the present application also belong to the protection scope of the embodiments of the present application.

Claims

1. A robotic arm, characterized in that, For use in robots, including: At least two clamping units, each clamping unit comprising a frame member, a first clamping member, a mating member, and a second clamping member, wherein a first end of the frame member is rotatably connected to the first clamping member, the mating member is disposed at a second end of the frame member, the mating member is movably disposed on the second clamping member along the extending direction of the second clamping member, the second clamping member is rotatably disposed relative to a second end of the frame member, and the second clamping member is rotatably connected to the first clamping member; A transmission unit, which is connected to the frame of the clamping unit, is used to make the robot arm in a first clamping state where the second clamping member of each of the at least two clamping units is parallel to and close to the target object; or, to make the robot arm in a second clamping state where the second clamping member and the first clamping member of each of the at least two clamping units enclose and clamp the target object; or to make the robot arm in a second clamping state where the second clamping member of the at least two clamping units and a portion of the transmission unit enclose and clamp the target object.

2. The robotic arm according to claim 1, characterized in that, The clamping unit further includes a guide portion disposed on the second clamping member; The mating member is pivotally connected to the frame member, and the mating member is slidably engaged with the guide portion, which is used to limit the mating member to move along the extension direction of the guide portion.

3. The robotic arm according to claim 1, characterized in that, The second clamping member has a first clamping portion away from the first clamping member and a second clamping portion near the first clamping member, and the first clamping member has a third clamping portion; the transmission unit includes at least a base; In the first clamping state, the first clamping parts of the at least two clamping units cooperate to clamp the target object in parallel; In the second clamping state, the second clamping part of the at least two clamping units cooperates with the third clamping part, or the second clamping part of the at least two clamping units cooperates with the seat body to envelop and clamp the target object.

4. The robotic arm according to any one of claims 1 to 3, characterized in that, The frame components include: The first rod segment has two ends pivotally connected to the transmission unit, and the first end of the first rod segment is pivotally connected to the first clamping member. The second pole segment has its first end fixedly connected to the second end of the first pole segment, and the second pole segment is set at an angle to the first pole segment; The third segment has its first end fixedly connected to the second end of the second segment, and the third segment is inclined to the axis of the second segment; the mating component is pivotally connected to the second end of the third segment.

5. The robotic arm according to claim 4, characterized in that, The third segment extends away from the first segment.

6. The robotic arm according to claim 4, characterized in that, The first pole segment, the second pole segment, and the third pole segment enclose a receiving space; In the first clamping state, the mating member is close to the first end of the second clamping member, and the axes of the first clamping member and the second clamping member are collinear; In the second clamping state, the mating member is close to the second end of the second clamping member, and the first clamping member and the second clamping member swing to partially penetrate into the receiving space.

7. The robotic arm according to claim 6, characterized in that, The clamping unit further includes a reset member, which is connected to at least one of the first clamping member and the second clamping member to restore the first clamping member and the second clamping member to collinearity.

8. The robotic arm according to any one of claims 6 to 7, characterized in that, The clamping unit further includes a limiting member connected to at least one of the first clamping member and the second clamping member to limit the swing of the first clamping member and the second clamping member away from the receiving space.

9. The robotic arm according to claim 2, characterized in that, In the second clamping state, the connection between the first clamping member and the second clamping member abuts against the frame member and / or the mating member abuts against the end of the guide portion away from the first clamping member.

10. A robot, characterized in that, It includes a robotic arm and a robotic hand as described in any one of claims 1 to 9, wherein the robotic hand is mounted at the end effector of the robotic arm.

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