Clamping mechanism and mechanical arm

Abstract

The utility model discloses a clamping mechanism and a mechanical arm, the clamping mechanism comprises a mounting seat, and a clamping driving piece, a driving clamping finger and a driven clamping finger which are mounted on the mounting seat, the clamping driving piece is in transmission connection with the driving clamping finger, a meshing assembly is arranged between the driving clamping finger and the driven clamping finger, and the driving clamping finger is in transmission connection with the driven clamping finger. The driving clamping finger is in transmission connection with the driven clamping finger through the meshing assembly. The structure that the driving clamping finger and the driven clamping finger are in transmission connection through the meshing assembly is adopted, so that the two clamping fingers can act accurately and synchronously, component composition is clear, unnecessary complex structures are reduced, manufacturing and assembling are easy, production and maintenance cost is reduced, and production efficiency is improved. And meanwhile, the transmission stability and reliability are guaranteed through the meshing assembly, the overall performance of the clamping mechanism is improved, and the service life of the clamping mechanism is prolonged. By integrating the clamping mechanism, the mechanical arm has a stable and reliable clamping function.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical arm technical field especially relates to a clamping mechanism and mechanical arm. BACKGROUND

[0002] In the practical application of mechanical arm, in order to realize the accurate grasping and operation of object, need to equip effective clamping mechanism. But the existing clamping mechanism often has the problems such as poor synchronism, complex structure, low reliability, which influences the operation effect of mechanical arm in different tasks, increases production and maintenance cost, and it is difficult to meet the increasing demand of industrial automation for accurate operation of mechanical arm. SUMMARY

[0003] The utility model discloses a kind of clamping mechanism and mechanical arm, to overcome the defects of poor synchronism, complex structure, low reliability in prior art clamping mechanism, provide a kind of clamping mechanism and mechanical arm.

[0004] To solve the above technical problems, the utility model adopts the following technical scheme:

[0005] The utility model embodiment provides a kind of clamping mechanism, comprising: mounting seat and install the clamping drive piece, active clamping finger and driven clamping finger of the mounting seat, the clamping drive piece transmission connection is in the active clamping finger, meshing component is equipped between the active clamping finger with the driven clamping finger, the active clamping finger is transmission connection in the driven clamping finger by the meshing component.

[0006] In an embodiment, the meshing component includes a first rack and a second rack; the first rack is connected to the active clamping finger; the second rack is connected to the driven clamping finger; the first rack is meshingly connected to the second rack.

[0007] In an embodiment, the active clamping finger and the driven clamping finger each include a transmission member and a first clamping member, one end of the transmission member is connected to the first clamping member, and the other end is connected to the first rack or the second rack, respectively.

[0008] In an embodiment, the first clamping member is further connected to a plurality of second clamping members, and the second clamping members are arranged in overlapping relation with the first clamping member.

[0009] The utility model further provides a kind of mechanical arm, the mechanical arm includes the clamping mechanism as described above, further include horizontal rotation mechanism, lifting drive mechanism, lifting mechanism and angle adjusting mechanism;The horizontal rotation mechanism transmission connection is in the lifting drive mechanism;One end of the lifting mechanism transmission connection is in the lifting drive mechanism, and the other end is connected to the angle adjusting mechanism;The mounting seat transmission connection is in the angle adjusting mechanism.

[0010] In an embodiment, the lifting driving mechanism comprises a support frame and a first driving member; the support frame is drivingly connected to the horizontal rotating mechanism; the first driving member is installed on the support frame and drivingly connected to the lifting mechanism.

[0011] In an embodiment, the horizontal rotating mechanism comprises a second driving member and a bearing assembly, one end of the bearing assembly is drivingly connected to the second driving member, and the other end is drivingly connected to the lifting driving mechanism.

[0012] In an embodiment, the horizontal rotating mechanism further comprises a base, the bearing assembly comprises an upper race, a lower race, a shaft ring and a plurality of spherical bodies; the upper race and the lower race are connected to the support frame and the base respectively; the spherical bodies are movably connected between the upper race and the lower race and movably connected to the outer periphery of the shaft ring; the shaft ring is drivingly connected to the second driving member and the support frame.

[0013] In an embodiment, the lifting mechanism comprises a first lifting rod, and the first lifting rod is a hollow rod.

[0014] In an embodiment, the first driving member is a stepping motor.

[0015] The clamping mechanism and the mechanical arm have the beneficial effects compared with the prior art: the driving clamping fingers and the driven clamping fingers are drivingly connected through the meshing assembly, so that the two clamping fingers can accurately and synchronously move, the movement of the two clamping fingers is coordinated and consistent when clamping an object, and problems such as object falling or unstable clamping caused by asynchronization are avoided; the components are clear, unnecessary complex structures are reduced, manufacturing and assembly are easy, and production and maintenance costs are reduced; the use of the meshing assembly ensures the stability and reliability of transmission, improves the overall performance and service life of the clamping mechanism. Through integration of the clamping mechanism, the mechanical arm has stable and reliable clamping function, the operation ability in various tasks is improved, and the mechanical arm can be applied to more extensive industrial and automation fields.

[0016] The utility model will be further described below in combination with the drawings and specific embodiments. DRAWINGS

[0017] In order to more clearly illustrate the technical scheme in the embodiments of the utility model, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below, and obviously, the drawings in the following description are only some embodiments of the utility model, and other drawings can be obtained by those skilled in the art without creative labor.

[0018] Figure 1 The structure schematic diagram of the clamping mechanism provided by the utility model is shown.

[0019] Figure 2 is an exploded schematic view of the device; Figure 1

[0020] Figure 3 is a structural schematic view of the mechanical arm provided by the present application;

[0021] Figure 4 is a structural schematic view of the horizontal rotation mechanism and the lifting driving mechanism provided by the present application;

[0022] Figure 5 is an exploded schematic view of the device; Figure 4

[0023] Figure 6 is a structural schematic view of the lifting mechanism provided by the present application.

[0024] 1, clamping mechanism;11, mounting seat;12, clamping driving part;13, driving clamping finger;131, transmission part;132, first clamping part;133, second clamping part;14, driven clamping finger;15, meshing assembly;151, first rack;152, second rack;2, horizontal rotation mechanism;21, second driving part;22, bearing assembly;221, upper seat ring;222, lower seat ring;223, shaft ring;224, spherical body;23, base;3, lifting driving mechanism;31, support frame;311, bottom plate;312, side plate;32, first driving part;33, potentiometer;4, lifting mechanism;41, first lifting rod;42, second lifting rod;43, first support;44, second support;45, third support;46, fourth support;47, third driving part;48, pipe clamp;5, angle adjusting mechanism;6, positioning mechanism;61, camera;62, illuminating lamp. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical scheme and advantages of the present application more clear, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0026] The technical scheme in the embodiments of the present application will be described clearly and completely below with reference to the drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the present application.

[0027] ​​In the description of the utility model, it is understood that the directions or positional relationships indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like are the directions or positional relationships shown based on the drawings, and are only for the convenience of describing the utility model and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the utility model.

[0028] In addition, the terms "first" and "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first" and "second" can explicitly or implicitly include one or more of the features. In the description of the utility model, the meaning of "multiple" is two or more than two, unless otherwise specifically limited.

[0029] In the utility model, unless otherwise specifically defined and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood broadly, for example, it can be connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication or interaction relationship between two elements. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0030] In the utility model, unless otherwise specifically defined and limited, the "upper" or "lower" of the first feature to the second feature can include the direct contact of the first and second features, or the indirect contact of the first and second features through another feature between them. Moreover, the "upper", "upper" and "upper" of the first feature to the second feature include the vertical and inclined upper of the first feature to the second feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The "below", "below" and "below" of the first feature to the second feature include the vertical and inclined lower of the first feature to the second feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0031] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms should not be understood as necessarily referring to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in the present specification.

[0032] Referring to Figures 1-2 As shown in the drawings, the present application provides an embodiment of a clamping mechanism, comprising: a mounting seat 11 and a clamping driving element 12 mounted on the mounting seat 11, a driving clamp finger 13 and a driven clamp finger 14, the clamping driving element 12 is drivingly connected to the driving clamp finger 13, the driving clamp finger 13 and the driven clamp finger 14 are provided with a meshing assembly 15, and the driving clamp finger 13 is drivingly connected to the driven clamp finger 14 through the meshing assembly 15.

[0033] Specifically, the mounting seat 11 is used as a basic component for bearing the clamping driving element 12, the driving clamp finger 13 and the driven clamp finger 14. During clamping operation, the clamping driving element 12 transmits power to the driving clamp finger 13, the driving clamp finger 13 is drivingly connected with the driven clamp finger 14 through the meshing assembly 15, when the driving clamp finger 13 moves, the driven clamp finger 14 is driven to move cooperatively through the meshing assembly 15, the opening and closing action of the clamping mechanism 1 is realized, and the clamping operation on the object is completed.

[0034] The driving clamp finger 13 and the driven clamp finger 14 are drivingly connected through the meshing assembly 15, so that the two clamp fingers can accurately and synchronously move, ensuring that the movements of the two are coordinated and consistent when clamping the object, avoiding problems such as object falling or unstable clamping caused by asynchronization; and the component composition of the clamping mechanism 1 is clear, unnecessary complex structure is reduced, easy to manufacture and assemble, and the production and maintenance cost is reduced; at the same time, the use of the meshing assembly 15 ensures the stability and reliability of the transmission, improves the overall performance and service life of the clamping mechanism 1.

[0035] In a specific embodiment, the meshing assembly 15 comprises a first rack 151 and a second rack 152; the first rack 151 is connected to the driving clamp finger 13; the second rack 152 is connected to the driven clamp finger 14; the first rack 151 is meshingly connected to the second rack 152.

[0036] Specifically, when the clamping driving element 12 is started, the clamping driving element 12 transmits power to the driving clamp finger 13, so that the driving clamp finger 13 starts to move, and the first rack 151 connected to the driving clamp finger 13 moves with the movement of the driving clamp finger 13; the teeth of the first rack 151 are in mesh with the teeth of the second rack 152, and the second rack 152 is driven to move during the movement of the first rack 151; since the second rack 152 is connected to the driven clamp finger 14, the driven clamp finger 14 moves with the movement of the second rack 152, thereby realizing the synchronous opening and closing action of the driving clamp finger 13 and the driven clamp finger 14, and completing the clamping or releasing operation of the object.

[0037] The embodiment ensures the synchronization of the movement of the driving clamp finger 13 and the driven clamp finger 14 by using the precise meshing between the racks, and when clamping the object, the two can be accurately matched to ensure that the object is stably clamped and avoid the object from deviating or falling due to the asynchronization of the clamp fingers. The design of the first rack 151 and the second rack 152 is simple and clear, and compared with a complex transmission mechanism, the structure is easy to manufacture, install and maintain, thereby reducing the production cost and time cost. Meanwhile, the meshing of the racks has high reliability and is not prone to slipping or transmission failure, which can ensure long-term stable work and improve the working reliability and service life of the entire clamping mechanism 1.

[0038] In a specific embodiment, the driving clamp finger 13 and the driven clamp finger 14 each include a transmission element 131 and a first clamping element 132, one end of the transmission element 131 is connected to the first clamping element 132, and the other end is connected to the first rack 151 or the second rack 152, respectively.

[0039] Specifically, the transmission element 131 in the driving clamp finger 13 is drivingly connected to the clamping driving element 12 and is controlled to rotate by the clamping driving element 12. For the driving clamp finger 13, when the transmission element 131 in the driving clamp finger 13 is driven to rotate by the driving force of the clamping driving element 12, the first rack 151 moves and drives the second rack 152 to rotate. For the driven clamp finger 14, the transmission element 131 connected to the second rack 152 moves with the movement of the second rack 152. The transmission element 131 transmits the movement to the respective first clamping element 132, so that the first clamping elements 132 of the driving clamp finger 13 and the driven clamp finger 14 produce opening and closing actions. When it is needed to clamp the object, the first clamping elements 132 of the driving clamp finger 13 and the driven clamp finger 14 approach each other, stably clamp the object between them by contacting the object and applying a certain pressure; when it is needed to release the object, the first clamping elements 132 of the two move away from each other to release the object.

[0040] By separating the transmission component 131 from the first clamping component 132, the power transmission of the gripping fingers and the actual clamping function are separated. The transmission component 131 is responsible for receiving power from the clamping drive component 12 or the rack and transmitting it to the first clamping component 132, which is the part that directly contacts the object being clamped, realizing the grasping and releasing of the object. This structural design allows the transmission part and the clamping part of the gripping fingers to give full play to their respective advantages. For example, the transmission component 131 and the first clamping component 132 can be designed with different materials and structures according to different functional requirements. It also ensures the effective transmission of power from the rack to the first clamping component 132, making the movements of the active gripping finger 13 and the driven gripping finger 14 coordinated, further enhancing the synchronicity and stability of the entire clamping mechanism 1, ensuring that the object can be evenly stressed during the clamping process, and improving the reliability of the clamping.

[0041] In one specific embodiment, the transmission member 131 is circular; the first rack 151 and the second rack 152 are arc-shaped and are respectively connected to a portion of the outer periphery of the two transmission members 131; the first clamping member 132 is connected to the other portion of the outer periphery of the transmission member 131.

[0042] Specifically, by utilizing the circular transmission component 131 and the arc-shaped rack, circumferential motion transmission is achieved, increasing the flexibility of the gripper fingers to a certain extent. This allows for gripping and releasing objects at different circumferential angles, providing more possibilities for operation in complex spatial environments. Simultaneously, this circular and arc-shaped design makes better use of space. Compared to linear gripper fingers and racks, it can achieve more complex motion trajectories and a larger operating range within the same space, making it particularly suitable for use in space-constrained environments. Because it is a circular motion, when gripping an object, the first gripper 132 can form a relatively uniform gripping force distribution around the object, preventing the object from slipping or being damaged due to uneven force, thus improving the stability and reliability of the gripping.

[0043] In one specific embodiment, the first clamping member 132 is further connected to a plurality of second clamping members 133, the second clamping members 133 being arranged overlapping the first clamping member 132.

[0044] Specifically, the first clamping member 132 and the second clamping member 133 are both plate-shaped. The second clamping member 133 is located on the side of the first clamping member 132 close to the clamping drive member 12, and is connected to the first clamping member 132 or the adjacent second clamping member 133 in sequence through a fixing post (not shown in the figure).

[0045] The second clamping pieces 133 are arranged on the first clamping pieces 132 in an overlapping manner, aiming to increase the contact area with the object and improve the clamping force. The first clamping pieces 132 and the second clamping pieces 133 work together to better fit the surface of the clamped object, thereby dispersing the pressure and preventing the object from being damaged due to excessive local pressure during clamping, while enhancing the overall clamping stability. The second clamping pieces 133 are arranged at the end of the first clamping pieces 132 close to the clamping drive 12 and are connected through fixed columns. This layout helps to more reasonably distribute the force during clamping. When the first clamping pieces 132 of the active clamping fingers 13 and the driven clamping fingers 14 move towards each other to clamp the object, the second clamping pieces 133 and the second clamping pieces 133 simultaneously contact the object, which can better control and disperse the force at the initial stage of force transmission, ensuring the uniformity of the force during the entire clamping process. The multiple plate-shaped second clamping pieces 133 are arranged in an overlapping manner, increasing the flexibility of the clamping mechanism 1. For objects of different shapes and sizes, better clamping effect can be achieved by adjusting the contact mode and contact area of the second clamping pieces 133 with the object, improving the adaptability of the clamping mechanism 1 to diversified working scenarios. At the same time, this layout reasonably arranges the positions of the various second clamping pieces 133 within the limited space of the mounting seat 11, making the structure of the clamping mechanism 1 more compact, avoiding space waste caused by uneven distribution of components, and being particularly suitable for use in environments with limited space, which can better adapt to different working scenarios.

[0046] Further, the transmission member 131 and the first clamping piece 132 are in an integrated structure. The integrated structure avoids the loosening and fatigue problems that may occur in connecting components, improves the structural stability and reliability of the entire clamping system, ensures that the connection between the transmission member 131 and the first clamping piece 132 does not fail during long-term use, and prolongs the service life of the device. Since there is no connecting interface, force can be transmitted more directly and efficiently between the transmission member 131 and the first clamping piece 132, reducing energy loss, improving the power transmission efficiency of the entire clamping mechanism 1, and making the clamping action more rapid and accurate. During manufacturing, the integrated structure can reduce the number of components, simplify the manufacturing process, reduce production costs and assembly difficulty, and also reduce performance problems caused by assembly errors.

[0047] Referring to Figures 1-6 The utility model also provides an embodiment of a mechanical arm, comprising the above clamping mechanism 1, further comprising a horizontal rotation mechanism 2, a lifting drive mechanism 3, a lifting mechanism 4 and an angle adjusting mechanism 5; the horizontal rotation mechanism 2 is transmission connected to the lifting drive mechanism 3; one end of the lifting mechanism 4 is transmission connected to the lifting drive mechanism 3, and the other end is connected to the angle adjusting mechanism 5; the mounting seat 11 is transmission connected to the angle adjusting mechanism 5.

[0048] Specifically, the horizontal rotating mechanism 2 can rotate the mechanical arm as a whole in the horizontal direction, so as to facilitate the adjustment of the carrying path according to the actual scene. For example, when carrying an object, if it is necessary to carry the object from one position to another position with different horizontal directions, the horizontal rotating mechanism 2 can rotate the mechanical arm as a whole to the corresponding direction. The lifting driving mechanism 3 is started according to the working requirement, and provides power for the lifting mechanism 4, so that the lifting mechanism 4 drives the angle adjusting mechanism 5 and the clamping mechanism 1 installed thereon to perform the lifting movement. For example, in order to grasp the object placed on the high shelf, the lifting driving mechanism 3 drives the lifting mechanism 4 to ascend, so that the clamping mechanism 1 reaches the appropriate height. The angle adjusting mechanism 5 adjusts the angle of the clamping mechanism 1 according to the actual operation scene. When it is necessary to grasp the object at a specific angle, the angle adjusting mechanism 5 works to change the angle of the clamping mechanism 1, so that the clamping mechanism 1 can accurately contact and grasp the object. After the above preparation actions are completed, the clamping mechanism 1 performs the clamping or releasing operation of the object according to its own working process. After clamping the object, the mechanical arm carries the object to the specified position and releases the object through the cooperative movement of the horizontal rotating mechanism 2, the lifting driving mechanism 3 and the angle adjusting mechanism 5.

[0049] The embodiment combines the clamping mechanism 1 with the horizontal rotating mechanism 2, the lifting driving mechanism 3, the lifting mechanism 4 and the angle adjusting mechanism 5, wherein the horizontal rotating mechanism 2 is used to realize the rotation of the mechanical arm in the horizontal direction, and change the orientation of the clamping mechanism 1; the lifting driving mechanism 3 provides power for the lifting mechanism 4, so as to realize the height adjustment of the clamping mechanism 1 in the vertical direction; and the angle adjusting mechanism 5 is responsible for adjusting the angle of the clamping mechanism 1, so that the clamping mechanism 1 can operate the object in the appropriate posture. The transmission connection design between the mechanisms enables the mechanical arm to flexibly move in multiple dimensions to meet the operation requirements of clamping and carrying the object in different scenes. The transmission connection between the mechanisms is close, and the mechanisms work cooperatively, so that the mechanical arm can quickly and accurately complete the operation when performing the task, and the working efficiency is greatly improved.

[0050] In a specific embodiment, the lifting driving mechanism 3 includes a support frame 31 and a first driving member 32; the support frame 31 is in transmission connection with the horizontal rotating mechanism 2; and the first driving member 32 is installed on the support frame 31 and in transmission connection with the lifting mechanism 4.

[0051] Specifically, the support frame 31 comprises a bottom plate 311 and two side plates 312 connected to both ends of the bottom plate 311; the horizontal rotating mechanism 2 is drivingly connected to the bottom plate 311; both ends of the first driving member 32 are respectively rotatably connected to the two side plates 312 and drivingly connected to the lifting mechanism 4. When the horizontal rotating mechanism 2 of the mechanical arm starts to operate, the bottom plate 311 drivingly connected thereto is driven to rotate horizontally. The rotation of the bottom plate 311 enables the entire support frame 31 as well as the first driving member 32 and the lifting mechanism 4 mounted thereon to adjust the position in the horizontal plane, so as to move the lifting mechanism 4 to the top of the target object or the required horizontal position, thereby preparing for the subsequent lifting operation. After the horizontal position is determined, the first driving member 32 starts to operate. Since both ends of the first driving member 32 are rotatably connected to the side plates 312, it stably rotates with the connecting points on the side plates 312 as the rotation center during operation. The rotating power generated by the first driving member 32 is transmitted to the lifting mechanism 4, so that the lifting mechanism 4 rotates in the vertical plane with the first driving member 32 as the rotation center, thereby changing the position of the angle adjusting mechanism 5 and the clamping mechanism 1 to complete the lifting or lowering operation of the object.

[0052] In an embodiment, the first driving member 32 is a stepper motor.

[0053] Specifically, the conventional mechanical arm usually adopts a rudder or double-rudder scheme as the driving member of the lifting driving mechanism 3, which has the problems of insufficient torque or poor synchronization of the double rudders. In the embodiment, the stepper motor is used as the first driving member 32, which can provide higher torque than the general rudder, solves the problem of insufficient torque of the lifting driving mechanism 3 at the bottom of the mechanical arm with an ultra-long arm span, enables the mechanical arm to bear greater load and complete more types of work tasks, and compared with the conventional double-rudder scheme, uses a single stepper motor to avoid the problem of difficult precise synchronization of two rudders, reduces the wear and damage of the mechanical arm components caused by the torque conflict of the rudders, thereby improving the service life and working reliability of the mechanical arm. Meanwhile, the stepper motor itself has precise position and speed control capability, which can precisely control the lifting action of the mechanical arm through reasonable control program and circuit design, realize more delicate operation, and improve the operation precision of the mechanical arm in various working scenarios.

[0054] Preferably, the first driving member 32 is connected with a speed reduction mechanism (not labeled in the figure). When the motor shaft rotates, the output rotation speed is reduced and the torque is increased through the action of the speed reduction mechanism, which generates sufficient torque to drive the lifting mechanism 4 to perform the lifting action. By using the stepper motor in combination with the speed reduction mechanism, higher torque than the general rudder can be provided, which solves the problem of insufficient torque of the lifting driving mechanism 3 at the bottom of the mechanical arm with an ultra-long arm span, enables the mechanical arm to bear greater load and complete more types of work tasks.

[0055] Further, the output shaft of the first driving member 32 is connected with a potentiometer 33. The working state of the first driving member 32 and its related mechanism can be detected by monitoring the feedback signal of the potentiometer 33. With the feedback of the potentiometer 33, precise control of the first driving member 32 can be achieved, improving the position and motion accuracy of the mechanical arm in the lifting action. Through real-time position feedback, the actual position of the first driving member 32 can be accurately compared with the expected position, reducing errors and allowing more precise control of the lifting height, speed and other parameters of the mechanical arm, which is particularly important in tasks requiring high precision operations. Abnormal potentiometer 33 feedback signals may indicate abnormal movement of the first driving member 32, such as jamming, overstroke and other problems, which helps to achieve early detection and diagnosis of faults and provides convenience for maintenance and repair of the mechanical arm. Moreover, the potentiometer 33 and the first driving member 32 form a closed-loop control system, enhancing the stability and anti-interference ability of the system. When the first driving member 32 deviates from the predetermined trajectory due to external interference (such as load changes, mechanical vibrations, etc.), the control system can adjust in time through the feedback of the potentiometer 33, ensuring the accuracy and reliability of the mechanical arm's action and avoiding action errors or instability due to interference.

[0056] In a specific embodiment, the horizontal rotation mechanism 2 includes a second driving member 21 and a bearing assembly 22, one end of the bearing assembly 22 being drivingly connected to the second driving member 21, and the other end being drivingly connected to the lifting driving mechanism 3.

[0057] Specifically, when the mechanical arm needs to rotate in the horizontal direction, the second driving member 21 starts to rotate and transmits power to one end of the bearing assembly 22 connected thereto. After receiving the power transmitted by the second driving member 21, the bearing assembly 22 can rotate freely around its axis due to its structural characteristics, and transmits the power to the lifting driving mechanism 3 connected to the other end thereof. The lifting driving mechanism 3 performs circular motion in the horizontal direction with the axis of the bearing assembly 22 as the center under the driving of the bearing assembly 22. With the rotation of the lifting driving mechanism 3, the lifting mechanism 4, the angle adjusting mechanism 5 and the clamping mechanism 1 connected thereto also rotate horizontally synchronously, so that the mechanical arm as a whole can adjust its orientation on the horizontal plane to align with the target object or adapt to the requirements of the working environment.

[0058] The power provided by the second driving member 21 can accurately control the rotation angle and speed of the mechanical arm in the horizontal direction. This allows the mechanical arm to accurately adjust the position when performing tasks such as picking and placing objects, improving the accuracy and flexibility of the operation and meeting the requirements for object position in different working scenarios. The use of the bearing assembly 22 ensures the stability of the mechanical arm during horizontal rotation. It can withstand the weight of each part of the mechanical arm and the centrifugal force generated during movement, and through good rotation performance, it reduces friction and vibration, making the horizontal rotation of the mechanical arm more stable, which helps to improve the service life and working reliability of the mechanical arm. The design of this horizontal rotation mechanism 2 has good compatibility and can be easily connected and cooperated with other mechanisms (such as the lifting driving mechanism 3, the lifting mechanism 4, etc.). As an important part of the overall motion system of the mechanical arm, it can be effectively integrated into the structure of the mechanical arm, making the power transmission and motion connection between the mechanisms more smooth, improving the overall performance of the mechanical arm.

[0059] In a specific embodiment, the horizontal rotation mechanism 2 further includes a base 23, and the bearing assembly 22 includes an upper race 221, a lower race 222, a shaft ring 223, and a plurality of spherical bodies 224; the upper race 221 and the lower race 222 are connected to the support frame 31 and the base 23, respectively; the spherical bodies 224 are movably connected between the upper race 221 and the lower race 222, and movably connected to the outer periphery of the shaft ring 223; the shaft ring 223 is drivingly connected to the second driving member 21 and the support frame 31.

[0060] Specifically, when the mechanical arm needs to rotate in the horizontal direction, the second driving member 21 starts to work and outputs a rotating torque. The torque is transmitted to the shaft ring 223 through the driving connection, causing the shaft ring 223 to have a tendency to rotate. The spherical bodies 224 on the outer periphery of the shaft ring 223 start to roll between the upper race 221 and the lower race 222 under the action of the rotation of the shaft ring 223. Because the rolling friction of the spherical bodies 224 is small, the shaft ring 223 can rotate smoothly. With the rotation of the shaft ring 223, the rotating motion is transmitted to the support frame 31 through the driving connection between the shaft ring 223 and the support frame 31. The support frame 31 rotates in the horizontal direction with the circular track of the spherical bodies 224 as the rotation track. In this way, the entire mechanical arm system connected with the support frame 31, such as the lifting driving mechanism 3, the lifting mechanism 4, the angle adjusting mechanism 5, and the clamping mechanism 1, rotates in the horizontal direction, realizing the horizontal position adjustment of the mechanical arm.

[0061] The rolling friction design of the spherical balls 224 greatly reduces the frictional force of the raceway 223 during rotation. This not only reduces energy loss and improves the efficiency of the horizontal rotation of the robotic arm, but also reduces the wear and tear of mechanical components, prolonging the service life of the bearing assembly 22. The uniform distribution of the plurality of spherical balls 224 between the upper and lower seat rings 221 and 222 and the outer periphery of the raceway 223 can withstand large axial and radial loads. This structural design enables the bearing assembly 22 to maintain good stability when subjected to the weight of the robotic arm and various forces generated during operation, ensuring smooth horizontal rotation of the robotic arm. The structure of the bearing assembly 22 is relatively simple, mainly composed of the upper seat ring 221, the lower seat ring 222, the raceway 223 and the spherical balls 224. This simple structure is easy to manufacture, install and maintain, and also makes the structure of the entire robotic arm system more compact, which is beneficial to achieving complex mechanical movements in limited space.

[0062] Further, the second driving member 21 and the bearing assembly 22 are both mounted to the base 23, with the lower seat ring 222 supported and fixed above the second driving member 21. The presence of the base 23 provides additional stability for the horizontal rotation mechanism 2. It integrates the second driving member 21 and the bearing assembly 22 together to form a stable module, avoiding displacement or shaking of the components due to stress, improving the stability and reliability of the entire horizontal rotation mechanism 2, and ensuring the smoothness of the robotic arm during horizontal rotation. This integrated design concentrates the main components of the horizontal rotation mechanism 2 on the base 23, facilitating positioning and installation during assembly. During maintenance, technicians can more conveniently inspect, repair or replace the second driving member 21 and the bearing assembly 22, as their positions are relatively concentrated, reducing the difficulty and cost of maintenance. Concentrating the second driving member 21 and the bearing assembly 22 on the base 23 helps to optimize the overall spatial layout of the robotic arm. The position of the horizontal rotation mechanism 2 can be more reasonably planned according to the working environment of the robotic arm and the layout requirements of other mechanisms, reducing interference between different components and improving space utilization.

[0063] In a specific embodiment, the lifting mechanism 4 includes a first lifting rod 41, which is a hollow rod.

[0064] Specifically, the two ends of the first lifting rod 41 are respectively drivingly connected to the lifting driving mechanism 3 and the angle adjusting mechanism 5. The hollow rod body is selected as the first lifting rod 41, which not only ensures the structural strength to support the angle adjusting mechanism 5 and the clamping mechanism 1, but also reduces the weight of the entire mechanical arm. Compared with the solid rod body, the hollow rod is more economical in material use, and by reasonably designing the pipe diameter and wall thickness, the weight can be significantly reduced without losing too much strength, which helps to improve the flexibility and energy utilization efficiency of the mechanical arm movement. The two ends of the first lifting rod 41 are respectively drivingly connected to the lifting driving mechanism 3 and the angle adjusting mechanism 5, which constructs the transmission chain of the vertical movement of the mechanical arm. By transmitting the power of the lifting driving mechanism 3 to the angle adjusting mechanism 5, the clamping mechanism 1 installed thereon is driven to move up and down, realizing the function of grabbing and carrying objects at different height positions.

[0065] Further, the material of the first lifting rod 41 is carbon fiber. The high strength of carbon fiber enables the first lifting rod 41 to withstand a larger working load, meeting the strength requirements of the lifting mechanism 4 in different working scenarios. At the same time, its low density can significantly reduce the weight of the lifting rod, thereby reducing the overall weight of the mechanical arm and improving the dynamic performance of the mechanical arm, such as speeding up the lifting and lowering speed, reducing energy consumption, and improving the flexibility of operation. At the same time, carbon fiber has good corrosion resistance and can be used for a long time in different environmental conditions without being easily corroded, prolonging the service life of the lifting rod. In addition, since the carbon fiber lifting rod is not easy to deform, it can ensure the accuracy of the mechanical arm during lifting, ensure the relative position and movement accuracy between the lifting driving mechanism 3 and the angle adjusting mechanism 5 at both ends of the lifting mechanism 4, avoid position deviation caused by rod deformation, and thus improve the operation accuracy and reliability of the mechanical arm.

[0066] In a specific embodiment, the lifting mechanism 4 further includes a second lifting rod 42, and the end of the first lifting rod 41 away from the lifting driving mechanism 3 is drivingly connected to the angle adjusting mechanism 5 through the second lifting rod 42, and the second lifting rod 42 is also a hollow rod body made of carbon fiber.

[0067] The two carbon fiber hollow rods (the first lifting rod 41 and the second lifting rod 42) are used to connect the lifting driving mechanism 3 and the angle adjusting mechanism 5. Compared with a single lifting rod, the load can be more evenly dispersed, the stability of the overall structure is enhanced, and the bearing capacity for larger working load is improved. The two rods work together to make the force transmission more reasonable and reduce the risk of excessive local stress on the rod. The second lifting rod 42 is also a hollow rod made of carbon fiber material, which continues the characteristics of high strength, low density, corrosion resistance and non-deformation of carbon fiber material. This not only further reduces the weight of the lifting mechanism 4 and even the entire robotic arm, improves the dynamic performance, but also ensures long-term stable operation in different environments and maintains high-precision position and motion control.

[0068] In a specific embodiment, the lifting mechanism 4 further includes a first support 43, a second support 44, a third support 45, a fourth support 46, and a third driving member 47; the first support 43 and the second support 44 are respectively connected to the two ends of the first lifting rod 41, and the third support 45 and the fourth support 46 are respectively connected to the two ends of the second lifting rod 42; the first support 43 is drivingly connected to the first driving member 32; the third driving member 47 is rotationally connected to the second support 44 and drivingly connected to the third support 45; and the fourth support 46 is drivingly connected to the angle adjusting mechanism 5.

[0069] Specifically, by setting multiple supports to connect the lifting rods and the driving members and the angle adjusting mechanism 5, the force during lifting is dispersed to avoid excessive stress on a single point. The first support 43 and the second support 44 are respectively connected to the two ends of the first lifting rod 41, and the third support 45 and the fourth support 46 are respectively connected to the two ends of the second lifting rod 42, so that the two lifting rods are more evenly stressed. At the same time, the driving connection relationship of each support is clear, ensuring that the power of the lifting driving mechanism 3 can be efficiently and stably transmitted to the angle adjusting mechanism 5 and the clamping mechanism 1. The design of multiple supports constructs a stable mechanical structure framework. The supports not only serve as connections, but also provide additional support and constraints during the movement of the robotic arm, preventing unnecessary shaking or deformation of the lifting rods and ensuring the stability and reliability of the robotic arm when lifting heavy objects. The setting of the third driving member 47 and its driving connection with the second support 44 and the third support 45 introduce an additional power adjustment link. It can fine-tune the motion state of the second lifting rod 42 according to actual working needs, realize coordinated motion with the first lifting rod 41, and thus more accurately control the position and attitude of the angle adjusting mechanism 5 and the clamping mechanism 1. It can be understood that in other embodiments, the number of lifting rods, supports, and third driving members 47 can be adjusted according to actual conditions.

[0070] Further, the first support 43, the second support 44, the third support 45, and the fourth support 46 are all connected to the end of the first lifting rod 41 or the second lifting rod 42 through a pipe clamp 48 and a fixed column.

[0071] Specifically, the support is connected to the end of the lifting rod by the pipe clamp 48 and the fixing column, and the core of the design is to ensure the stability and reliability of the connection. The pipe clamp 48 can tightly wrap around the end of the lifting rod, providing a larger contact area and friction force, so that it can firmly grasp the lifting rod and prevent the support from shifting or loosening relative to the lifting rod during work. The fixing column further strengthens the connection, forming a multi-point fixed structure by fixing the pipe clamp 48 and the support together, improving the firmness of the connection. When bearing load, the force is transmitted from the lifting rod to the pipe clamp 48, which transmits the force to the fixing column through its close contact with the lifting rod, and then the fixing column disperses the force to the support. This force transmission and dispersion mechanism ensures that the force can be effectively transmitted from the lifting rod to the support during the lifting operation of the mechanical arm, and then to other related components, while ensuring that each component can work stably when under stress.

[0072] Preferably, the clamping drive 12, the second drive 21, the third drive 47 and the angle adjusting mechanism 5 are all rudders. By adopting the scheme of using rudders for the four driving structures of the clamping drive 12, the second drive 21, the third drive 47 and the angle adjusting mechanism 5 except the first drive 32, the advantages of high angle control accuracy and fast response speed of rudders are fully utilized. In the clamping operation, the opening and closing of the clamping fingers can be accurately controlled to ensure the stability of grabbing objects; in the horizontal rotation, lifting rod adjustment and clamping angle adjustment operations, the angles and postures of the mechanical arm can be quickly and accurately adjusted, so that the mechanical arm can accurately complete the actions in different working scenarios, improving the operation flexibility and precision of the mechanical arm. Combined with the scheme of using a stepper motor for the first drive 32, the carrying capacity of the mechanical arm can be improved, and the operation flexibility and precision of the mechanical arm can also be improved. Moreover, the weight of the rudder is lighter than that of the stepper motor, so that the center of gravity of the lifting drive mechanism 3 where the first drive 32 is located is more stable, and the lifting mechanism 4 and the clamping mechanism 1 corresponding to the angle adjusting mechanism 5, the clamping drive 12 and the third drive 47 are relatively light, thereby further improving the carrying capacity and stability of the mechanical arm.

[0073] In a specific embodiment, a positioning mechanism 6 is further connected between the clamping mechanism 1 and the angle adjusting mechanism 5, and the positioning mechanism 6 is used to position the target position.

[0074] Specifically, the presence of the positioning mechanism 6 significantly improves the positioning accuracy of the mechanical arm to the target position, enabling the mechanical arm to accurately find and approach the target object, reducing operation errors caused by positional deviations, improving the operation accuracy of the mechanical arm, especially in some tasks with high precision requirements (such as the grabbing and assembly of precision parts, etc.), which is very important. It adds positioning function to the mechanical arm, making the mechanical arm have stronger autonomous operation capability, can automatically adjust its action according to the target position information, reduces manual intervention, improves the intelligent level and automation degree of the mechanical arm, so that the mechanical arm can complete the task more efficiently. Through accurate positioning, the mechanical arm can find and complete the operation on the target object more quickly, reducing the process of repeated adjustment and trial and error, improving work efficiency. At the same time, accurate positioning also reduces the problems such as collision that may be caused by inaccurate positioning, improving the reliability and safety of the mechanical arm.

[0075] Further, the positioning mechanism 6 includes a camera 61 and a lighting lamp 62. The camera 61 combined with the lighting lamp 62 can provide relatively accurate visual positioning function, for target objects with obvious shape, color and other characteristics, high-precision positioning can be realized, so that the mechanical arm can accurately find and operate the target object, meet some work tasks with high precision requirements, such as the assembly and sorting of electronic components. The addition of the lighting lamp 62 enhances the adaptability of the positioning mechanism 6 to different lighting environments, ensuring that the camera 61 can obtain clear images under various light conditions (including weak light, strong light, shadow, etc.), improving the work reliability and stability of the mechanical arm, so that it can effectively operate in different working places and environments. Visual positioning makes the mechanical arm have higher intelligent level, can automatically identify and locate the target object, reduces manual intervention, improves the automation degree of operation. At the same time, this positioning method can realize more complex operations, such as flexibly adjusting the action of the mechanical arm according to the different postures and positions of the target object, improving work efficiency.

[0076] The above embodiment is a preferred implementation scheme of the present application, in addition to this, the present application can also be implemented in other ways, without departing from the technical scheme concept of the present application, any obvious replacement is within the protection scope of the present application.

Claims

1. A clamping mechanism, characterized by, The application relates to a clamping mechanism, which comprises a mounting base and clamping driving parts, a driving clamping finger and a driven clamping finger mounted on the mounting base, wherein the clamping driving parts are connected with the driving clamping finger, the driving clamping finger and the driven clamping finger are provided with an engaging assembly, and the driving clamping finger is connected with the driven clamping finger through the engaging assembly. The engaging assembly comprises a first gear rack and a second gear rack; the first gear rack is connected with the driving clamping finger; the second gear rack is connected with the driven clamping finger; and the first gear rack is connected with the second gear rack in a meshing mode.

2. The clamping mechanism of claim 1, wherein The driving clamping finger and the driven clamping finger both comprise a transmission part and a first clamping part; one end of the transmission part is connected with the first clamping part, and the other end is connected with the first gear rack or the second gear rack.

3. The clamping mechanism of claim 2, wherein, The first clamping part is further provided with a plurality of second clamping parts, and the second clamping parts are arranged in an overlapped mode with the first clamping part.

4. The clamping mechanism of claim 3, wherein, The application further relates to a clamping mechanism as claimed in any one of claims 1-4, which further comprises a horizontal rotating mechanism, a lifting driving mechanism, a lifting mechanism and an angle adjusting mechanism; the horizontal rotating mechanism is connected with the lifting driving mechanism in a transmission mode; one end of the lifting mechanism is connected with the lifting driving mechanism in a transmission mode, and the other end is connected with the angle adjusting mechanism; and the mounting base is connected with the angle adjusting mechanism in a transmission mode.

5. A robot arm, characterized in that, The lifting driving mechanism comprises a supporting frame and a first driving part; the supporting frame is connected with the horizontal rotating mechanism in a transmission mode; and the first driving part is mounted on the supporting frame and connected with the lifting mechanism in a transmission mode. The horizontal rotating mechanism comprises a second driving part and a bearing assembly; one end of the bearing assembly is connected with the second driving part in a transmission mode, and the other end is connected with the lifting driving mechanism in a transmission mode.

6. The robot arm of claim 5, wherein, The horizontal rotating mechanism further comprises a base; the bearing assembly comprises an upper seat ring, a lower seat ring, a shaft ring and a plurality of spherical bodies; the upper seat ring and the lower seat ring are respectively connected with the supporting frame and the base; the spherical bodies are movably connected between the upper seat ring and the lower seat ring and the outer periphery of the shaft ring; and the shaft ring is connected with the second driving part and the supporting frame in a transmission mode.

7. The robot arm of claim 6, wherein, The lifting mechanism comprises a first lifting rod, and the first lifting rod is a hollow rod.

8. The robotic arm of claim 7, wherein, The first driving part is a stepping motor.

9. The robotic arm of claim 5, wherein, ​ 10. The robotic arm of claim 6, wherein, ​

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