Clamping jaw device, manipulator and humanoid robot

Abstract

The utility model relates to the technical field of robots, in particular to a clamping jaw device, a manipulator and a humanoid robot. The driving piece is arranged on the shell, and a worm is arranged at the driving end of the driving piece; the two clamping assemblies are arranged on the shell correspondingly, and the two clamping assemblies are located on the two sides of the worm; the clamping assembly comprises a worm gear which is rotationally arranged on the shell and engaged with the worm. The connecting rod group is rotationally arranged on the shell and is connected with the worm gear; the claw head is arranged on the connecting rod group; the driving piece drives the worm to rotate and drives the two worm gears meshed with the worm to rotate synchronously, so that the connecting rod set rotates, and the two claw heads are close to each other. The two clamping assemblies are arranged on the two sides of the worm, so that the worm wheels are meshed with the worm, reasonable layout of the driving part is facilitated, one worm is adopted to drive the two worm wheels at the same time, the structural compactness is higher, the occupied space is smaller, and clamping coordination and stability are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a clamping jaw device, a mechanical hand and a humanoid robot. BACKGROUND

[0002] With the development of intelligent technology, robot technology has become a research hotspot today. The mechanical hand of the robot, as a kind of end effector of the robot, has also attracted more and more researchers' attention.

[0003] When the robot executes a command such as grabbing, the action needs to be completed by the mechanical hand. In actual production practice, the structure more suitable for the mechanical hand to execute the grabbing action is a two-finger clamping structure. However, the current two-finger clamping structure has the following problems in the clamping process: because the driving member occupies a large space, the mechanical hand cannot be normally used in a narrow space. CONTENT OF THE UTILITY MODEL

[0004] Therefore, the present application provides a clamping jaw device, a mechanical hand and a humanoid robot to solve the problem that the mechanical hand cannot be normally used in a narrow space.

[0005] In order to achieve the above purpose, the present application adopts the following technical solutions:

[0006] On the one hand, the present application provides a clamping jaw device arranged on a mechanical hand, comprising:

[0007] a housing;

[0008] a driving member arranged on the housing, the driving end of the driving member being provided with a worm;

[0009] two clamping assemblies arranged on the housing, and the two clamping assemblies being located on the two sides of the worm;

[0010] The clamping assembly comprises:

[0011] a worm wheel rotatably arranged on the housing and engaged with the worm;

[0012] a connecting rod set rotatably arranged on the housing and connected with the worm wheel;

[0013] a jaw head arranged on the connecting rod set;

[0014] The driving member drives the worm to rotate, drives the two worm wheels engaged with the worm to rotate synchronously, drives the connecting rod set to rotate, and drives the two jaw heads arranged on the two connecting rod sets to approach each other, thereby completing the grabbing.

[0015] In a possible implementation manner, the connecting rod set comprises:

[0016] a first connecting rod connected to the worm wheel;

[0017] The second connecting rod is rotatably arranged on the housing;

[0018] The third connecting rod is rotatably connected with the first connecting rod and the second connecting rod, and the claw head is arranged on the third connecting rod.

[0019] In a possible implementation, the distance from the connecting point of the first connecting rod and the worm wheel to the connecting point of the first connecting rod and the third connecting rod is equal to the distance from the connecting point of the second connecting rod and the housing to the connecting point of the second connecting rod and the third connecting rod; and / or

[0020] The distance from the connecting point of the housing and the worm wheel to the connecting point of the second connecting rod and the housing is equal to the distance from the connecting point of the first connecting rod and the third connecting rod to the connecting point of the second connecting rod and the third connecting rod.

[0021] In a possible implementation, the worm wheel is provided with helical teeth, and the worm wheel is engaged with the worm through the helical teeth.

[0022] In a possible implementation, along the circumferential direction of the worm wheel, the helical teeth are arranged on the outer periphery of part of the worm wheel.

[0023] In a possible implementation, the claw head is detachably arranged on the connecting rod group.

[0024] In a possible implementation, the worm wheel is provided with a worm wheel shaft, both sides of the worm wheel shaft are provided with worm wheel bearings, and the worm wheel shaft is rotatably arranged on the housing through the worm wheel bearings.

[0025] In a possible implementation, the worm is provided with a worm bearing at the end away from the driving member, and the worm is rotatably arranged on the housing through the worm bearing.

[0026] In another aspect, the application provides a mechanical hand comprising an arm structure and the above-mentioned claw device, and the claw device is arranged on the arm structure.

[0027] In still another aspect, the application provides a humanoid robot comprising the above-mentioned mechanical hand.

[0028] The claw device, the mechanical hand and the humanoid robot provided by the application. By arranging the worm on the driving end of the driving member, arranging two clamping assemblies on both sides of the worm, and engaging the worm wheel of the clamping assembly with the worm, the driving mode of the worm wheel and the worm can change the driving direction of the driving member, thereby facilitating the reasonable layout of the driving member and improving the space utilization. At the same time, the structure of using one worm to drive two worm wheels on the left and right sides is more compact in structure, occupies less space, and reduces the number and volume of the driving assemblies, thereby significantly saving the overall space of the device and facilitating the use in narrow spaces. The synchronous movement of the two clamping assemblies is realized by a single driving member, which improves the coordination and stability of the clamping action. BRIEF DESCRIPTION OF DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings described below are only some embodiments of the present application, and the drawings can be obtained by those skilled in the art without any creative effort on the basis of the drawings. The following describes the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application, and the following described drawings are some embodiments of the present application.

[0030] Figure 1 A structural schematic diagram of a clamping jaw device provided by the embodiments of the present application is shown in the figure.

[0031] Figure 2 A partial exploded structural schematic diagram of the clamping jaw device shown in the figure is shown in the figure. Figure 1

[0032] Figure 3 A driving structural schematic diagram of the clamping jaw device shown in the figure is shown in the figure. Figure 1

[0033] Figure 4 A structural schematic diagram of the worm and the worm wheel of the clamping jaw device shown in the figure when fully opened is shown in the figure. Figure 1

[0034] Figure 5 A structural schematic diagram of the worm and the worm wheel of the clamping jaw device shown in the figure when fully closed is shown in the figure. Figure 1

[0035] Explanation of reference signs:

[0036] 100 - clamping jaw device; 10 - shell; 20 - driving member; 21 - worm; 211 - worm bearing; 30 - clamping assembly; 31 - worm wheel; 311 - helical tooth; 312 - worm shaft; 313 - worm bearing; 32 - link set; 321 - first link; 3211 - first connecting part; 3212 - first driving part; 322 - second link; 3221 - second connecting part; 3222 - second driving part; 323 - third link; 33 - jaw head. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solutions and advantages of the embodiments of the present application more clear, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without any creative effort are within the scope of protection of the present application. The following embodiments and features in the embodiments can be combined with each other without conflict.

[0038] ​​​​With the development of intelligent technology, robot technology has become a research hotspot today, and the mechanical hand of the robot as a kind of end effector of the robot also attracts more and more researchers' attention.

[0039] When the robot executes a command such as grabbing, the action needs to be completed by the mechanical hand. In actual production practice, the structure more suitable for the mechanical hand to execute the grabbing action is a two-finger clamping structure. The current two-finger clamping structure has the following problems in the clamping process: because the driving part occupies a large space, the mechanical hand cannot be normally used in a narrow space.

[0040] In order to overcome the defects in the prior art, after repeated thinking and verification, the inventor finds that if the driving part and the claw head are driven by the meshing of the worm gear and the worm, and the worm drives two worm gears to rotate at the same time, on the one hand, the reasonable layout of the driving part can be facilitated, and the space utilization rate can be improved, and on the other hand, the meshing structure of the worm gear and the worm is more compact and occupies less space, so that the overall space of the device can be significantly saved, and the device can be used in a narrow space. At the same time, the synchronous movement of the two clamping components by a single driving part can also improve the coordination and stability of the clamping action.

[0041] Therefore, the present application provides a clamping jaw device arranged on a mechanical hand, comprising:

[0042] a housing;

[0043] a driving part arranged on the housing, the driving end of the driving part being provided with a worm;

[0044] two clamping components arranged on the housing, and the two clamping components being located on the two sides of the worm;

[0045] the clamping component comprising:

[0046] a worm gear rotatably arranged on the housing and meshing with the worm;

[0047] a connecting rod set rotatably arranged on the housing and connected with the worm gear;

[0048] a claw head arranged on the connecting rod set;

[0049] wherein the driving part drives the worm to rotate, drives the two worm gears meshing with the worm to rotate synchronously, drives the connecting rod set to rotate, and drives the two claw heads arranged on the two connecting rod sets to approach each other to complete grabbing.

[0050] By incorporating a worm gear at the drive end of the driving component, two clamping assemblies are positioned on either side of the worm gear, with the worm wheels of the clamping assemblies meshing with the worm. This worm-wheel-worm drive mechanism allows for changes in the driving direction of the driving component, facilitating its rational layout and improving space utilization. Furthermore, the structure, where a single worm gear simultaneously drives both worm wheels, offers greater structural compactness, occupies less space, and reduces the number and size of driving components, significantly saving overall device space and making it suitable for use in confined spaces. Synchronizing the movement of the two clamping assemblies with a single driving component improves the coordination and stability of the clamping action.

[0051] The contents of this application will now be described in detail with reference to the accompanying drawings, so that those skilled in the art can have a clearer and more detailed understanding of the contents of this application.

[0052] Figure 1 This is a schematic diagram of the gripper device provided in an embodiment of this application. Figure 2 for Figure 1 A partially exploded view of the gripper device shown. Figure 3 for Figure 1 A schematic diagram of the drive structure of the gripper device shown. Figure 4 for Figure 1 The diagram shows the structure of the worm gear and worm when the gripper device is fully open. Figure 5 for Figure 1 The diagram shows the structure of the worm gear and worm when the gripper device is fully closed.

[0053] The specific structure of the gripper device and various possible implementation methods are described in detail below.

[0054] like Figure 1 and Figure 2 As shown in the embodiment of this application, the gripper device 100 is used on the robotic arm of a humanoid robot.

[0055] The gripper device 100 includes a housing 10, a drive unit 20, and two gripping assemblies 30. The housing 10 is mounted on the robotic arm. The drive unit 20 and the gripping assemblies 30 are respectively mounted on the housing 10. The drive unit 20 is used to drive the two gripping assemblies 30 to move closer to each other, thereby completing the gripping action.

[0056] Please also refer to Figure 3 The driving end of the driving component 20 is provided with a worm gear 21. Two clamping assemblies 30 are located on both sides of the worm gear 21. Each clamping assembly 30 includes a worm wheel 31. The worm wheel 31 is rotatably mounted on the housing 10 and meshes with the worm gear 21.

[0057] The transmission mode of the worm 21 and the worm gear 31 can effectively convert the rotary motion of the driving member 20 into the linear motion of the clamping assembly 30, thereby improving the transmission efficiency. The cooperation of the worm 21 and the worm gear 31 can also change the driving direction of the driving member 20, thereby facilitating the reasonable layout of the driving member 20 and improving the space utilization.

[0058] Meanwhile, the transmission of the worm 21 and the worm gear 31 has the characteristic of self-locking, so that the closed jaw assembly 30 will not easily release the grabbed object without external force, thereby improving the safety and reliability of the operation.

[0059] Since the worm 21 is engaged with two worm gears 31 at the same time, the structure is more compact and occupies less space, ensuring the synchronous motion of the two jaw assemblies 30, which is conducive to realizing precise grabbing action and improving the stability and coordination of clamping.

[0060] Arranging the two jaws 30 on both sides of the worm 21 can also make full use of the space inside the jaw device 100, improve the space utilization, and is especially suitable for devices such as manipulators that need to be arranged in limited space.

[0061] In a possible implementation, the driving member 20 is a planetary reduction motor, which can provide high torque output and improve the reliability of the system.

[0062] In a possible implementation, the worm 21 extends along a first direction x, and the worm 21 can rotate around an axis parallel to the first direction x under the drive of the driving member 20. Along a second direction y, the two clamping assemblies 30 are located on both sides of the worm 21. The worm gear 31 is rotated on the housing 10, and its rotation axis is parallel to a third direction z.

[0063] Among them, the second direction y is perpendicular to the first direction x. The third direction z is perpendicular to the first direction x and the second direction y.

[0064] On the housing 10, the driving member 20 and the clamping assembly 30 are arranged along the first direction x.

[0065] In a possible implementation, the worm 21 is provided with a worm bearing 211 at the end away from the driving member 20, and the worm 21 is rotatably arranged on the housing 10 through the worm bearing 211.

[0066] The provision of the worm bearing 211 provides additional support for the worm 21, making the worm 21 more stable when rotating. At the same time, it reduces the friction between the worm 21 and the housing 10 when rotating, reduces vibration and deviation, improves the reliability and accuracy of the entire transmission system, and reduces noise.

[0067] In a possible implementation, the worm 21 is a involute worm, and the involute tooth profile is provided on the worm 21.

[0068] The involute worm has good self-locking characteristics, which improves the safety and stability of operation.

[0069] In a possible implementation, the worm wheel 31 is provided with helical teeth 311, and the worm wheel 31 is engaged with the worm 21 through the helical teeth 311.

[0070] Compared with straight teeth, the design of the helical teeth 311 increases the load-carrying capacity and contact ratio of the structure, and improves the durability and service life of the system. Moreover, the contact surface of the helical teeth 311 gradually enters the engaged state, and such gradual engagement reduces impact and vibration, is more stable and reliable than straight gears, reduces noise, and has good precision level.

[0071] Meanwhile, the design of the helical teeth 311 helps automatic centering, reduces centering problems caused by installation errors, and thus improves the reliability and precision of the system.

[0072] In a possible implementation, the worm wheel 31 is an involute worm wheel.

[0073] Specifically, the worm wheels 31 of the two clamping assemblies 30 are left and right involute worm wheels, respectively. The involute worm and the left and right involute worm wheels are engaged with each other.

[0074] As shown in FIGS. 1 and 2, in a possible implementation, the helical teeth 311 are provided on part of the outer periphery of the worm wheel 31 along the circumferential direction of the worm wheel 31. Figure 4 Figure 5 As shown in FIGS. 1 and 2, in a possible implementation, the helical teeth 311 are provided on part of the outer periphery of the worm wheel 31 along the circumferential direction of the worm wheel 31.

[0075] As shown in FIGS. 1 and 2, in a possible implementation, the helical teeth 311 are provided on part of the outer periphery of the worm wheel 31 along the circumferential direction of the worm wheel 31. Figure 4 Figure 5 As shown in FIGS. 1 and 2, in a possible implementation, the helical teeth 311 are provided on part of the outer periphery of the worm wheel 31 along the circumferential direction of the worm wheel 31.

[0076] By limiting the coverage of the helical teeth 311, the worm wheel 31 can be engaged with the worm 21 in the entire movement process, and there is no exposed helical tooth 311, which increases the airtightness of the worm wheel 31, thereby reducing the opportunity for foreign matter to enter the engagement area of the worm wheel 31 and the worm 21. Such a design helps to improve the adaptability of the system in harsh environments, reduce wear and failure caused by foreign matter, help to prolong the service life of the worm wheel 31, and reduce maintenance requirements and replacement frequency.

[0077] ​​At the same time, the design of some gears can reduce the machining time of the worm gear 31, thereby reducing the manufacturing cost.

[0078] In a possible implementation, the worm gear 31 is provided with a worm gear shaft 312, both sides of the worm gear shaft 312 are provided with worm gear bearings 313, and the worm gear shaft 312 is rotatably arranged on the housing 10 through the worm gear bearings 313, so that the worm gear 31 is rotatably arranged on the housing 10.

[0079] The arrangement of the worm gear bearings 313 on both sides provides stable support for the worm gear shaft 312, ensuring that the worm gear 31 remains stable during rotation. At the same time, it reduces the vibration and deviation of the worm gear 31 during rotation, improves the reliability and accuracy of the transmission system, and the arrangement of the worm gear bearings 313 helps to reduce the noise generated during operation.

[0080] In a possible implementation, the clamping assembly 30 further includes a linkage set 32 and a claw head 33. The linkage set 32 is rotatably arranged on the housing 10 and connected with the worm gear 31. The linkage set 32 includes a plurality of linkages. The claw head 33 is arranged on the linkage set 32.

[0081] The linkage set 32 can rotate under the drive of the worm gear 31, so as to move the claw head 33 arranged on the linkage set 32. The claw heads 33 on the two clamping assemblies 30 move close to each other, thereby completing the grabbing.

[0082] Through the arrangement of the linkage set 32, compared with the structure of single rod rotation for grabbing, the clamping assembly 30 can realize a complex motion path, and the mechanical design of the linkage set 32 can effectively transmit and amplify the force, so that the claw head 33 can exert sufficient clamping force to grab objects of different weights and materials. This design helps to improve the stability and reliability of clamping, so that the claw head 33 can have a larger grabbing range and more diversified grabbing ability, and the claw head 33 can adapt to objects of different shapes and sizes. This multi-linkage design improves the applicability of the clamping assembly 30 and can meet the needs of various application scenarios.

[0083] At the same time, the linkage set 32 is connected with the worm gear 31, which can convert the rotary motion of the worm gear 31 into the motion of the claw head 33. This motion conversion mechanism can amplify the motion range of the driving member 20, improve the operation accuracy and control ability of the clamping assembly 30.

[0084] In a possible implementation, the linkage set 32 includes a first linkage 321, a second linkage 322, and a third linkage 323. The first linkage 321 is connected to the worm gear 31. The second linkage 322 is rotatably arranged on the housing 10. The third linkage 323 is rotatably connected with the first linkage 321 and the second linkage 322, respectively. The claw head 33 is arranged on the third linkage 323.

[0085] When the driving member 20 drives the worm 21 to rotate, the worm 21 drives the two worm gears 31 engaged with the worm 21 to rotate synchronously, so as to drive the first connecting rod 321 connected with the worm gear 31 to rotate. The rotating first connecting rod 321 drives the second connecting rod 322 and the third connecting rod 323 to rotate respectively, so as to drive the two claw heads 33 arranged on the two third connecting rods 323 to approach each other.

[0086] In a possible implementation, the distance from the connecting point of the first connecting rod 321 with the worm gear 31 to the connecting point of the first connecting rod 321 with the third connecting rod 323 is equal to the distance from the connecting point of the second connecting rod 322 with the housing 10 to the connecting point of the second connecting rod 322 with the third connecting rod 323.

[0087] This equal-distance design ensures the symmetry of the movement of the connecting rod set 32, so that the claw heads 33 can maintain stable and uniform horizontal movement during operation, thereby achieving the functional requirement of the gripper device 100 for horizontal grabbing. At the same time, this symmetry also helps to reduce vibration and instability in movement, improving the accuracy of operation.

[0088] In a possible implementation, on the housing 10, the distance from the connecting point of the housing 10 with the worm gear 31 to the connecting point of the second connecting rod 322 with the housing 10 is equal to the distance from the connecting point of the first connecting rod 321 with the third connecting rod 323 to the connecting point of the second connecting rod 322 with the third connecting rod 323 on the third connecting rod 323.

[0089] This equal-distance design makes the four rotation centers of the connecting rod set 32 form a parallelogram, and the parallelogram structure ensures that the connecting rod set 32 maintains a consistent geometric relationship during movement. This consistency enables the claw heads 33 to move on parallel paths, and due to the predictability and parallelism of the movement path, the control system can more easily predict and adjust the position and posture of the claw heads 33, which helps to improve the response speed and accuracy of the system.

[0090] In a possible implementation, the first connecting rod 321 is substantially L-shaped, thereby facilitating avoidance of the housing 10 during movement and ensuring compactness of the structure.

[0091] In a possible implementation, the first connecting rod 321 includes two first connecting portions 3211 and a first driving portion 3212 connected with each other. The two first connecting portions 3211 are respectively connected to two ends of the worm gear shaft 312. The first driving portion 3212 is rotationally connected with the third connecting rod 323.

[0092] The two first connecting portions 3211 are respectively connected to two ends of the worm gear shaft 312, providing symmetrical support. This symmetry enhances the stability of the first connecting rod 321 and reduces possible deflection and vibration during movement.

[0093] In a possible implementation, the second connecting rod 322 is substantially in the shape of an I-beam, improving the structural strength and stability of the second connecting rod 322.

[0094] In a possible implementation, the second connecting rod 322 includes two second connecting portions 3221 and two second driving portions 3222 connected to each other. The two second connecting portions 3221 are connected through a rotating shaft penetrating the housing 10, so that the second connecting portions 3221 are rotationally connected to the housing 10. The two second driving portions 3222 are connected through a rotating shaft penetrating the third connecting rod 323, so that the second driving portions 3222 are rotationally connected to the third connecting rod 323.

[0095] In a possible implementation, the claw head 33 is detachably arranged on the third connecting rod 323.

[0096] The claw head 33 is detachably arranged on the connecting rod set 32, so that the claw head 33 can be replaced or adjusted as needed, and can quickly adapt to different application requirements.

[0097] In a possible implementation, the claw head 33 includes at least one of a rigid claw head and a flexible claw head.

[0098] When it is needed to clamp a small object, the rigid claw head is used; when it is needed to clamp a large object, the flexible claw head with better wrapping performance is used.

[0099] In a possible implementation, the claw head 33 is detachably arranged on the third connecting rod 323 through a bolt.

[0100] The claw device 100 provided by the embodiment of the application is arranged on a mechanical hand, and includes a housing 10, a driving member 20, and two clamping assemblies 30. The driving member 20 is arranged on the housing 10, and a driving end of the driving member 20 is provided with a worm 21. The two clamping assemblies 30 are arranged on the housing 10, and are located on the two sides of the worm 21. The clamping assembly 30 includes a worm wheel 31, a connecting rod set 32, and a claw head 33. The worm wheel 31 is rotationally arranged on the housing 10 and is in engagement with the worm 21. The connecting rod set 32 is rotationally arranged on the housing 10 and is connected to the worm wheel 31. The claw head 33 is arranged on the connecting rod set 32. The driving member 20 drives the worm 21 to rotate, drives the two worm wheels 31 in engagement with the worm 21 to synchronously rotate, drives the connecting rod set 32 to rotate, and drives the two claw heads 33 arranged on the two connecting rod sets 32 to approach each other, so as to complete grabbing.

[0101] By providing a worm gear 21 at the driving end of the driving member 20, two clamping assemblies 30 are arranged on both sides of the worm gear 21, and the worm gears 31 of the clamping assemblies 30 are engaged with the worm gear 21. The driving mode of the worm gears 31 and the worm gear 21 can change the driving direction of the driving member 20, thereby facilitating the reasonable layout of the driving member 20 and improving the space utilization. At the same time, the structure of using one worm gear 21 to drive two worm gears 31 simultaneously has higher compactness and occupies less space, and the number and volume of the driving member 20 are reduced, thereby significantly saving the overall space of the device and facilitating the use in a narrow space. The synchronous movement of the two clamping assemblies 30 is realized by a single driving member 20, which improves the coordination and stability of the clamping action. By providing the connecting rod set 32, compared with the structure of single rod rotation for grabbing, a larger grabbing range and more diversified grabbing capability are provided. This multi-connecting rod design enables the clamping assembly 30 to adapt to objects of different shapes and sizes, thereby improving the applicability and flexibility of the device. Due to its compact structure, high space utilization, and extensive grabbing range, this design is suitable for various mechanical hands and humanoid robots, and meets the needs of various industrial and service applications.

[0102] In another aspect, the embodiments of the present application also provide a mechanical hand, comprising an arm structure and a gripper device 100.

[0103] Since the mechanical hand in the embodiments comprises the gripper device 100 described in any of the above embodiments, the mechanical hand comprises the structural features and advantages of the gripper device 100, and the embodiments will not be described here.

[0104] In another aspect, the embodiments of the present application also provide a humanoid robot, comprising the above mechanical hand.

[0105] It should be noted that the phrases "one embodiment", "an embodiment", "example embodiment", "some embodiments", etc. in the specification mean that the described embodiment can include a particular feature, structure or characteristic, but not necessarily every embodiment. In addition, such phrases do not necessarily refer to the same embodiment. In addition, when a particular feature, structure or characteristic is described in connection with an embodiment, it is within the knowledge of those skilled in the art to realize such feature, structure or characteristic in connection with other embodiments described explicitly or implicitly.

[0106] Generally, the terms should be understood at least partly by the use in the context. For example, at least partly according to the context, the term "one or more" used in the text can be used to describe any feature, structure or characteristic of singular meaning, or can be used to describe a combination of features, structures or characteristics of plural meaning. Similarly, at least partly according to the context, terms such as "a" or "the" can be understood as conveying singular usage or conveying plural usage.

[0107] It should be readily understood that "on," "over," and "above" in the present application should be interpreted in the broadest manner such that "on" means not only "directly on" but also includes the meaning of "on" with intervening features or layers therebetween, and "over" or "above" includes not only the meaning of "over" or "above" but also the meaning of "over" or "above" with no intervening features or layers therebetween (i.e., directly on).

[0108] In addition, spatially relative terms, such as "beneath", "below", "lower", "above", "upper" and the like, can be used herein for ease of description to describe one element or feature's relationship to another element(s) or feature(s) as illustrated in the figures. The spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientations depicted in the figures. The devices can be otherwise oriented (rotated 90° or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

[0109] Finally, it should be noted that the above-described embodiments are merely intended for describing and illustrating, not limiting, the technical solutions of the present application; even though the present application has been described in detail with reference to the above-described embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the above-described embodiments, or make equivalent replacements to some or all of the technical features therein; and such modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A gripper device, mounted on a robotic arm, characterized in that, The utility model provides a kind of robot arm, including: Shell (10); Driving piece (20), the driving piece (20) is located on the shell (10), and the driving end of the driving piece (20) is equipped with worm (21); Two clamping assemblies (30), two the clamping assemblies (30) are respectively equipped on the shell (10), and two the clamping assemblies (30) are located at the two sides of the worm (21); The clamping assembly (30) includes: Worm wheel (31), the worm wheel (31) is rotatably arranged on the shell (10), and is engaged with the worm (21), and the worm wheel (31) is equipped with worm wheel shaft (312); Connecting rod group (32), the connecting rod group (32) is rotatably arranged on the shell (10), and is connected with the worm wheel (31); Claw head (33), the claw head (33) is arranged on the connecting rod group (32); Wherein, the driving piece (20) drives the worm (21) to rotate, drives two the worm wheel (31) engaged with the worm (21) synchronous rotation, to make the connecting rod group (32) rotate, so that two the claw head (33) on two the connecting rod group (32) is close to each other, completes to grab; The connecting rod group (32) includes: First connecting rod (321), the first connecting rod (321) is connected to the worm wheel (31); Second connecting rod (322), the second connecting rod (322) is rotatably arranged on the shell (10); Third connecting rod (323), the third connecting rod (323) is rotatably connected with the first connecting rod (321) and the second connecting rod (322), and the claw head (33) is arranged on the third connecting rod (323); The distance from the connecting point of the first connecting rod (321) and the worm wheel (31) to the connecting point of the first connecting rod (321) and the third connecting rod (323) is equal to the distance from the connecting point of the second connecting rod (322) and the shell (10) to the connecting point of the second connecting rod (322) and the third connecting rod (323);And / or The distance from the connecting point of the shell (10) and the worm wheel (31) to the connecting point of the second connecting rod (322) and the shell (10) is equal to the distance from the connecting point of the first connecting rod (321) and the third connecting rod (323) to the connecting point of the second connecting rod (322) and the third connecting rod (323); The first connecting rod (321) is L-shaped, and the first connecting rod (321) includes two first connecting portions (3211) and a first driving portion (3212) connected to each other, the two first connecting portions (3211) are connected to the two ends of the worm wheel shaft (312) respectively, and the first driving portion (3212) is rotatably connected with the third connecting rod (323).

2. The jaw device of claim 1, wherein The worm wheel (31) is provided with a helical tooth (311), and the worm wheel (31) is engaged with the worm (21) through the helical tooth (311).

3. The jaw device of claim 2, wherein Along the circumference of the worm wheel (31), the helical tooth (311) is arranged on part of the outer circumference of the worm wheel (31).

4. The jaw assembly of claim 1, wherein, The claw head (33) is detachably arranged on the connecting rod group (32).

5. The jaw assembly of claim 1, wherein, Two sides of the worm shaft (312) are respectively provided with worm shaft bearings (313), and the worm shaft (312) is rotatably arranged on the shell (10) through the worm shaft bearings (313).

6. The jaw assembly of claim 1, wherein, One end of the worm (21) away from the driving part (20) is provided with a worm bearing (211), and the worm (21) is rotatably arranged on the shell (10) through the worm bearing (211).

7. A robot, characterized in that The arm structure comprises a gripper device according to any one of claims 1-6.

8. A humanoid robot, characterized by, The mechanical hand comprises the arm structure according to claim 7.

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