Multi-degree-of-freedom grabbing module

Abstract

The embodiment of the utility model discloses a multi-degree-of-freedom grabbing module. The multi-degree-of-freedom grabbing module comprises a base; the rotating mechanism is rotatably mounted on the base; the height adjusting mechanism is arranged on the rotating mechanism, and the rotating mechanism drives the height adjusting mechanism to rotate by any angle; the horizontal moving mechanism comprises a support and a horizontal driving assembly, the support extends in the horizontal direction and is installed on the height adjusting mechanism in a sliding mode, and the horizontal driving assembly comprises a first transmission belt, a first driving wheel and a first auxiliary driving wheel, the first driving wheel and the first auxiliary driving wheel are sleeved with the first transmission belt at the same time. The clamping mechanism is used for grabbing and clamping a target object, the clamping mechanism is arranged on the support and connected with the first transmission belt, and the first transmission belt drives the clamping mechanism to move in the horizontal direction relative to the support. According to the grabbing module, the clamping jaw mechanism can rotate by any angle, the applicability is high, the structure is simplified, the weight of the structure is reduced, and noise is low.

Description

TECHNICAL FIELD

[0001] The embodiment of the present application relates to the field of automatic mechanical equipment, in particular to a multi-degree-of-freedom grabbing module. BACKGROUND

[0002] The work of grabbing, carrying and clamping can be automatically completed by the grabbing module or the mechanical arm, so the grabbing module is applied in various fields to replace human beings to complete repetitive labor.

[0003] At present, the grabbing module is mainly applied in the industrial field to complete the task of carrying and grabbing parts in the product production process, however, in the medical field, the grabbing module used in the industry has the defects of large noise, large volume and large weight, so a multi-degree-of-freedom grabbing module more suitable for the application scene characteristics of the medical field needs to be designed. CONTENT OF THE INVENTION

[0004] Therefore, in order to solve the above technical problems, the embodiment of the present application provides a multi-degree-of-freedom grabbing module with lower noise and lighter weight.

[0005] The embodiment of the present application provides a multi-degree-of-freedom grabbing module, which comprises a base, a rotating mechanism rotatably installed on the base, a height adjusting mechanism arranged on the rotating mechanism, the rotating mechanism being capable of rotating the height adjusting mechanism by any angle, a horizontal moving mechanism comprising a support and a horizontal driving assembly, the support being arranged in extension along the horizontal direction and slidably installed on the height adjusting mechanism, the horizontal driving assembly comprising a first driving wheel, a first driven wheel and a first transmission belt, the first driving wheel and the first driven wheel being arranged on the support and being capable of rotating relative to the support, and the first transmission belt being sleeved on the first driving wheel and the first driven wheel, and a clamping mechanism for grabbing and clamping a target object, the clamping mechanism being arranged on the support and connected with the first transmission belt, the first transmission belt driving the clamping mechanism to move in the horizontal direction relative to the support.

[0006] It can be understood that, by arranging the height adjusting mechanism and the horizontal moving mechanism directly or indirectly on the rotating mechanism, the rotating mechanism can rotate the clamping jaw mechanism by any angle, so that flexible rotation is realized, and the application can be adapted to other working modules, and the applicability is high; and the horizontal driving assembly adopts the first driving wheel and the first driven wheel for belt transmission, so that the transmission structure is simplified and the structure is light in weight, and the transmission mode of the synchronous belt wheel is extremely small in noise, and is especially suitable for the medical field.

[0007] In an implementation, the rotating mechanism comprises a rotating shaft rotatably arranged on the base, a rotating transmission assembly connected with the rotating shaft, and a rotating motor connected with the rotating transmission assembly and arranged on the base, the rotating motor driving the rotating shaft to rotate by any angle through the rotating transmission assembly.

[0008] In an implementation, the rotating transmission assembly comprises a transmission driving wheel connected with the rotating motor, a transmission driven wheel fixedly arranged on the rotating shaft, and a rotating transmission belt simultaneously sleeved on the transmission driving wheel and the transmission driven wheel. It can be understood that the synchronous wheel belt transmission has the characteristics of small noise and low structure weight, meeting the demand of lightweight structure.

[0009] In an implementation, the height adjusting mechanism comprises a stand fixedly arranged on the rotating shaft, an adjusting slide rail arranged on the stand in a vertical direction, an adjusting slide block slidably arranged on the adjusting slide rail, the adjusting slide block being connected with the support, and an adjusting drive assembly connected with the adjusting slide block and used for driving the adjusting slide block to move along the adjusting slide rail. In this way, the adjusting slide rail plays a guiding role in the movement of the adjusting slide block, so that the movement of the adjusting slide block is stable and the movement path is accurate and free of deviation, and the slide rail and the slide block have small noise.

[0010] In an implementation, the horizontal moving mechanism further comprises a horizontal slide rail arranged on the support in a horizontal direction, a horizontal slide block slidably arranged on the horizontal slide rail, the clamping mechanism being connected with the horizontal slide block, and the first transmission belt being connected with the horizontal slide block to drive the horizontal slide block to move along the horizontal slide rail. In this way, the horizontal slide rail plays a guiding role in the movement of the horizontal slide block, so that the movement of the horizontal slide block is stable and the movement path is accurate and free of deviation, and the slide rail and the slide block have small noise.

[0011] In an implementation, the horizontal moving mechanism further comprises an extension frame, one end of the extension frame being fixedly arranged on the horizontal slide block and connected with the first transmission belt, and the other end of the extension frame being connected with the clamping mechanism. It can be understood that the extension frame is beneficial to extending the movement stroke of the clamping mechanism in the horizontal direction, so that the grabbing module has a longer regulating distance and can be applied to more scenes.

[0012] In an available solution, the horizontal driving assembly is arranged opposite to the horizontal slider on two sides of the support respectively, the horizontal driving assembly further comprises a horizontal driving motor fixedly arranged on the support and connected with the first driving wheel; the horizontal moving mechanism further comprises an extension protrusion, the support is provided with an avoiding passage, one end of the extension protrusion is connected with the extension frame, and the other end penetrates through the avoiding passage and is connected with the first transmission belt. In this way, the overall structural layout is more compact, the structural stress distribution is reasonable, the noise is smaller, and the service life is longer.

[0013] In an available solution, the horizontal moving mechanism further comprises a horizontal position sensing assembly, the horizontal position sensing assembly comprises: a horizontal position sensor arranged on the support; and a horizontal trigger fixedly arranged on the extension frame, the horizontal trigger can trigger the horizontal position sensor to know the position of the clamping mechanism in the horizontal direction.

[0014] In an available solution, the clamping mechanism comprises: an electric clamping jaw comprising two oppositely arranged clamping jaw arms and a control module for controlling the opening and closing of the two clamping jaw arms; and two oppositely arranged clamping fingers, the two clamping fingers are respectively fixed on the two clamping jaw arms, the opening and closing of the clamping jaw arms drives the two clamping fingers to release or clamp the target object, the surface of the clamping finger in contact with the target object is a clamping surface, and the two ends of the clamping finger are respectively provided with limiting protrusions protruding from the clamping surface, the limiting protrusions are used for abutting and positioning with the circumferential side wall of the target object and limiting. It can be understood that the limiting protrusions can make the target object return to the middle position of the two clamping fingers, avoid the target object to be skewed, and the limiting protrusions on the two clamping fingers cooperate to limit the target object between the two clamping fingers, preventing the target object from falling off.

[0015] In an available solution, the clamping surface is V-shaped, and the clamping surfaces of the two clamping fingers enclose and wrap the target object; and a gasket is arranged on the clamping surface. It can be understood that the V-shaped side surface of the clamping surface is in contact with the circumferential side wall of the target object and stably clamps the target object between the two V-shaped surfaces, avoiding loosening, and the contact area between the clamping surface and the target object is smaller in this way, avoiding damaging the target object; in addition, the gasket arranged on the clamping surface can more tightly and stably wrap the target object to be moved, and can also reduce the hard contact between the clamping finger and the target object, reducing the damage of the clamping finger to the target object during movement.

[0016] Based on the above scheme, the height adjusting mechanism can drive the horizontal moving mechanism to move along the vertical direction, thereby adjusting the height of the clamping mechanism on the horizontal moving mechanism. The horizontal moving mechanism drives the clamping mechanism to move along the horizontal direction to carry the target object. In summary, the multi-degree-of-freedom grabbing module can realize vertical movement, horizontal movement and rotary movement of the clamping mechanism, and realize movement of multiple degrees of freedom. The height adjusting mechanism and the horizontal moving mechanism are directly or indirectly arranged on the rotating mechanism, so that the rotating mechanism can drive the clamping mechanism to rotate by any angle, realize flexible rotation, and be suitable for other working modules in application, and have strong applicability. In addition, the horizontal driving assembly adopts first driving wheel and first driven wheel transmission, which simplifies the transmission structure and realizes lightweight structure. At the same time, the transmission mode of the synchronous belt wheel has very small noise, and is especially suitable for medical field. BRIEF DESCRIPTION OF DRAWINGS

[0017] 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 in the following description are some embodiments of the present application, and those skilled in the art can obtain other drawings according to these drawings without creative labor.

[0018] Figure 1 It is the overall structure schematic diagram of the multi-degree-of-freedom grabbing module in an embodiment of the present application.

[0019] Figure 2 It is Figure 1 It is the front view (hidden shell) of the multi-degree-of-freedom grabbing module in the embodiment.

[0020] Figure 3 It is Figure 1 It is the top view of the multi-degree-of-freedom grabbing module in the embodiment.

[0021] Figure 4 It is Figure 3 It is the local enlarged schematic view of the clamping mechanism in the embodiment.

[0022] Figure 5 It is the structure schematic view of the height adjusting mechanism in an embodiment of the present application.

[0023] Figure 6 It is Figure 5 It is the structure schematic view of the horizontal adjusting mechanism from another view in the embodiment.

[0024] Figure 7 It is the front structure schematic view of the horizontal adjusting mechanism in an embodiment of the present application.

[0025] Figure 8 For Figure 7 Back structure diagram of horizontal adjustment mechanism in embodiment.

[0026] Reference signs in the drawings:

[0027] 1, base; 2, rotating mechanism; 21, rotating shaft; 22, rotating transmission assembly; 221, transmission driving wheel; 222, transmission driven wheel; 223, rotating transmission belt; 23, rotating motor; 24, first bearing; 25, second bearing; 26, shell; 3, height adjustment mechanism; 31, stand column; 32, height adjustment slide rail; 33, height adjustment slide block; 34, height adjustment driving assembly; 341, second driving wheel; 342, second driven wheel; 343, second transmission belt; 344, height adjustment driving motor; 35, height sensing assembly; 351, height sensor; 352, height trigger; 36, connecting piece; 4, horizontal moving mechanism; 41, support; 411, avoiding passage; 42, horizontal driving assembly; 421, first driving wheel; 422, first driven wheel; 423, first transmission belt; 424, horizontal driving motor; 43, horizontal slide rail; 44, horizontal slide block; 45, extension frame; 46, extension block; 47, horizontal position sensing assembly; 471, horizontal position sensor; 472, horizontal trigger; 5, clamping mechanism; 51, electric clamping jaw; 52, clamping finger; 521, clamping surface; 522, limiting convex part; 53, gasket. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are some of the embodiments of the present application, rather than all the embodiments of the present application. 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 protection of the present application.

[0029] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0030] In this application, unless otherwise clearly specified and limited, the terms "mounting", "connection", "connecting", "fixing" and the like should be understood in a broad sense, for example, can be fixed connection, can also be detachable connection, can also be integrated; can be mechanical connection, can also be electrical connection, can also be communication connection; can be direct connection, can also be indirect connection through intermediate medium, can be the internal communication of two elements or the interaction relationship of two elements, unless otherwise clearly limited. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances. The technical solutions of the present application will be described in detail below with specific examples. The following specific examples can be combined with each other, and the same or similar concepts or processes can not be described in detail in some examples.

[0031] The grabbing module in the industrial field has the disadvantages of large noise, large volume and heavy weight, and cannot be applied in the medical field. Therefore, the multi-degree-of-freedom grabbing module suitable for the medical field is designed according to the characteristics of low noise and light weight.

[0032] Specifically, the multi-degree-of-freedom grabbing module provided by the present application is applied in the measurement scene of steam heat energy of a steam heat treatment device. The multi-degree-of-freedom grabbing module is used to grab and transfer the measuring cup to the corresponding working modules around. The multi-degree-of-freedom grabbing module realizes the automatic grabbing and moving of the measuring cup, reduces the error and interference caused by manual transfer, and improves the test accuracy. Of course, the multi-degree-of-freedom grabbing module provided by the present application can also be applied in other application scenes in the medical field or non-medical field.

[0033] Figure 1 FIG. 1 is a schematic diagram of the overall structure of the multi-degree-of-freedom grabbing module in an embodiment of the present application, Figure 2 FIG. 2 is a front view of the multi-degree-of-freedom grabbing module in the embodiment, Figure 3 FIG. 3 is a top view of the multi-degree-of-freedom grabbing module in the embodiment, and Figures 1 to 3As shown, the multi-degree-of-freedom grabbing module of the embodiment includes a base 1, a rotating mechanism 2, a height adjusting mechanism 3, a horizontal moving mechanism 4, and a clamping mechanism 5 for grabbing and clamping target objects. The rotating mechanism 2 is rotatably installed on the base 1. The height adjusting mechanism 3 is arranged on the rotating mechanism 2, and the rotating mechanism 2 drives the height adjusting mechanism 3 to rotate by any angle when the rotating mechanism 2 rotates relative to the base 1. The horizontal moving mechanism 4 includes a support 41 and a horizontal driving assembly 42. The support 41 extends in the horizontal direction and is slidably installed on the height adjusting mechanism 3. The height adjusting mechanism 3 can drive the horizontal moving mechanism 4 to adjust the position of the horizontal moving mechanism 4 in the vertical direction. The horizontal driving assembly 42 includes a first driving wheel 421, a first driven wheel 422, and a first transmission belt 423. The first driving wheel 421 and the first driven wheel 422 are arranged on the support 41 and can rotate relative to the support 41. The first transmission belt 423 is sleeved on the first driving wheel 421 and the first driven wheel 422, that is, the first driving wheel 421 and the first driven wheel 422 are in belt transmission connection. The clamping mechanism 5 is arranged on the support 41 and connected with the first transmission belt 423. When the first driving wheel 421 rotates, the first driven wheel 422 is driven to rotate, thereby driving the clamping mechanism 5 connected with the first transmission belt 423 to move relative to the support 41 in the horizontal direction.

[0034] As can be seen from the above, the multi-degree-of-freedom grabbing module can drive the height adjusting mechanism 3 to rotate by any angle through the rotating mechanism 2, thereby driving the connected horizontal moving mechanism 4 to rotate by any angle. The height adjusting mechanism 3 can drive the horizontal moving mechanism 4 to move in the vertical direction, thereby adjusting the height of the clamping mechanism 5 on the horizontal moving mechanism 4. The horizontal moving mechanism 4 drives the clamping mechanism 5 to move in the horizontal direction to carry the target objects. In summary, the multi-degree-of-freedom grabbing module can realize the vertical movement, horizontal movement, and rotational movement of the clamping mechanism 5, and realize the movement of multiple degrees of freedom. The height adjusting mechanism and the horizontal moving mechanism 4 are directly or indirectly arranged on the rotating mechanism 2, so that the rotating mechanism 2 can drive the clamping jaw mechanism to rotate by any angle, realizing flexible rotation. Such application can be adapted to other working modules, and has strong applicability. It should be noted that the horizontal driving assembly 42 adopts belt transmission of the first driving wheel 421 and the first driven wheel 422, which simplifies the transmission structure and makes the structure lightweight. The transmission mode of the synchronous belt wheel has extremely small noise, and is especially suitable for the medical field.

[0035] As Figure 2As shown, the rotating mechanism 2 comprises a rotating shaft 21, a rotating transmission assembly 22 and a rotating motor 23, the rotating shaft 21 is rotatably arranged on the base 1, that is, the rotating shaft 21 can rotate relative to the base 1, the rotating motor 23 is installed on the base 1, the rotating transmission assembly 22 is connected with the rotating shaft 21 and the rotating motor 23 respectively, the rotating motor 23 drives the rotating shaft 21 to rotate by the rotating transmission assembly 22, and the rotating shaft 21 drives the height adjusting mechanism 3 installed thereon to rotate by any angle.

[0036] Optionally, as shown in Figure 1 and Figure 2 , the rotating mechanism 2 further comprises a first bearing 24 and a second bearing 25 which are sleeved on the rotating shaft 21, and a shell 26, the rotating shaft 21 is rotatably installed on the base 1 through the first bearing 24, the first bearing 24 provides support force for the rotating shaft 21 under the condition of ensuring that the rotating shaft 21 can rotate, the shell 26 is fixed on the base 1 and sleeves the first bearing 24 and the second bearing 25, the second bearing 25 is connected with the top of the shell 26, so that the second bearing 25 and the shell 26 cooperate to provide support force for the rotating shaft 21 without affecting the rotation of the rotating shaft 21, so that the cooperation of the first bearing 24, the second bearing 25, the shell 26 and the base 1 realizes the multi-point support of the rotating shaft 21, ensures the stable installation of the rotating shaft 21 and prevents shaking.

[0037] In an embodiment, as shown in Figure 2 , the rotating transmission assembly 22 comprises a transmission driving wheel 221, a transmission driven wheel 222 and a rotating transmission belt 223, the transmission driving wheel 221 is connected with the rotating motor 23, the transmission driven wheel 222 is fixedly arranged on the rotating shaft 21, and the rotating transmission belt 223 is sleeved on the transmission driving wheel 221 and the transmission driven wheel 222 for power transmission. The rotating transmission assembly 22 adopts the synchronous belt wheel transmission mode, which simplifies the transmission structure, makes the structure lightweight, and has smaller noise. In other embodiments, other transmission modes can also be adopted, such as chain transmission, gear transmission, worm and gear transmission, etc.

[0038] In the embodiment, as shown in Figure 2 , the transmission driving wheel 221, the transmission driven wheel 222 and the rotating transmission belt 223 are arranged at the bottom of the base 1, and the height adjusting mechanism 3, the horizontal moving mechanism 4 and the clamping mechanism 5 are arranged above the other side of the base 1, so that the overall layout of the module is more compact and the stress is balanced and stable.

[0039] In an embodiment, as shown in Figure 1 , Figure 2 , Figure 5 and Figure 6As shown, the height adjusting mechanism 3 comprises a column 31, a height adjusting slide rail 32, a height adjusting slide block 33, and a height adjusting drive assembly 34. The column 31 extends along the axial direction of the rotating shaft 21 and is vertically fixed on the rotating shaft 21. The height adjusting slide rail 32 is arranged on the column 31 in the vertical direction. The height adjusting slide block 33 is slidably arranged on the height adjusting slide rail 32. The height adjusting slide block 33 is connected with the bracket 41, so that the bracket 41 and the horizontal drive assembly 42 mounted on the bracket 41 move up and down along with the height adjusting slide block 33 moving up and down along the slide rail. The height adjusting drive assembly 34 is connected with the height adjusting slide block 33 and is used to drive the height adjusting slide block 33 to move along the height adjusting slide rail 32.

[0040] Specifically, as shown in the figure, Figure 5 The height adjusting drive assembly 34 comprises a second driving wheel 341, a second driven wheel 342, a second transmission belt 343, and a height adjusting drive motor 344. The height adjusting drive motor 344 is fixed on the column 31. The second driving wheel 341 is rotatably arranged on the column 31 and is connected with the height adjusting drive motor 344. The second driven wheel 342 is rotatably arranged on the column 31. The second transmission belt 343 is sleeved on the second driving wheel 341 and the second driven wheel 342 at the same time, and is connected with the height adjusting slide block 33. When the second transmission belt 343 rotates along with the second driving wheel 341 and the second driven wheel 342, the height adjusting slide block 33 slides along the height adjusting slide rail 32. In other words, the second driving wheel 341 and the second driven wheel 342 are connected by belt transmission. The belt transmission has the characteristics of stable transmission and small noise, and its structure is simple and the weight is relatively light, which reduces the weight of the multi-degree-of-freedom grabbing module as a whole and realizes lightweight. In other embodiments, other transmission modes such as chain transmission, screw transmission, or piston drive can also be used.

[0041] As shown in the figure, Figure 5 The height adjusting mechanism 3 further comprises a connecting piece 36. The connecting piece 36 has a C-shaped structure. The connecting piece 36 is fixedly connected with the height adjusting slide block 33, and the opening of the C-shaped structure faces the bracket 41. The two connecting arms of the connecting piece 36 are connected with the bracket 41. The connecting points are increased, so that the connection is more stable.

[0042] Optionally, in an embodiment, the height adjusting mechanism 3 further comprises a limit stop assembly (not shown in the figure) for stopping the horizontal moving mechanism 4. Specifically, the limit stop assembly can be a motor power-off self-locking assembly, in other words, the height adjusting driving motor 344 is a step motor with self-locking function, wherein the motor power-off self-locking assembly is a prior art and will not be described here. Of course, in other embodiments, the specific structure of the limit stop assembly is not limited to the above, for example, the limit stop assembly comprises a stop block, the stop block is fixed on the column and is located at the lowest position and the highest position of the horizontal moving mechanism moving in the vertical direction respectively; more preferably, a spring can be arranged between the stop block and the column for buffering, so that the stop block and the support of the horizontal moving mechanism are in flexible contact in emergency stop, avoiding damage to the horizontal moving mechanism and reducing noise.

[0043] As shown in Figure 6 , the height adjusting mechanism 3 further comprises a height sensing assembly 35, the height sensing assembly 35 comprises a height sensor 351 and a height trigger 352, the height sensor 351 is installed on the column 31, and the height trigger 352 is installed on the height adjusting slider 33, when the height trigger 352 passes through the height sensor 351, the height sensor 351 is triggered to know the position of the height adjusting slider 33, so that the whole of the height adjusting slider 33 and the horizontal moving mechanism 4 can start or stop moving according to the required height. Specifically, the height sensor 351 is provided in multiple, for example, multiple height sensors 351 are arranged at the starting point and the ending point of the highest displacement of the clamping mechanism 5 in the vertical direction and other motion nodes, so as to know the position of the height adjusting slider 33 and the clamping mechanism 5 in the vertical direction and adjust the position of the height adjusting slider 33 and the clamping mechanism 5 in the vertical direction according to the required height.

[0044] In an embodiment, the height sensor 351 is provided as an optical coupling sensor, of course, it can also be provided as a magnetic induction sensor.

[0045] As shown in Figure 1 , Figure 6 and Figure 7 , the horizontal moving mechanism 4 further comprises a horizontal slide rail 43 and a horizontal slide block 44, the horizontal slide rail 43 is arranged on the support 41 in the horizontal direction; the horizontal slide block 44 is slidably arranged on the horizontal slide rail 43, the clamping mechanism 5 is connected to the horizontal slide block 44, and the first transmission belt 423 is connected to the horizontal slide block 44 to drive the horizontal slide block 44 to move along the horizontal slide rail 43. Through the cooperation of the horizontal slide rail 43 and the horizontal slide block 44, the noise is small, and the horizontal slide rail 43 plays a guiding role, so that the transmission precision is higher.

[0046] In an embodiment, as shown in Figure 7As shown, the horizontal moving mechanism 4 further comprises an extension frame 45, one end of which is fixed on the horizontal slider 44 and connected with the first transmission belt 423, and the other end is connected with the clamping mechanism 5, which is connected with the horizontal slider 44 through the extension frame 45. The extension frame 45 can extend the movement distance of the clamping mechanism 5 in the horizontal direction, so that the movement path of the grabbing module is longer, and more application scenarios can be adapted.

[0047] As shown in Figure 6 and Figure 7 , the horizontal driving assembly 42 and the horizontal slider 44 are respectively arranged on the two sides of the support 41, so that the structure layout is more compact.

[0048] Optionally, as shown in Figure 7 , the extension frame 45 is arranged on the same side of the horizontal slider 44, and the horizontal moving mechanism 4 further comprises an extension block 46, the support 41 is provided with an avoiding channel 411, one end of the extension block 46 is connected with the extension frame 45, and the other end is connected with the first transmission belt 423 through the avoiding channel 411. In this way, the two ends of the avoiding channel 411 can limit the limit position of the extension block 46, avoid the extension frame 45 from being separated from the support 41, and effectively simplify the structure without the need to set a stop block or other structure to forcibly stop the extension frame 45.

[0049] Further, as shown in Figure 7 , the horizontal moving mechanism 4 further comprises a horizontal position sensing assembly 47, which comprises a horizontal position sensor 471 and a horizontal trigger 472. The horizontal position sensor 471 is arranged on the support 41, and the horizontal trigger 472 is fixedly arranged on the extension frame 45. The horizontal trigger 472 can trigger the horizontal position sensor 471 to know the position of the clamping mechanism 5 in the horizontal direction, so as to control the movement of the clamping mechanism 5. Specifically, two horizontal position sensors 471 are arranged in the embodiment, and the two horizontal position sensors 471 are arranged at the starting point and the ending point of the horizontal slider 44, respectively. The whole movement of the extension frame 45, the horizontal slider 44 and the clamping mechanism 5 driven by the first transmission belt 423 passes through the horizontal position sensor 471 to be triggered, so as to sense whether the clamping mechanism 5 reaches the starting point or the ending point in the horizontal direction, so as to control the clamping mechanism 5 to start or stop moving.

[0050] In an embodiment, the horizontal position sensor 471 is arranged as an optical coupling sensor, and of course can also be arranged as a magnetic induction sensor.

[0051] In an embodiment, as shown in Figures 1 to 4As shown, the clamping mechanism 5 includes an electric clamp jaw 51 and two clamping fingers 52, the electric clamp jaw 51 includes two oppositely arranged clamp jaw arms and a control module for controlling the opening and closing of the two clamp jaw arms; the two clamping fingers 52 are oppositely arranged and respectively fixed on the two clamp jaw arms, and the opening and closing of the clamp jaw arms drives the two clamping fingers 52 to release or clamp the target object. It should be noted that the electric clamp jaw 51 in the embodiment adopts the electric clamp jaw in the prior art, and the specific structure will not be described here.

[0052] In the embodiment, the target object is a measuring cup, the surface of the clamping finger 52 in contact with the target object is a clamping surface 521, and the two ends of the clamping finger 52 are respectively provided with a limiting protrusion 522 protruding from the clamping surface 521. The limiting protrusion 522 is used for abutting and positioning with the circumferential side wall of the measuring cup and limiting, the limiting protrusion 522 can make the measuring cup return to the middle position of the two clamping fingers 52, so as to avoid the side skew of the measuring cup, and the limiting protrusions 522 on the two clamping fingers 52 cooperate to limit the measuring cup between the two clamping fingers 52, so as to prevent the measuring cup from falling off.

[0053] Further, as shown in the figure, Figure 7 The clamping surface 521 is V-shaped, and the clamping surfaces 521 of the two clamping fingers 52 enclose and wrap the target object. It can be understood that the V-shaped clamping surface 521 is in contact with the circumferential side wall of the measuring cup and clamps the measuring cup between the V-shaped clamping surfaces 521, so as to avoid loosening of the measuring cup, and the contact area between the V-shaped clamping surface 521 and the target object is small, so as to avoid damage to the target object. In other embodiments, the shape of the clamping surface can also be designed according to the shape of the target object, for example, the clamping surface is arc-shaped.

[0054] Optionally, a gasket 53 is arranged on the clamping surface 521, the gasket 53 is made of flexible material, for example, silica gel, and the gasket 53 arranged between the clamping surface 521 and the target object can more tightly and stably wrap the target object to be moved, and can also reduce the hard contact between the clamping finger 52 and the target object, thereby reducing the damage of the clamping finger 52 to the target object during movement.

[0055] In the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can be direct contact between the first feature and the second feature, or indirect contact between the first feature and the second feature through an intermediate medium.

[0056] Moreover, the first feature is "above", "over" and "on" the second feature, which can be directly above or obliquely above the second feature, or only means that the horizontal height of the first feature is higher than that of the second feature. The first feature is "below", "under" and "under" the second feature, which can be directly below or obliquely below the second feature, or only means that the horizontal height of the first feature is lower than that of the second feature.

[0057] In the description of the specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are contained in at least one embodiment or example of the present application. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine the different embodiments or examples described in the specification and the features of the different embodiments or examples without contradiction, and the combination.

[0058] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A multi-degree-of-freedom grasping module, characterized in that, include: Base; A rotating mechanism is rotatably mounted on the base; A height adjustment mechanism is provided on the rotating mechanism, and the rotating mechanism can drive the height adjustment mechanism to rotate at any angle. A horizontal moving mechanism includes a bracket and a horizontal driving assembly. The bracket extends horizontally and is slidably mounted on the height adjusting mechanism. The horizontal driving assembly includes a first driving wheel, a first auxiliary driving wheel, and a first transmission belt. The first driving wheel and the first auxiliary driving wheel are respectively disposed on the bracket and are rotatable relative to the bracket. The first transmission belt is simultaneously sleeved on the first driving wheel and the first auxiliary driving wheel. A clamping mechanism is used to grasp and hold a target object. The clamping mechanism is mounted on the bracket and connected to the first transmission belt. The first transmission belt drives the clamping mechanism to move horizontally relative to the bracket.

2. The multi-degree-of-freedom grasping module according to claim 1, characterized in that, The rotating mechanism includes: A rotating shaft is rotatably mounted on the base; A rotary transmission assembly is connected to the rotary shaft; A rotary motor is connected to the rotary transmission assembly and mounted on the base. The rotary motor drives the rotary shaft to rotate at any angle through the rotary transmission assembly.

3. The multi-degree-of-freedom grasping module according to claim 2, characterized in that, The rotary transmission assembly includes: The drive wheel is connected to the rotary motor; The driven wheel is fixedly mounted on the rotating shaft; A rotating transmission belt is simultaneously fitted onto both the driving and driven pulleys of the transmission.

4. The multi-degree-of-freedom grasping module according to claim 2, characterized in that, The height adjustment mechanism includes: The column is fixed on the rotating shaft; The adjustable slide rail is extended vertically and installed on the column; The height adjustment slider is slidably mounted on the height adjustment slide rail, and the height adjustment slider is connected to the bracket; A height adjustment drive assembly is connected to the height adjustment slider and is used to drive the height adjustment slider to move along the height adjustment slide rail.

5. The multi-degree-of-freedom grasping module according to claim 4, characterized in that, The horizontal movement mechanism further includes: A horizontal slide rail extends horizontally and is mounted on the bracket; A horizontal slider is slidably mounted on the horizontal slide rail. The clamping mechanism is connected to the horizontal slider. The first transmission belt is connected to the horizontal slider to drive the horizontal slider to move along the horizontal slide rail.

6. The multi-degree-of-freedom grasping module according to claim 5, characterized in that, The horizontal moving mechanism also includes an extension frame, one end of which is fixed to the horizontal slider and connected to the first transmission belt, and the other end is connected to the clamping mechanism.

7. The multi-degree-of-freedom grasping module according to claim 6, characterized in that, The horizontal drive assembly and the horizontal slider are respectively disposed opposite to each other on both sides of the bracket. The horizontal drive assembly also includes a horizontal drive motor, which is fixedly disposed on the bracket and connected to the first drive wheel. The horizontal moving mechanism also includes an extension protrusion. The bracket has an avoidance channel. One end of the extension protrusion is connected to the extension frame, and the other end passes through the avoidance channel and is connected to the first transmission belt.

8. The multi-degree-of-freedom grasping module according to claim 7, characterized in that, The horizontal movement mechanism further includes a horizontal position sensing component, which includes: A horizontal position sensor is mounted on the bracket. A horizontal trigger is fixedly mounted on the extension frame. The horizontal trigger can trigger the horizontal position sensor to detect the position of the clamping mechanism in the horizontal direction.

9. The multi-degree-of-freedom grasping module according to any one of claims 1-8, characterized in that, The clamping mechanism includes: An electric gripper includes two gripper arms arranged opposite each other and a control module for controlling the opening and closing of the two gripper arms; Two opposing gripping fingers are fixed to two gripper arms. The opening and closing of the gripper arms causes the two gripping fingers to release or grip the target object. The surface of the gripping fingers that contacts the target object is the gripping surface. Each end of the gripping fingers is provided with a limiting protrusion protruding from the gripping surface. The limiting protrusion is used to abut against and limit the circumferential sidewall of the target object.

10. The multi-degree-of-freedom grasping module according to claim 9, characterized in that, The clamping surface is V-shaped, and the clamping surfaces of the two clamping fingers enclose and wrap around the target object; Furthermore, a pad is provided on the clamping surface.

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