Clamping device and robot

Abstract

The utility model provides a clamping device and a robot, in the clamping device, a clamping mechanism is movably installed on a fixing plate along a first direction, and a pressing mechanism is movably installed on the fixing plate along a second direction; the first adjusting mechanism is arranged on the fixing plate, connected with the clamping mechanism and used for driving the clamping mechanism to move in the first direction so that the clamping mechanism can clamp or release an object. The second adjusting mechanism is arranged on the fixing plate, connected with the downward pressing mechanism and used for driving the downward pressing mechanism to move in the second direction so that the downward pressing mechanism can press or not press the object. According to the clamping device, the clamping mechanism and the downward pressing mechanism are matched to form the clamping space for clamping the articles, the clamping mechanism and the downward pressing mechanism can be accurately controlled to work through the first adjusting mechanism and the second adjusting mechanism, the articles are clamped in two directions, and it is guaranteed that the articles are clamped more stably and firmly; and the article clamping accuracy and stability of the clamping device are improved, and article damage is avoided.

Description

Technical Field

[0001] This utility model relates to the field of clamping device technology, and in particular to a clamping device and robot. Background Technology

[0002] A gripper is an end effector typically installed at the end of an industrial robot or automated equipment to grasp, hold, or transport items (such as a tray holding materials). However, existing grippers have simple structures and poor stability during the gripping process, posing a significant risk of items falling off in the event of a collision. Summary of the Invention

[0003] This invention provides a clamping device and a robot to solve the problem of poor stability of existing clamping devices when clamping items.

[0004] A clamping device includes a fixed plate, a clamping mechanism, a pressing mechanism, a first adjusting mechanism, and a second adjusting mechanism;

[0005] The clamping mechanism is movably mounted on the fixed plate along a first direction, and the pressing mechanism is movably mounted on the fixed plate along a second direction;

[0006] The first adjustment mechanism is disposed on the fixed plate and connected to the clamping mechanism, and is used to drive the clamping mechanism to move along the first direction so that the clamping mechanism clamps or releases the item.

[0007] The second adjustment mechanism is disposed on the fixed plate and connected to the pressing mechanism, and is used to drive the pressing mechanism to move in the second direction so that the pressing mechanism presses or does not press the item.

[0008] Preferably, the first adjustment mechanism includes a first adjustment motor, an adjustment drive wheel, an adjustment driven wheel, and an adjustment transmission belt;

[0009] The first adjusting motor is mounted on the fixed plate, the adjusting drive wheel is mounted on the output shaft of the first adjusting motor, and the adjusting driven wheel is rotatably mounted on the fixed plate. The adjusting driven wheel and the adjusting drive wheel are spaced apart along a first direction.

[0010] The adjusting transmission belt is fitted onto the adjusting drive wheel and the adjusting driven wheel, and the adjusting transmission belt is connected to the clamping mechanism.

[0011] Preferably, the clamping mechanism includes two track assemblies and two gripper assemblies;

[0012] Two track assemblies are spaced apart on the fixed plate along a third direction, and each gripper assembly is movably mounted on one of the track assemblies along a first direction.

[0013] The adjusting transmission belt is connected to the two gripper assemblies and is used to drive the two gripper assemblies to move in opposite or opposite directions.

[0014] Preferably, the track assembly includes a guide track and a guide slider, the guide slider being movably mounted on the guide track;

[0015] The guide rail is disposed on the fixed plate along the first direction, and the guide slider is disposed on the gripper assembly;

[0016] Alternatively, the guide rail is disposed on the gripper assembly along a first direction, and the guide slider is disposed on the fixed plate.

[0017] Preferably, the gripper assembly includes a support member and a gripper body; the support member is mounted on the track assembly, the adjusting transmission belt is connected to a first end of the support member, and the gripper body is mounted on a second end of the support member;

[0018] In the two gripper assemblies, the length of the support member of one gripper assembly is greater than the length of the support member of the other gripper assembly, and the gripper bodies of the two gripper assemblies are arranged opposite each other along a first direction.

[0019] Preferably, the gripper body includes a clamping plate and a support plate extending from one end of the clamping plate in a direction perpendicular to the clamping plate;

[0020] The clamping plate is installed at the second end of the support member, and the support plate is located between the two clamping plates.

[0021] Preferably, the second adjustment mechanism includes a second adjustment motor and a telescopic column;

[0022] The second adjusting motor is mounted on the fixed plate, the first end of the telescopic column is connected to the second adjusting motor, and the second end of the telescopic column is connected to the pressing mechanism.

[0023] Preferably, the pressing mechanism includes a connecting component, a support plate, and an elastic pressure plate;

[0024] The support plate is movably mounted on the fixed plate in the second direction via the connecting assembly, and the elastic pressure plate is mounted on the support plate, with the elastic pressure plate positioned opposite to the location of the item.

[0025] The second end of the telescopic column is connected to the support plate and is used to control the support plate to press down or rise.

[0026] Preferably, the connecting assembly includes a connecting post and a connecting seat, wherein the connecting post passes through the connecting seat;

[0027] The connecting column is mounted on the support plate along the second direction, and the connecting seat is mounted on the fixing plate along the second direction;

[0028] Alternatively, the connecting column is mounted on the fixing plate along the second direction, and the connecting seat is mounted on the support plate along the second direction.

[0029] A robot, characterized in that it includes the aforementioned clamping device.

[0030] The clamping device provided in this embodiment of the utility model forms a clamping space for clamping items through the cooperation of a clamping mechanism and a pressing mechanism. The operation of the clamping mechanism and the pressing mechanism can be precisely controlled by the first adjustment mechanism and the second adjustment mechanism to achieve clamping of items from two directions, ensuring more stable and reliable clamping of items, improving the accuracy and stability of the clamping device for clamping items, avoiding damage to items, and meeting usage requirements. At the same time, the clamping mechanism can move along the first direction and the pressing mechanism can move along the second direction, which can expand or shrink the clamping space to adapt to items of different sizes, thus improving the applicability of the clamping device. Attached Figure Description

[0031] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 This is an isometric view of the clamping device in one embodiment of the present invention;

[0033] Figure 2 This is a partial structural diagram of the clamping device in one embodiment of the present invention;

[0034] Figure 3 This is an axonometric view of the robot in one embodiment of the present invention.

[0035] Among them, 10. Clamping device; 11. Fixing plate; 12. Clamping mechanism; 121. Track assembly; 1211. Guide track; 1212. Guide slider; 122. Gripper assembly; 1221. Support member; 1222. Gripper body; 12221. Clamping plate; 12222. Support plate; 12223. Clearance space; 13. Pressing mechanism; 131. Connecting assembly; 1311. Connecting column; 1312. Connecting seat; 132. Support plate; 1321. Main... 1322, Support section; 133, Elastic pressure plate; 14, First adjustment mechanism; 141, First adjustment motor; 142, Adjustment drive wheel; 143, Adjustment driven wheel; 144, Adjustment transmission belt; 15, Second adjustment mechanism; 151, Second adjustment motor; 152, Telescopic column; 16, Monitoring camera; 17, Rangefinder; 20, Hopper device; 30, Gimbal device; 40, Target device; 50, Robotic arm; 60, Middle cabinet; 70, Quick change device. Detailed Implementation

[0036] To make the technical problems, technical solutions, and beneficial effects solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0037] In the description of this application, it should be understood that the terms "longitudinal," "radial," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0038] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0039] The clamping device 10 in this application can be, but is not limited to, applied to robots, see reference. Figure 3The robot includes a gripping device 10, a storage bin 20, a gimbal 30, a target device 40 (e.g., a 3D camera), a robotic arm 50, a middle cabinet 60, and a quick-change device 70. During installation, the storage bin 20, the gimbal 30, and the robotic arm 50 are all mounted on the middle cabinet 60. The storage bin 20 is used to place items. The gripping device 10 is mounted on the robotic arm 50 via the quick-change device 70 and is used to grip items. The target device 40 is mounted on the gimbal 30. The gimbal 30 can adjust the posture of the target device 40, enabling the target device 40 to collect sensing data and send the sensing data to the control module inside the middle cabinet 60. Based on the sensing data, the control module can control the robotic arm 50 to manipulate the gripping device 10 to move items into the storage bin 20 or remove items from the storage bin 20. In this system, taking the robot as the reference point, the robot's length direction is the first direction, the robot's height direction is the second direction, and the robot's width direction is the third direction. In the three-dimensional coordinate system, the first direction is the X-axis, the second direction is the Z-axis, and the third direction is the Y-axis.

[0040] This utility model embodiment provides a clamping device 10, see reference Figure 1 and Figure 2 The clamping device 10 includes a fixed plate 11, a clamping mechanism 12, a pressing mechanism 13, a first adjusting mechanism 14, and a second adjusting mechanism 15. The clamping mechanism 12 is movably mounted on the fixed plate 11 along a first direction, and the pressing mechanism 13 is movably mounted on the fixed plate 11 along a second direction. The first adjusting mechanism 14 is disposed on the fixed plate 11 and connected to the clamping mechanism 12, and is used to drive the clamping mechanism 12 to move along the first direction so that the clamping mechanism 12 clamps or releases the item. The second adjusting mechanism 15 is disposed on the fixed plate 11 and connected to the pressing mechanism 13, and is used to drive the pressing mechanism 13 to move along the second direction so that the pressing mechanism 13 presses or does not press the item.

[0041] The first direction and the second direction are two mutually perpendicular directions. The first direction is the length direction of the clamping device 10, which is the length direction of the robot, and the second direction is the height direction of the clamping device 10, which is the height direction of the robot.

[0042] As an example, the clamping device 10 includes a fixed plate 11, a clamping mechanism 12, a pressing mechanism 13, a first adjusting mechanism 14, and a second adjusting mechanism 15. The fixed plate 11 is a plate-shaped structure that serves as a mounting support reference and can provide support for other parts of the clamping device 10. The fixed plate 11 can also be connected to an industrial robot or automated equipment via a quick-change device 70 to enable the clamping device 10 to be installed on the industrial robot or automated equipment, thus facilitating the use of the clamping device 10 by the robot. During installation, the clamping mechanism 12 is movably mounted on the fixed plate 11 along a first direction, and the pressing mechanism 13 is movably mounted on the fixed plate 11 along a second direction. A first adjusting mechanism 14 is mounted on the fixed plate 11 and connected to the clamping mechanism 12, which can move the clamping mechanism 12 along the first direction to clamp or release the item. A second adjusting mechanism 15 is mounted on the fixed plate 11 and connected to the pressing mechanism 13, which can move the pressing mechanism 13 along the second direction to press or depress the item. With this configuration, when an item needs to be clamped, the clamping mechanism 12 is first controlled by the first adjusting mechanism 14 to clamp the item. 2. Move along the first direction towards the object to clamp the object; then, control the pressing mechanism 13 through the second adjusting mechanism 15 to move the pressing mechanism 13 along the second direction towards the object to press the object and limit its movement; when the object is no longer clamped, first control the pressing mechanism 13 through the second adjusting mechanism 15 to move the pressing mechanism 13 along the second direction away from the object to de-press the object; then control the clamping mechanism 12 through the first adjusting mechanism 14 to move the clamping mechanism 12 along the first direction away from the object to release the object.

[0043] In this example, the clamping mechanism 12 and the pressing mechanism 13 work together to form a clamping space for holding the item. The operation of the clamping mechanism 12 and the pressing mechanism 13 can be precisely controlled by the first adjusting mechanism 14 and the second adjusting mechanism 15, so that the item can be clamped from two directions, ensuring that the clamping of the item is more stable and reliable. This improves the accuracy and stability of the clamping device 10 in clamping the item, avoids damage to the item, and meets the usage requirements. At the same time, the clamping mechanism 12 can move along the first direction, and the pressing mechanism 13 can move along the second direction, which can expand or shrink the clamping space to accommodate items of different sizes (e.g., it can be compatible with trays for holding different materials, such as aluminum profiles and plastic trays, and can be compatible with different models of trays for holding materials, with a length range of 250mm-420mm, a width range of 180mm-335mm, and a thickness range of 3mm-25mm), thus improving the applicability of the clamping device 10.

[0044] In one embodiment, reference is made to Figure 2The first adjustment mechanism 14 includes a first adjustment motor 141, an adjustment drive wheel 142, an adjustment driven wheel 143, and an adjustment transmission belt 144. The first adjustment motor 141 is mounted on the fixed plate 11, the adjustment drive wheel 142 is mounted on the output shaft of the first adjustment motor 141, and the adjustment driven wheel 143 is rotatably mounted on the fixed plate 11. The adjustment driven wheel 143 and the adjustment drive wheel 142 are spaced apart along a first direction. The adjustment transmission belt 144 is fitted onto the adjustment drive wheel 142 and the adjustment driven wheel 143, and the adjustment transmission belt 144 is connected to the clamping mechanism 12.

[0045] As an example, the first adjustment mechanism 14 includes a first adjustment motor 141, an adjustment drive wheel 142, an adjustment driven wheel 143, and an adjustment transmission belt 144. During installation, the first adjustment motor 141 is mounted on the fixed plate 11 using a screw connection, a snap-fit ​​connection, or welding. The adjustment drive wheel 142 is mounted on the output shaft of the first adjustment motor 141. The adjustment driven wheel 143 is mounted on the fixed plate 11 via a connector (e.g., a shaft). The adjustment driven wheel 143 rotates axially around the connector. The adjustment driven wheel 143 and the adjustment drive wheel 142... The adjustment belt 144 is set at intervals along the first direction and is fitted onto the adjustment drive wheel 142 and the adjustment driven wheel 143. The adjustment belt 144 is connected to the clamping mechanism 12 by screwing, snapping, or welding. With this configuration, the first adjustment motor 141 drives the adjustment drive wheel 142 to rotate clockwise or counterclockwise, which in turn drives the adjustment driven wheel 143 and the adjustment belt 144 to rotate, thereby driving the clamping mechanism 12 to move along the first direction toward or away from the object, thus clamping or releasing the object. The adjustment drive wheel 142 and the adjustment driven wheel 143 can be pulleys, and the adjustment belt 144 can be a belt; alternatively, the adjustment drive wheel 142 and the adjustment driven wheel 143 can be gears, and the adjustment belt 144 can be a chain track.

[0046] In one embodiment, reference is made to Figure 2 The clamping mechanism 12 includes two track assemblies 121 and two gripper assemblies 122; the two track assemblies 121 are spaced apart on the fixed plate 11 along a third direction, and each gripper assembly 122 is movably mounted on a track assembly 121 along a first direction; the adjusting transmission belt 144 is connected to the two gripper assemblies 122 and is used to drive the two gripper assemblies 122 to move in opposite directions to clamp or release items.

[0047] Among them, the third direction is the direction perpendicular to the first direction and the second direction, and the third direction is the width direction of the clamping device 10, that is, the width direction of the robot.

[0048] As an example, the clamping mechanism 12 includes two track assemblies 121 and two gripper assemblies 122. During installation, the two track assemblies 121 are spaced apart on the fixed plate 11 along a third direction. Each gripper assembly 122 is movably mounted on a track assembly 121 along a first direction. The track assembly 121 provides guidance and limits for the movement of the gripper assembly 122, facilitating the adjustment of the position of the gripper assembly 122. An adjusting transmission belt 144 is connected to the two gripper assemblies 122. With this configuration, the first adjusting motor 141 drives the adjusting drive wheel 142 to rotate clockwise or counterclockwise, which in turn drives the adjusting driven wheel 143 and the adjusting transmission belt 144 to rotate. This causes the two gripper assemblies 122 to move along opposite or opposite directions on the two track assemblies 121, thereby adjusting the distance between the two gripper assemblies 122 to clamp or release items of different sizes, improving the applicability and working efficiency of the clamping mechanism 12. In this example, the gripping device 10 can grip items of various sizes, such as being compatible with gripping various types of trays. The opening and closing size between the two gripper assemblies 122 can be adjusted as needed. When this gripping device 10 is used in conjunction with the robotic arm 50, it is convenient to place items in the limited space inside the equipment, and it is compatible with gripping and placing items inside various equipment.

[0049] In one embodiment, reference is made to Figure 2 The track assembly 121 includes a guide track 1211 and a guide slider 1212. The guide slider 1212 is movably mounted on the guide track 1211. The guide track 1211 is disposed on the fixed plate 11 along a first direction, and the guide slider 1212 is disposed on the gripper assembly 122. Alternatively, the guide track 1211 is disposed on the gripper assembly 122 along a first direction, and the guide slider 1212 is disposed on the fixed plate 11.

[0050] As an example, the track assembly 121 includes a guide track 1211 and a guide slider 1212. During installation, the guide track 1211 is set on the fixed plate 11 along a first direction, and the guide slider 1212 is set on the gripper assembly 122. The guide slider 1212 is movably mounted on the guide track 1211 to provide guidance and limit for the movement of the gripper assembly 122, and to facilitate the adjustment of the position of the gripper assembly 122 to meet the clamping of items of different sizes.

[0051] In one example, the guide rail 1211 is arranged on the gripper assembly 122 along a first direction, and the guide slider 1212 is arranged on the fixed plate 11. The guide slider 1212 is movably mounted on the guide rail 1211, which can also achieve the above function.

[0052] In one embodiment, reference is made to Figure 1 and Figure 2The gripper assembly 122 includes a support member 1221 and a gripper body 1222. The support member 1221 is mounted on the track assembly 121, and the adjusting transmission belt 144 is connected to the first end of the support member 1221. The gripper body 1222 is mounted on the second end of the support member 1221. In the two gripper assemblies 122, the length of the support member 1221 of one gripper assembly 122 is greater than the length of the support member 1221 of the other gripper assembly 122. The gripper bodies 1222 of the two gripper assemblies 122 are arranged opposite to each other along a first direction.

[0053] As an example, the gripper assembly 122 includes a support member 1221 and a gripper body 1222. The support member 1221 is a long strip-shaped plate structure. During installation, the support member 1221 is mounted on the track assembly 121, and the transmission belt 144 is adjusted to connect with the first end of the support member 1221. The gripper body 1222 is mounted on the second end of the support member 1221. With this configuration, the support member 1221 can be moved on the track assembly 121 by adjusting the transmission belt 144, thereby adjusting the position of the gripper body 1222 to achieve the gripper body 1222 clamping the item. In the two gripper assemblies 122, the length of the support member 1221 of one gripper assembly 122 is greater than the length of the support member 1221 of the other gripper assembly 122. The gripper bodies 1222 of the two gripper assemblies 122 are arranged opposite to each other along a first direction. Thus, the space between the two gripper bodies 1222 is a space for clamping items. By adjusting the transmission belt 144, the two support members 1221 can be driven to move simultaneously along opposite or opposite directions on the two track assemblies 121, thereby adjusting the distance between the two gripper bodies 1222 to clamp or release items of different sizes, thus improving the applicability and working efficiency of the clamping mechanism 12.

[0054] In one embodiment, reference is made to Figure 2 The gripper body 1222 includes a clamping plate 12221 and a support plate 12222 extending from one end of the clamping plate 12221 in a direction perpendicular to the clamping plate 12221; the clamping plate 12221 is installed at the second end of the support member 1221, and the support plate 12222 is located between the two clamping plates 12221.

[0055] As an example, the gripper body 1222 includes a clamping plate 12221 and a support plate 12222. During installation, the clamping plate 12221 is mounted on the second end of the support member 1221. The two clamping plates 12221 are arranged opposite each other along a first direction, so that a space for clamping an item is formed between the two clamping plates 12221. By adjusting the transmission belt 144, the support member 1221 is moved on the track assembly 121, thereby moving the clamping plates 12221 to clamp the item. The support plate 12222 is a component extending from one end of the clamping plate 12221 in a direction perpendicular to the clamping plate 12221. The support plate 12222 is located between the two clamping plates 12221 and can provide limiting support for the item, enhancing the stability and safety of the clamping mechanism 12 in clamping the item.

[0056] In one embodiment, reference is made to Figure 2 The second adjustment mechanism 15 includes a second adjustment motor 151 and a telescopic column 152; the second adjustment motor 151 is mounted on the fixed plate 11, the first end of the telescopic column 152 is connected to the second adjustment motor 151, and the second end of the telescopic column 152 is connected to the pressing mechanism 13.

[0057] As an example, the second adjustment mechanism 15 includes a second adjustment motor 151 and a telescopic column 152. During installation, the second adjustment motor 151 is mounted on the fixed plate 11 by screwing, snapping, or welding. The first end of the telescopic column 152 is connected to the second adjustment motor 151, and the second end of the telescopic column 152 is connected to the pressing mechanism 13. With this configuration, the second adjustment motor 151 can control the telescopic column 152 to extend and retract, thereby driving the pressing mechanism 13 to move in the second direction, controlling the pressing mechanism 13 to press down or rise, thus achieving the clamping or de-clamping of the item. The telescopic column 152 is located between the adjusting drive wheel 142, the adjusting driven wheel 143, and the adjusting transmission belt 144. This arrangement ensures that the clamping mechanism 12 and the pressing mechanism 13 can be controlled while avoiding interference between the first adjustment mechanism 14 and the second adjustment mechanism 15, resulting in a more compact overall structure and saving space.

[0058] In one embodiment, reference is made to Figure 1 The pressing mechanism 13 includes a connecting assembly 131, a support plate 132, and an elastic pressure plate 133. The support plate 132 is movably mounted on the fixed plate 11 in the second direction via the connecting assembly 131. The elastic pressure plate 133 is mounted on the support plate 132 and is positioned opposite to the location of the item. The second end of the telescopic column 152 is connected to the support plate 132 and is used to control the support plate 132 to press down or rise, so that the elastic pressure plate 133 can press or not press the item.

[0059] As an example, the pressing mechanism 13 includes a connecting assembly 131, a support plate 132, and an elastic pressure plate 133. During installation, the support plate 132 is movably mounted on the fixed plate 11 along a second direction via the connecting assembly 131. Specifically, the connecting assembly 131 is movably mounted on the fixed plate 11 along the second direction, and the support plate 132 is mounted on the connecting assembly 131. The connecting assembly 131 provides guidance and limits for adjusting the position of the support plate 132. The elastic pressure plate 133 is mounted on the support plate 132, and the elastic pressure plate 133 is positioned opposite to the location of the item. The second end of the telescopic column 152 is connected to the support plate 132. With this configuration, the second adjusting motor 151 can control the telescopic column 152 to extend and retract, thereby driving the support plate 132 of the pressing mechanism 13 to move along the second direction, controlling the support plate 132 to press down or rise, thus enabling the elastic pressure plate 133 to press or not press the item. At the same time, the connecting assembly 131 provides guidance and limits for adjusting the position of the support plate 132. The elastic pressure plate 133 is an elastic structure with a cushioning function, which can prevent damage to the item from hard contact. Additionally, at least one clamping plate 12221 has a clearance space 12223 for accommodating the pressing mechanism 13. The support plate 132 includes a main body 1321 and a support portion 1322 extending from one side of the main body 1321 along a first direction. The main body 1321 is movably mounted on the fixed plate 11 along a second direction via a connecting assembly 131 and is connected to the second end of the telescopic column 152 of the second adjusting mechanism 15. The support portion 1322 passes through the clearance space 12223 of one clamping plate 12221, and the elastic pressure plate 133 is mounted on the support plate 1322. The end of the support 1322 away from the main body 1321 is located in the clamping space and is positioned opposite to the location of the item. With this configuration, the first adjustment mechanism 14 first controls the two gripper assemblies 122 to move along the first direction to clamp the item, and the second adjustment mechanism 15 controls the support plate 132 and the elastic pressure plate 133 to move along the second direction to press the item. This achieves clamping of the item from two directions, ensuring more stable and reliable clamping of the item, improving the accuracy and stability of the clamping device 10 in clamping the item, avoiding damage to the item, and meeting the usage requirements.

[0060] In one embodiment, reference is made to Figure 1 and Figure 2 The connecting assembly 131 includes a connecting post 1311 and a connecting seat 1312, with the connecting post 1311 passing through the connecting seat 1312; the connecting post 1311 is mounted on the support plate 132 along the second direction, and the connecting seat 1312 is mounted on the fixing plate 11 along the second direction; or, the connecting post 1311 is mounted on the fixing plate 11 along the second direction, and the connecting seat 1312 is mounted on the support plate 132 along the second direction.

[0061] As an example, the connecting assembly 131 includes a connecting post 1311 and a connecting seat 1312. During installation, the connecting post 1311 is mounted on the support plate 132 along the second direction, and the connecting seat 1312 is mounted on the fixing plate 11 along the second direction. The connecting post 1311 passes through the connecting seat 1312. With this configuration, when the second adjusting mechanism 15 drives the support plate 132 to move along the second direction, the connecting post 1311 and the connecting seat 1312 can cooperate to provide guidance and limit for adjusting the position of the support plate 132, thereby ensuring that the elastic pressure plate 133 can accurately press or not press the item.

[0062] In one example, the connecting post 1311 is mounted on the fixing plate 11 along the second direction, and the connecting seat 1312 is mounted on the support plate 132 along the second direction. The connecting post 1311 passes through the connecting seat 1312, which can also achieve the above function.

[0063] In one embodiment, reference is made to Figure 1 and Figure 2 The clamping device 10 also includes a monitoring camera 16, a rangefinder 17, and a controller. The monitoring camera 16 is mounted on the clamping mechanism 12 and is used to collect the size information of the object. The rangefinder 17 is mounted on the pressing mechanism 13 and is used to collect the distance information between the pressing mechanism 13 and the object. The controller is connected to the first adjustment mechanism 14 and the second adjustment mechanism 15 of the monitoring camera 16 and the rangefinder 17, respectively. It controls the operation of the clamping mechanism 12 according to the size information collected by the monitoring camera 16 and controls the operation of the pressing mechanism 13 according to the distance information collected by the rangefinder 17.

[0064] As an example, the clamping device 10 also includes a monitoring camera 16, a rangefinder 17, and a controller. During installation, the monitoring camera 16 is mounted on the clamping mechanism 12 to collect the size information of the object. The rangefinder 17 is mounted on the pressing mechanism 13 to collect the distance information between the pressing mechanism 13 and the object. The controller is connected to the first adjustment mechanism 14 and the second adjustment mechanism 15 of the monitoring camera 16 and the rangefinder 17, respectively. It can control the operation of the clamping mechanism 12 according to the size information collected by the monitoring camera 16 and control the operation of the pressing mechanism 13 according to the distance information collected by the rangefinder 17. This ensures the accuracy and safety of the clamping device 10 in clamping the object. When an item needs to be clamped, the controller first controls the first adjustment mechanism 14 to drive the clamping mechanism 12 to work based on the size information collected by the monitoring camera 16, so that the clamping mechanism 12 moves towards the item in the first direction to clamp the item; then the controller controls the second adjustment mechanism 15 to drive the pressing mechanism 13 to work based on the distance information collected by the rangefinder 17, so that the pressing mechanism 13 moves towards the item in the second direction to press the item and limit its movement; when an item does not need to be clamped, the controller first controls the second adjustment mechanism 15 to drive the pressing mechanism 13 to work based on the distance information collected by the rangefinder 17, so that the pressing mechanism 13 moves away from the item in the second direction to depress the item; then the controller controls the first adjustment mechanism 14 to drive the clamping mechanism 12 to work based on the size information collected by the monitoring camera 16, so that the clamping mechanism 12 moves away from the item in the first direction to release the item.

[0065] This utility model provides a robot, including a clamping device 10.

[0066] As an example, the robot includes a gripping device 10, which includes a fixed plate 11, a clamping mechanism 12, a pressing mechanism 13, a first adjusting mechanism 14, and a second adjusting mechanism 15. The fixed plate 11 is a plate-shaped structure that serves as a mounting support reference and can provide support for other parts of the gripping device 10. The fixed plate 11 can also be connected to an industrial robot or automated equipment via a quick-change device 70 to enable the gripping device 10 to be installed on the industrial robot or automated equipment, thus facilitating the use of the gripping device 10 by the robot. During installation, the clamping mechanism 12 is movably mounted on the fixed plate 11 along a first direction, and the pressing mechanism 13 is movably mounted on the fixed plate 11 along a second direction. A first adjusting mechanism 14 is mounted on the fixed plate 11 and connected to the clamping mechanism 12, which can move the clamping mechanism 12 along the first direction to clamp or release the item. A second adjusting mechanism 15 is mounted on the fixed plate 11 and connected to the pressing mechanism 13, which can move the pressing mechanism 13 along the second direction to press or depress the item. With this configuration, when an item needs to be clamped, the clamping mechanism 12 is first controlled by the first adjusting mechanism 14 to clamp the item. 2. Move along the first direction towards the object to clamp the object; then, control the pressing mechanism 13 through the second adjusting mechanism 15 to move the pressing mechanism 13 along the second direction towards the object to press the object and limit its movement; when the object is no longer clamped, first control the pressing mechanism 13 through the second adjusting mechanism 15 to move the pressing mechanism 13 along the second direction away from the object to de-press the object; then control the clamping mechanism 12 through the first adjusting mechanism 14 to move the clamping mechanism 12 along the first direction away from the object to release the object.

[0067] In this example, the clamping mechanism 12 and the pressing mechanism 13 work together to form a clamping space for holding the item. The operation of the clamping mechanism 12 and the pressing mechanism 13 can be precisely controlled by the first adjusting mechanism 14 and the second adjusting mechanism 15, so that the item can be clamped from two directions, ensuring that the clamping of the item is more stable and reliable, improving the accuracy and stability of the clamping device 10 in clamping the item, avoiding damage to the item, and meeting the usage requirements. At the same time, the clamping mechanism 12 can move along the first direction and the pressing mechanism 13 can move along the second direction, which can expand or shrink the clamping space to adapt to items of different sizes, thus improving the applicability of the clamping device 10.

[0068] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A clamping device, characterized in that, It includes a fixed plate, a clamping mechanism, a pressing mechanism, a first adjusting mechanism, and a second adjusting mechanism; The clamping mechanism is movably mounted on the fixed plate along a first direction, and the pressing mechanism is movably mounted on the fixed plate along a second direction; The first adjustment mechanism is disposed on the fixed plate and connected to the clamping mechanism, and is used to drive the clamping mechanism to move along the first direction so that the clamping mechanism clamps or releases the item. The second adjustment mechanism is disposed on the fixed plate and connected to the pressing mechanism, and is used to drive the pressing mechanism to move in the second direction so that the pressing mechanism presses or does not press the item.

2. The clamping device according to claim 1, characterized in that, The first adjustment mechanism includes a first adjustment motor, an adjustment drive wheel, an adjustment driven wheel, and an adjustment transmission belt; The first adjusting motor is mounted on the fixed plate, the adjusting drive wheel is mounted on the output shaft of the first adjusting motor, and the adjusting driven wheel is rotatably mounted on the fixed plate. The adjusting driven wheel and the adjusting drive wheel are spaced apart along a first direction. The adjusting transmission belt is fitted onto the adjusting drive wheel and the adjusting driven wheel, and the adjusting transmission belt is connected to the clamping mechanism.

3. The clamping device according to claim 2, characterized in that, The clamping mechanism includes two track assemblies and two gripper assemblies; Two track assemblies are spaced apart on the fixed plate along a third direction, and each gripper assembly is movably mounted on one of the track assemblies along a first direction. The adjusting transmission belt is connected to the two gripper assemblies and is used to drive the two gripper assemblies to move in opposite or opposite directions.

4. The clamping device according to claim 3, characterized in that, The track assembly includes a guide track and a guide slider, the guide slider being movably mounted on the guide track; The guide rail is disposed on the fixed plate along the first direction, and the guide slider is disposed on the gripper assembly; Alternatively, the guide rail is disposed on the gripper assembly along a first direction, and the guide slider is disposed on the fixed plate.

5. The clamping device according to claim 3, characterized in that, The gripper assembly includes a support member and a gripper body; the support member is mounted on the track assembly, the adjusting transmission belt is connected to a first end of the support member, and the gripper body is mounted on a second end of the support member; In the two gripper assemblies, the length of the support member of one gripper assembly is greater than the length of the support member of the other gripper assembly, and the gripper bodies of the two gripper assemblies are arranged opposite each other along a first direction.

6. The clamping device according to claim 5, characterized in that, The gripper body includes a clamping plate and a support plate extending from one end of the clamping plate in a direction perpendicular to the clamping plate; The clamping plate is installed at the second end of the support member, and the support plate is located between the two clamping plates.

7. The clamping device according to claim 1, characterized in that, The second adjustment mechanism includes a second adjustment motor and a telescopic column; The second adjusting motor is mounted on the fixed plate, the first end of the telescopic column is connected to the second adjusting motor, and the second end of the telescopic column is connected to the pressing mechanism.

8. The clamping device according to claim 7, characterized in that, The pressing mechanism includes a connecting component, a support plate, and an elastic pressure plate; The support plate is movably mounted on the fixed plate in the second direction via the connecting assembly, and the elastic pressure plate is mounted on the support plate, with the elastic pressure plate positioned opposite to the location of the item. The second end of the telescopic column is connected to the support plate and is used to control the support plate to press down or rise.

9. The clamping device according to claim 8, characterized in that, The connecting assembly includes a connecting post and a connecting seat, wherein the connecting post passes through the connecting seat; The connecting column is mounted on the support plate along the second direction, and the connecting seat is mounted on the fixing plate along the second direction; Alternatively, the connecting column is mounted on the fixing plate along the second direction, and the connecting seat is mounted on the support plate along the second direction.

10. A robot, characterized in that, Includes the clamping device as described in any one of claims 1-9.

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