Clamping device and manipulator equipment

Abstract

The clamping device comprises a shell assembly, a clamping assembly, a transmission assembly and a first limiting assembly, the shell assembly comprises a first shell and a second shell which are rotationally connected in the first direction, the second shell is sleeved with the first shell, and the clamping assembly is rotationally connected with the first shell in the second direction; the second shell comprises a containing cavity and a first through hole penetrating through the side wall of the containing cavity. Part of the clamping assembly is located in the containing cavity and rotationally connected to the second shell in the second direction, and the first direction intersects with the second direction. Part of the transmission assembly is located in the containing cavity, and at least part of the transmission assembly is located in the first through hole and slidably connected with the second shell in the first direction. The first limiting assembly is slidably connected to the first shell. In the embodiment of the invention, the clamping device can enable the clamped object to rotate relative to the fixed part of the clamping device while clamping the clamped object, so that subsequent further operation on the clamped object is facilitated.

Description

Technical Field

[0001] This application relates to the field of mechanical equipment technology, and in particular to a clamping device and a robotic arm device. Background Technology

[0002] With the development of modern society, more and more jobs will be performed by robotic arms. In the operation of related robotic arm equipment, the first step is for the robotic arm to stably grip the object to be operated. After the existing gripping device grips the object to be operated, if the object needs to move further, the gripping device as a whole needs to move, which involves an additional drive structure, making the related transmission structure more complex and the gripping reliability poor. Utility Model Content

[0003] The clamping device provided in this application embodiment can clamp the object being clamped while also causing the object being clamped to rotate relative to the fixed part of the clamping device, so as to facilitate further operations on the object being clamped.

[0004] In a first aspect, embodiments of this application provide a clamping device having a first state and a second state, the clamping device comprising:

[0005] The housing assembly includes a first housing and a second housing rotatably connected in a first direction, the first housing being sleeved outside the second housing, and the second housing including a receiving cavity and a first through hole penetrating the sidewall of the receiving cavity;

[0006] The clamping assembly is partially located within the receiving cavity and is rotatably connected to the second housing in a second direction, wherein the first direction intersects the second direction;

[0007] A transmission assembly is located in the receiving cavity, and at least a portion of the transmission assembly is located within the first through hole and is slidably connected to the second housing along the first direction;

[0008] The first limiting component is slidably connected to the first housing;

[0009] In the first state, the first limiting component is located inside the first through hole. During the transition from the first state to the second state, the transmission component slides relative to the second housing to make the clamping component rotate and drive the first limiting component to disengage from the first through hole.

[0010] In some embodiments, a power input assembly is further included, the power input assembly comprising a rotating member rotatably connected to the second housing in the first direction and a sliding member drively connected to the rotating member, at least a portion of the rotating member and the sliding member being located within the receiving cavity, the sliding member being connected to the drive assembly.

[0011] In some embodiments, the first limiting component includes a first limiting member that is slidably disposed along the first housing and a first resetting member connected between the first limiting member and the first housing, wherein the first resetting member drives the first limiting member to slide in a direction away from the first housing.

[0012] In the first state, at least a portion of the first limiting member is located within the first through hole and on the side of the transmission assembly facing the clamping assembly.

[0013] In some embodiments, a second limiting component is further included, which is spaced apart from the first limiting component around the first direction. The second limiting component includes a second limiting member that is slidably disposed along the first housing and a second reset member connected between the second limiting member and the first housing. The second reset member drives the second limiting member to slide in a direction away from the first housing.

[0014] In the second state, at least a portion of the second limiting member is located on the side of the transmission assembly away from the clamping assembly.

[0015] In some embodiments, the transmission assembly includes a body component located inside the receiving cavity and a guide component connected to the body component, wherein a portion of the guide component slides within the first through hole along the first direction and contacts the first limiting component.

[0016] In some embodiments, the guide member includes a first guide portion and a first abutment portion connected in sequence along the first direction at one end of the second housing that is radially away from the body member, and the first abutment portion protrudes from the first guide portion along the direction of the guide member away from the body member;

[0017] The first limiting member includes a second guide portion and a second abutting portion connected in sequence at one end facing the second housing along the first direction, and the second abutting portion protrudes from the second guide portion along the direction close to the second housing.

[0018] In some embodiments, the clamping assembly includes a connecting shaft arranged radially along the second housing and a first clamping member and a second clamping member rotatably connected to the connecting shaft;

[0019] The clamping assembly further includes a third reset member connected to the connecting shaft, which drives the first clamping member and the second clamping member to a relaxed state.

[0020] In some embodiments, the first clamping member is rotatably provided with a first roller around the second direction at one end facing the transmission assembly, and the first roller abuts against the transmission assembly;

[0021] And / or, the second clamping member is provided with a second roller rotatably around one end of the transmission assembly in the second direction, and the second roller abuts against the transmission assembly.

[0022] In some embodiments, a separation assembly is further included, the separation assembly including a separation elastic member and a separation frame slidably connected to the second housing along the first direction, one end of the separation elastic member being connected to the second housing, the other end of the separation elastic member being connected to the separation frame, and at least a portion of the separation frame being located on the side of the clamping assembly opposite to the transmission assembly along the first direction;

[0023] The separation elastic element drives the separation frame to move away from the clamping assembly in the first direction.

[0024] Secondly, embodiments of this application provide a robotic arm device, including the aforementioned gripping device.

[0025] The clamping device provided in this application has a first state and a second state. In the first state, the clamping device clamps the object being clamped, and in the second state, the clamping device releases the object being clamped. The outer shell assembly includes a first shell and a second shell rotatably connected in a first direction. A first through hole is provided through the second shell. A first limiting component is slidably connected to the first shell. In the first state, the first limiting component is located inside the first through hole. When the first shell is fixed by other structures, the second shell is also fixed. In the second state, the first limiting component disengages from the first through hole. When the first shell is fixed by other structures, the second shell can rotate relative to the first shell. Simultaneously, a transmission component is slidably connected to the second shell along the first direction, and a clamping component is rotatably connected to the second shell in a second direction. The transmission component contacts the clamping component on one hand, causing the clamping component to clamp the object being clamped, and on the other hand, it contacts the first limiting component, causing the first limiting component to disengage from the first through hole to release the limitation between the second shell and the first shell. The design of the transmission and clamping components ensures the clamping stability of the object being clamped during the rotation of the second housing, thus satisfying the subsequent operations of the object being clamped. Attached Figure Description

[0026] The features, advantages, and technical effects of exemplary embodiments of this application will now be described with reference to the accompanying drawings.

[0027] Figure 1 This is a schematic diagram of the structure of a clamping device provided in some embodiments of this application;

[0028] Figure 2 A first cross-sectional view of a clamping device provided for some embodiments of this application;

[0029] Figure 3 A second cross-sectional view of a clamping device provided for some embodiments of this application;

[0030] Figure 4 for Figure 3 A magnified view of part A in the middle;

[0031] Figure 5 A third cross-sectional view of a clamping device provided for some embodiments of this application.

[0032] Marker explanation:

[0033] 10. Outer shell assembly; 11. First housing; 111. First limiting groove; 12. Second housing; 121. Receiving cavity; 122. First through hole;

[0034] 20. Clamping assembly; 21. Connecting shaft; 22. First clamping member; 23. Second clamping member;

[0035] 30. Transmission assembly; 31. Body component; 32. Guide component;

[0036] 40. First limiting component; 41. First limiting member; 42. First reset member;

[0037] 50. Power input assembly; 51. Rotating component; 52. Sliding component;

[0038] 60. Separation assembly; 61. Separation elastic element; 62. Separation frame;

[0039] X, the first direction; Y, the second direction.

[0040] In the accompanying drawings, the same parts use the same reference numerals. The drawings are not drawn to scale. Detailed Implementation

[0041] The features and exemplary embodiments of various aspects of this application will be described in detail below. To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain this application and not to limit it. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples.

[0042] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0043] With the development of modern society, more and more jobs will be performed by robotic arms. In the operation of related robotic arm equipment, the first step is for the robotic arm to stably grip the object to be operated. After the existing gripping device grips the object to be operated, if the object needs to move further, the gripping device as a whole needs to move, which involves an additional drive structure, making the related transmission structure more complex and the gripping reliability poor.

[0044] Taking the installation of locking pins on containers as an example, after the clamping device holds the locking pin, it needs to be rotated to a specific angle. During the installation process, two actions need to be completed for the locking pin: clamping and rotation. When multiple drive structures are involved, unreliable clamping and installation failures are prone to occur, which is not conducive to the automated installation of locking pins.

[0045] In view of this, firstly, please refer to Figures 1 to 4 This application provides a clamping device having a first state and a second state. The clamping device includes a housing assembly 10, a clamping assembly 20, a transmission assembly 30, and a first limiting assembly 40. The housing assembly 10 includes a first housing 11 and a second housing 12 rotatably connected in a first direction X. The first housing 11 is sleeved on the outside of the second housing 12. The second housing 12 includes a receiving cavity 121 and a first through hole 122 penetrating the sidewall of the receiving cavity 121. A portion of the clamping assembly 20 is located inside the receiving cavity 121 and rotatably connected to the second housing 12 in a second direction Y, where the first direction X intersects the second direction Y. A portion of the transmission assembly 30 is located inside the receiving cavity 121, and at least a portion of the transmission assembly 30 is located inside the first through hole 122 and slidably connected to the second housing 12 along the first direction X. The first limiting assembly 40 is slidably connected to the first housing 11. In the first state, the first limiting component 40 is located inside the first through hole 122. During the transition from the first state to the second state, the transmission component 30 slides relative to the second housing 12 to make the clamping component 20 rotate and drive the first limiting component 40 to disengage from the first through hole 122.

[0046] The clamping device provided in this application embodiment can clamp the clamped object while simultaneously allowing the clamped object to rotate relative to the fixed part of the clamping device, facilitating further operations on the clamped object. In this application embodiment, the clamped object is a structure that needs to rotate further after clamping. For example, the clamped object can be a locking pin used to fix a container. The clamping device first clamps and fixes the locking pin, inserts it into the fixing hole on the container, and then rotates the locking pin at a certain angle, thereby connecting the locking pin to the container. Alternatively, the clamped object can also be a component that needs to rotate at a certain angle during processing, such as a shaft part. After the relevant component is clamped and fixed by the clamping device, the component is rotated to a suitable processing angle for production processing.

[0047] The clamping device provided in this application embodiment has a first state and a second state. The first state is a relaxed state, that is, the state when the clamping device is not clamping the object to be clamped. The second state is a clamping state, that is, the state when the clamping device is clamping the object to be clamped.

[0048] Specifically, the clamping device includes a housing assembly 10, a clamping assembly 20, a transmission assembly 30, and a first limiting assembly 40. The housing assembly 10, as the outermost structure of the clamping device, is used to connect with other structures to fix the clamping assembly 20. The clamping assembly 20 is used to clamp or release the object being clamped. The transmission assembly 30 is used to adjust the state of the clamping assembly 20, enabling it to stably and reliably clamp the object. The first limiting assembly 40 is used to limit the position of the housing assembly 10 to ensure the reliability of the clamping assembly 20's transition between a first state and a second state.

[0049] The outer casing assembly 10 includes a first housing 11 and a second housing 12 rotatably connected in a first direction X, with the first housing 11 sleeved over the second housing 12. It is understood that when the first housing 11 is fixed by the remaining structures, the second housing 12 can rotate relative to the first housing 11 after the limiting relationship between the first housing 11 and the second housing 12 is released. A receiving cavity 121 is formed inside the second housing 12, which is used to accommodate part of the clamping assembly 20 and the transmission assembly 30. A first through hole 122 is provided through the second housing 12, i.e., at the side wall of the receiving cavity 121. The first limiting assembly 40 is slidably connected to the first housing 11.

[0050] In the first state, the first limiting component 40 is located inside the first through hole 122. It can be understood that the first limiting component 40 is initially connected to the first housing 11. When the first limiting component 40 is inside the first through hole 122, it can restrict the rotation of the second housing 12 relative to the first housing 11, and both the second housing 12 and the first housing 11 are fixed. In the second state, the first limiting component 40 disengages from the first through hole 122 and is located outside the first through hole 122, releasing the restriction between the second housing 12 and the first housing 11. When the first housing 11 is fixed by other structures, the second housing 12 can rotate relative to the first housing 11.

[0051] The clamping assembly 20 located inside the receiving cavity 121 can contact and transmit force with the transmission assembly 30. Under the drive of the transmission assembly 30, the clamping assembly 20 can clamp the object being clamped. The clamping assembly 20 has a clamping end and a connecting end in the first direction X. The clamping end is located outside the receiving cavity 121 to perform the clamping operation on the object being clamped, and the connecting end is located inside the receiving cavity 121 to contact the transmission assembly 30 to realize the transmission of force.

[0052] The clamping assembly 20 is rotatably connected to the second housing 12 in the second direction Y. The second direction Y intersects with the first direction X, and preferably the second direction Y and the first direction X are set as two mutually perpendicular directions. The transmission assembly 30 is slidably connected to the second housing 12 along the first direction X. It can be understood that both the clamping assembly 20 and the transmission assembly 30 are connected to the second housing 12. After the first limiting assembly 40 releases the limiting between the first housing 11 and the second housing 12, both the clamping assembly 20 and the transmission assembly 30 rotate together with the second housing 12. That is, under the action of the clamping assembly 20, the transmission assembly 30, and the second housing 12, the clamped object is also in a clamped state during the rotation.

[0053] During the sliding process of the transmission component 30 inside the second housing 12 along the first direction X, it comes into contact with the clamping component 20, that is, it comes into contact with the connecting end of the clamping component 20, causing the clamping component 20 to rotate in the second direction Y, and the clamping end clamps the object to be clamped.

[0054] Meanwhile, a portion of the transmission component 30 is located inside the first through hole 122 to contact the first limiting component 40. When the transmission component 30 slides along the first direction X, it also slides inside the first through hole 122. When the transmission component 30 contacts the first limiting component 40 inside the first through hole 122, it causes the first limiting component 40 to slide relative to the first housing 11. During the transition of the clamping device from the first state to the second state, the transmission component 30 slides relative to the second housing 12 along the first direction X.

[0055] During the sliding process of the transmission component 30, on the one hand, the transmission component 30 comes into contact with the clamping component 20, causing the clamping component 20 to rotate in the second direction Y, thus clamping the object to be clamped; on the other hand, the transmission component 30 also comes into contact with the first limiting component 40, causing the first limiting component 40 to slide, thus disengaging the first limiting component 40 from the first through hole 122 and releasing the limitation between the second housing 12 and the first housing 11. Simultaneously, in the second state, the second housing 12 can rotate relative to the first housing 11. During the rotation of the second housing 12, since both the transmission component 30 and the clamping component 20 are connected to the second housing 12, the second housing 12 will drive the rotating component and the clamping component 20 to rotate together, ensuring the clamping stability of the object to be clamped during the rotation of the second housing 12.

[0056] In summary, in this embodiment, the clamping device has a first state and a second state. In the first state, the clamping device clamps the object being clamped; in the second state, the clamping device releases the object being clamped. The outer shell assembly 10 includes a first shell 11 and a second shell 12 rotatably connected in a first direction X. A first through hole 122 is provided through the second shell 12. A first limiting component 40 is slidably connected to the first shell 11. In the first state, the first limiting component 40 is located inside the first through hole 122. When the first shell 11 is fixed by other structures, the second shell 12 is also fixed. In the second state, the first limiting component 40 disengages from the first through hole 122. When the first shell 11 is fixed by other structures, the second shell 12 can rotate relative to the first shell 11. Simultaneously, the transmission assembly 30 is slidably connected to the second housing 12 along the first direction X, and the clamping assembly 20 is rotatably connected to the second housing 12 along the second direction Y. The transmission assembly 30 contacts the clamping assembly 20, causing the clamping assembly 20 to clamp the object to be clamped. Simultaneously, the transmission assembly 30 also contacts the first limiting assembly 40, causing the first limiting assembly 40 to disengage from the first through hole 122, thereby releasing the limitation between the second housing 12 and the first housing 11. The arrangement of the transmission assembly 30 and the clamping assembly 20 ensures the clamping stability of the object during the rotation of the second housing 12, thus satisfying subsequent operations on the clamped object.

[0057] In some embodiments, the clamping device further includes a power input assembly 50, which includes a rotating member 51 rotatably connected to the second housing 12 in a first direction X and a sliding member 52 slidably connected to the rotating member 51 in the first direction X. At least a portion of the rotating member 51 and the sliding member 52 are located inside the receiving cavity 121, and the sliding member 52 is connected to the transmission assembly 30.

[0058] The power input assembly 50 transmits external power to the transmission assembly 30 to drive the transmission assembly 30 to slide along the first direction X. Considering that the clamped object needs to rotate at a specific angle during subsequent operations, the power input assembly 50 is configured with a rotating member 51 and a sliding member 52. The rotating member 51 is rotatably connected to the second housing 12 along the first direction X. The sliding member 52 is drively connected to the rotating member 51 and connected to the transmission assembly 30. Under the action of the rotating member 51, the sliding member 52 slides along the first direction X inside the receiving cavity 121, thereby driving the transmission assembly 30 to slide along the first direction X.

[0059] With the setting of rotating member 51 and sliding member 52, after the limiting component 40 releases the limiting between the second housing 12 and the first housing 11, the second housing 12 can rotate relative to the first housing 11. The rotation of rotating member 51 and the rotation of the second housing 12 can correspond to each other, simplifying the power transmission method.

[0060] In one embodiment, the transmission between the rotating member 51 and the sliding member 52 is configured as a lead screw and slider transmission, with the driving member being a lead screw and the sliding member 52 being a slider. In the first state, the first limiting component 40 is located inside the first through hole 122, and the second housing 12 is relatively fixed to the first housing 11. The rotation of the lead screw causes the slider to slide, thereby causing the transmission component 30 to slide. Since the transmission component 30 is partially located inside the first through hole 122, the transmission component 30 cannot rotate relative to the second housing 12, and the slider can slide stably along the first direction X. When the transmission component 30 contacts the first limiting component 40 during the sliding process, the first limiting component 40 disengages from the first through hole 122, releasing the limitation between the second housing 12 and the first housing 11, and the clamping device switches to the second state. The lead screw continues to rotate, and the force is transmitted from the slider to the transmission assembly 30, and then to the second housing 12. Since the limiting relationship between the second housing 12 and the first housing 11 has been released, the rotation of the lead screw will cause the second housing 12 to rotate, thereby causing the clamped object to rotate, so as to meet the subsequent rotation requirements of the clamped object. Furthermore, in order to ensure the smooth sliding of the slider, a lubrication structure can be provided between the slider and the second housing 12.

[0061] In one embodiment, the rotating member 51 has a rotational space of a specific angle only relative to the second housing 12. When the rotating member 51 rotates from the initial angle to the final angle of this specific angle, the transmission component 30 slides a specific distance under the drive of the sliding member 52. At the end of this specific distance, the first limiting component 40 disengages from the first through hole 122, releasing the limiting between the second housing 12 and the first housing 11. After the rotating member 51 rotates to the final angle of this specific angle, the rotating member 51 drives the second housing 12 to rotate, thereby causing the clamped object to rotate, so as to realize the subsequent rotation requirements of the clamped object.

[0062] In some embodiments, the first limiting assembly 40 includes a first limiting member 41 that is radially slidable along the first housing 11 and a first resetting member 42 connected between the first limiting member 41 and the first housing 11. The first resetting member 42 drives the first limiting member 41 to slide in a direction away from the first housing 11. In a first state, at least a portion of the first limiting member 41 is located within the first through hole 122 and on the side of the transmission assembly 30 facing the clamping assembly 20.

[0063] When the transmission component 30 slides along the first direction X inside the second housing 12, it has at least a certain sliding distance. When the clamping device is in the first state, the transmission component 30 is in the first position, which is the starting point of the transmission component 30 sliding along the first direction X; when the clamping device is in the second state, the transmission component 30 is in the second position, which is the ending point of the transmission component 30 sliding along the first direction X.

[0064] The first limiting member 41 is slidably disposed along the radial direction of the first housing 11, which can shorten the sliding distance of the first limiting member 41 to a certain extent, so as to facilitate the first limiting member 41 sliding into or out of the first through hole 122. Optionally, the sliding direction of the first limiting member 41 may intersect the radial direction of the first housing 11. In order to ensure that the first limiting member 41 can smoothly slide into or out of the first through hole 122, the sliding direction of the first limiting member 41 is consistent with the extension direction of the first through hole 122.

[0065] The first reset member 42 is connected between the first limiting member 41 and the first housing 11, and the first reset member 42 drives the first limiting member 41 to slide in a direction away from the first housing 11. In the first state, the transmission assembly 30 is in the first position and is not in contact with the first limiting member 41. Under the action of the first reset member 42, part of the first limiting member 41 is inside the first through hole 122, and the second housing 12 is relatively fixed to the first housing 11. During the transition from the first state to the second state, the transmission assembly 30 slides from the first position to the second position. After contacting the first limiting member 41, it overcomes the force exerted by the first reset member 42 on the first limiting member 41, causing the first limiting member 41 to disengage from the first through hole 122, thus releasing the restriction between the second housing 12 and the first housing 11.

[0066] In one embodiment, a first limiting groove 111 is provided on the first housing 11 along its radial direction. The first limiting groove 111 and the first through hole 122 can communicate with each other. The first limiting member 41 slides inside the first limiting groove 111 to ensure the smoothness of the sliding of the first limiting member 41.

[0067] The first reset member 42 can be configured as an elastic member, using the elastic force of the elastic member to drive the first limiting member 41 to slide away from the first housing 11. Alternatively, the first reset member 42 can be configured as a magnetic member, using the attractive or repulsive force between the magnetic members to drive the first limiting member 41 to slide away from the first housing 11.

[0068] To ensure that the clamping assembly 20 can smoothly clamp the object, the transmission assembly 30 needs to slide smoothly for a certain distance. In the first state, when the transmission assembly 30 is in the first position, the first limiting member 41 is located on the side of the transmission assembly 30 facing the clamping assembly 20 along the first direction X. Preferably, the first limiting member 41 is set to correspond to the second position of the transmission assembly 30 during the sliding process along the first direction X.

[0069] In some embodiments, the clamping device further includes a second limiting component, which is spaced apart from the first limiting component 40 in a first direction X. The second limiting component includes a second limiting member that slides radially along the first housing 11 and a second resetting member connected between the second limiting member and the first housing 11. The second resetting member drives the second limiting member to slide in a direction away from the first housing 11. In the second state, at least a portion of the second limiting member is located on the side of the transmission component 30 opposite to the clamping component 20.

[0070] To control the rotation of the second housing 12 and the clamped object by a specific angle, a second limiting component is provided at the angle at which the rotation of the second housing 12 needs to stop. The second limiting component and the first limiting component 41 are spaced apart around the first limiting component in the first direction X. That is, during the transition from the first state to the second state, the clamping device clamps the clamped object, and then the second housing 12 can rotate. The first limiting component 40 is set at the initial position where the second housing 12 rotates, and the second limiting component is set at the endpoint position where the second housing 12 needs to rotate. The specific rotation angle of the second housing 12 and the clamped object is controlled by the interval angle between the first limiting component 40 and the second limiting component in the first direction X, so that after the second housing 12 and the clamped object rotate to the required angle, the second limiting component limits them.

[0071] In this embodiment, the second limiting component has a similar structural configuration to the first limiting component 40, and will not be described again here. The second limiting component and the first limiting component 40 are offset in the first direction X. In the second state, the transmission component 30 is in the second position, causing the first limiting member 41 to disengage from the first through hole 122. The second housing 12 rotates. After the second housing 12 rotates by a specific angle, in order to ensure that the second limiting member can enter the first through hole 122, the second housing 12 is limited. The second limiting member is located on the side of the transmission component 30 away from the clamping component 20. That is, it is preferable to set the position of the second limiting member in the first direction X between the first position and the second position during the sliding process of the transmission.

[0072] After the second housing 12 rotates to a specific angle, it needs to be rotated back to the initial angle. In the second state, under the action of the rotating member 51, the transmission assembly 30 slides along the first direction X, and the transmission assembly 30 contacts the second limiting member, causing the second limiting member to disengage from the first through hole 122, releasing the restriction between the second housing 12 and the first housing 11, and driving the second housing 12 to rotate. When the second housing 12 rotates back to the initial angle, the first limiting member 41 enters the first through hole 122, restricting the second housing 12 to the initial angle.

[0073] The second limiting member is positioned in the first direction X between the first and second positions during the sliding process of the transmission. This allows the transmission component 30 to slide a certain distance along the first direction X first, so that the clamping component 20 is in a relaxed state before rotating. This is suitable for situations where the object being clamped is a locking pin used to fix a container. The clamping device first clamps and fixes the locking pin, inserts the locking pin into the fixing hole on the container, and then rotates the locking pin at a certain angle to connect the locking pin to the container. Subsequently, the clamping device disengages from the locking pin and resets.

[0074] In some embodiments, the transmission assembly 30 includes a body 31 located inside the receiving cavity 121 and a guide 32 connected to the body 31. Part of the guide 32 is located inside the first through hole 122 and slides along the first direction X. The guide 32 contacts the first limiting member 41.

[0075] The main body 31, serving as the main component of the transmission assembly 30, is connected to the sliding member 52. Under the action of the sliding member 52, the main body 31 slides inside the receiving cavity 121. Simultaneously, the main body 31 comes into contact with the clamping assembly 20, causing the clamping assembly 20 to rotate in the second direction Y.

[0076] The guide member 32 is located inside the first through hole 122, restricting the relative rotation between the transmission assembly 30 and the second housing 12. During the transition from the first state to the second state, the guide member 32 can guide the sliding of the sliding member 52 and the body member 31 in the first direction X, ensuring the smooth sliding of the sliding member 52 and the body member 31. At the same time, the guide member 32 contacts the first limiting member 41, and after the first limiting member 41 is squeezed out of the first through hole 122, the transmission assembly 30 can drive the second housing 12 to rotate under the action of the guide member 32, thereby driving the clamped object to rotate.

[0077] In some embodiments, to improve the transmission reliability of the transmission assembly 30, two guide members 32 are connected and arranged in a straight line on the body 31. A second through hole is provided on the second housing 12, corresponding to the first through hole 122 and arranged in a straight line. One guide member 32 is located inside the first through hole 122, and the other guide member 32 is located inside the second through hole. Correspondingly, a second limiting groove is provided on the first housing 11, which can communicate with the second through hole. At the same time, two sets of first limiting components 40 and second limiting components are also provided, and their structural settings and connection relationships are identical, which will not be described in detail here.

[0078] In some embodiments, the guide member 32, at one end of the second housing 12 radially away from the body member 31, includes a first guide portion and a first abutment portion connected in sequence along a first direction X. The first abutment portion protrudes from the first guide portion in a direction away from the body member 31. The first limiting member 41, at one end facing the second housing 12, includes a second guide portion and a second abutment portion connected in sequence along the first direction X. The second abutment portion protrudes from the second guide portion in a direction close to the second housing 12.

[0079] In order to ensure that the power can be transmitted smoothly when the guide member 32 and the first limiting member 41 are in contact and to achieve the expected motion transmission, a guide structure and an abutment structure are provided on the guide member 32 and the first limiting member 41.

[0080] Considering that when the guide member 32 transitions from the first state to the second state, it slides from the first position to the second position and contacts the first limiting member 41, the guide member 32 is provided with a first guide portion, and the first limiting member 41 is provided with a second guide portion, which are configured to cooperate with each other. When the guide member 32 contacts the first limiting member 41, the first abutting portion and the second abutting portion abut together.

[0081] In one embodiment, both the first guide portion and the second guide portion are planar, and the first guide portion and the second guide portion are arranged parallel to each other. In another embodiment, the first guide portion and the second guide portion are curved surfaces, and the convex directions of the two curved surfaces are arranged opposite to each other.

[0082] Considering that the guide member 32 transitions from the second state to the first state and slides from the second position to the first position to contact the second limiting member, a third guide portion is also provided at the end of the guide member 32 that is radially away from the main body 31 along the second housing 12. The third guide portion is located on the side of the first abutment portion away from the first guide portion along the first direction X. The first abutment portion protrudes from the first guide portion and the third guide portion along the direction of the guide member 32 away from the main body 31. Correspondingly, the end of the second limiting member facing the second housing 12 along the first direction X includes a fourth guide portion and a third abutment portion connected in sequence. The third abutment portion protrudes from the fourth guide portion along the direction close to the second housing 12. The third abutment portion cooperates with the first abutment portion, and their cooperation relationship is similar to that of the second abutment portion and the first abutment portion; the third guide portion cooperates with the fourth guide portion, and their cooperation relationship is similar to that of the first guide portion and the second guide portion.

[0083] In some embodiments, the clamping assembly 20 includes a connecting shaft 21 arranged radially along the second housing 12, and a first clamping member 22 and a second clamping member 23 rotatably mounted on the connecting shaft 21. The clamping assembly 20 includes a third reset member connected to the connecting shaft 21, which drives the first clamping member 22 and the second clamping member 23 into a relaxed state.

[0084] The connecting shaft 21 is fixedly disposed radially along the second housing 12, and the first clamping member 22 and the second clamping member 23 are rotatably connected to the connecting shaft 21. The first clamping member 22 includes a first part and a second part that are bent and connected. The first part is located on the side of the connecting shaft 21 away from the transmission assembly 30, and the second part is located on the side of the connecting shaft 21 facing the transmission assembly 30. The first part forms a partial clamping end, and the second part forms a partial connecting end. The second clamping member 23 includes a third part and a fourth part that are bent and connected. The third part is located on the side of the connecting shaft 21 away from the transmission assembly 30, and the fourth part is located on the side of the connecting shaft 21 facing the transmission assembly 30. The third part forms a partial clamping end, and the fourth part forms a partial connecting end.

[0085] The first part and the second part are on the same side of the connecting shaft 21, and the third part and the fourth part are on the same side of the connecting shaft 21. When the transmission assembly 30 slides close to the connecting shaft 21, the second part and the fourth part move away from each other, while the first part and the third part move closer to each other, thus clamping the object to be clamped.

[0086] The third reset member is used to release the first clamping member 22 and the second clamping member 23 into a relaxed state. Specifically, during the transition from the second state to the first state, the transmission assembly 30 slides along the side away from the connecting shaft 21 in the first direction X, releasing the force exerted by the transmission assembly 30 on the second and fourth parts. Under the action of the third reset member, the second and fourth parts move closer to each other, while the first and third parts move further apart, and the clamping assembly 20 transitions from a clamping state to a relaxed state.

[0087] In one embodiment, the third reset element is a torsion spring. Alternatively, in another embodiment, the third reset element may also be a spring.

[0088] In one embodiment, to prevent damage to the object being clamped by the clamping device during the clamping process, a first elastic pad is provided on the side of the first part facing the third part, and a second elastic pad is provided on the side of the third part facing the first part. Alternatively, groove structures adapted to the object being clamped can be provided on the first and second elastic pads to improve the clamping stability of the clamping device on the object being clamped.

[0089] In some embodiments, the first clamping member 22 has a first roller disposed around the end of the transmission assembly 30 in the second direction Y, and the first roller abuts against the transmission assembly 30. The second clamping member 23 has a second roller disposed around the end of the transmission assembly 30 in the second direction Y, and the second roller abuts against the transmission assembly 30.

[0090] When the transmission assembly 30 slides near the connecting shaft 21, it comes into contact with the second and fourth parts, causing the second and fourth parts to move away from each other. To reduce the friction between the transmission assembly 30 and the second and fourth parts, a corresponding roller structure is provided. Specifically, the second part is provided with a first roller that rotates in the second direction Y, and the first roller abuts against the transmission assembly 30; the fourth part is provided with a second roller that rotates in the second direction Y, and the second roller abuts against the transmission assembly 30.

[0091] In another embodiment, the second and fourth parts may be provided with corresponding ball bearing structures to reduce the friction between the second and fourth parts and the transmission assembly 30.

[0092] In some embodiments, please refer to Figures 1 to 5The clamping device further includes a separation assembly 60, which includes a separation elastic member 61 and a separation frame 62 slidably connected to the second housing 12 along a first direction X. One end of the separation elastic member 61 is connected to the second housing 12, and the other end of the separation elastic member 61 is connected to the separation frame 62. At least a portion of the separation frame 62 is located on the side of the clamping assembly 20 opposite to the transmission assembly 30 along the first direction X. The separation elastic member 61 drives the separation frame 62 to move away from the clamping assembly 20 in the first direction X.

[0093] When the clamped object is held by the clamping assembly 20, it is also inside the separating frame 62 and in contact with it. The separating frame 62 has a contact surface that contacts the clamped object, and the clamping assembly 20 has a clamping surface that contacts the clamped object. Understandably, under the action of the separating elastic member 61, the distance between the contact surface and the second housing 12 is greater than the distance between the clamping surface and the second housing 12. When the clamping assembly 20 clamps the clamped object, the clamped object is in contact with both the contact surface and the clamping surface, and the separating elastic member 61 is in a compressed state. When the clamping assembly 20 releases the clamped object, the separating elastic member 61 drives the separating frame 62 to move away from the clamping assembly 20 in the first direction X, so as to separate the clamped object from the clamping assembly 20.

[0094] Secondly, embodiments of this application provide a robotic arm device, including the aforementioned gripping device, fixing device, power device, and moving device. The fixing device is used to secure the gripping device; specifically, the fixing device secures the first housing 11. In one embodiment, to improve the stability of the fixation between the fixing device and the first housing 11, the shape of the fixing device is adapted to the shape of the first housing 11. The power device is connected to the power input component 50 in the gripping device and provides power for the movement of the gripping device. The moving device can drive the gripping device, fixing device, and power device to move in position.

[0095] The robotic arm device provided in this application includes all the technical features of the above-mentioned clamping device, and therefore has all the beneficial effects of the above-mentioned clamping device, which will not be repeated here.

[0096] In summary, combining Figures 1 to 5 Taking the installation of a container locking pin as an example, and using a lead screw and slider as the power input component, the operation process of the clamping device and robotic arm provided in this application embodiment is described in detail below:

[0097] The clamping device is fixed to the robotic arm by a fixing device, specifically, the fixing device fixes the first housing 11. At the same time, the power unit on the robotic arm is connected to the rotating component 51 in the power input assembly 50, and the power unit can drive the rotating component 51 to rotate.

[0098] Initially, the clamping device is in the first state, i.e., the relaxed state. The transmission assembly 30 is in the first position, and the end of the guide member 32 away from the body member 31 extends into the first through hole 122. Under the action of the first reset member 42, the first limiting member 41 is partially inside the first through hole 122, and the second housing 12 and the first housing 11 cannot rotate. Under the action of the second reset member, the second limiting member abuts against the side wall of the second housing 12. Under the action of the third reset member, the second and fourth parts of the first clamping member 22 and the second clamping member 23 are in a state of being close to each other, and the first and third parts are in a state of being far apart from each other. The clamping assembly 20 is in the relaxed state, and in the first direction X, the second and fourth parts abut against the transmission assembly 30.

[0099] When the rotating component 51 starts to rotate in the first direction X, the overall process can be divided into two stages depending on whether the first limiting component 41 is in the first through hole 122.

[0100] In the first stage, the end of the first limiting member 41 away from the first resetting member 42 extends into the first through hole 122. At this time, the second housing 12 and the first housing 11 cannot rotate relative to each other. Due to the restriction of the first limiting member 41 and the fixation of the first housing 11 by the fixing device, it is equivalent to both the first housing 11 and the second housing 12 being in a fixed state. The rotation of the rotating member 51 around the first direction X will drive the sliding member 52 to slide along the first direction X. The sliding member 52 drives the transmission assembly 30 to slide along the first direction X. The guide member 32 in the transmission assembly 30 starts to slide from the first position.

[0101] During the sliding process of the transmission assembly 30, the second and fourth parts move away from each other, which in turn causes the first and third parts to move closer together. When the guide member 32 in the transmission assembly 30 slides to the second position, the first clamping member 22 and the second clamping member 23 clamp the locking pin. The guide member 32 pushes the first limiting member 41 out of the first through hole 122, and the clamping device changes from the first state to the second state, that is, from the relaxed state to the clamping state. The moving device in the robotic arm moves the clamping device and the locking pin into the fixing hole of the container.

[0102] The rotation of the rotating member 51 enters the second stage. In the second stage, the first limiting member 41 disengages from the first through hole 122. When the first housing 11 is fixed, the second housing 12 can rotate relative to the first housing 11 in the first direction X.

[0103] The rotating component 51 continues to rotate. Since the first limiting component 41 has disengaged from the first through hole 122, the second housing 12 can rotate relative to the first housing 11. The rotation of the rotating component 51 drives the rotation of the second housing 12, thereby driving the locking pin to rotate together.

[0104] After rotating a certain angle, the first through hole 122 deviates from the first limiting member 41, and the first limiting member 41 abuts against the side wall of the second housing 12. The rotating member 51 continues to rotate, the guide member 32 is in the second position, and the clamping assembly 20 is in the clamping state. When the first through hole 122 corresponds to the second limiting member, under the action of the second reset member, the end of the second limiting member away from the second reset member enters the first through hole 122, limiting the second housing 12 and the first housing 11, and the second housing 12 cannot rotate relative to the first housing 11. The locking pin installation is complete.

[0105] Subsequently, the clamping device is disengaged from the locking pin. The rotating component 51 rotates in the opposite direction, causing the sliding component 52 to slide in the opposite direction along the first direction X. Under the action of the second limiting component, the transmission assembly 30 slides in the opposite direction along the first direction X. The force between the transmission assembly 30 and the first clamping component 22 and the second clamping component 23 is released. Under the action of the third reset component, the first clamping component 22 and the second clamping component 23 return to their relaxed state. The moving device in the robotic arm then disengages the clamping device from the locking pin.

[0106] The rotating component 51 continues to rotate in the opposite direction, causing the guide component 32 to continue sliding in the first direction X. After the guide component 32 pushes the second limiting component out of the first through hole 122, the rotation of the rotating component 51 causes the second housing 12 to rotate. When it rotates to the initial angle, the first limiting component 41 enters the through hole, limiting the movement between the second housing 12 and the first housing 11. The clamping device returns to its initial first state. This process is repeated multiple times to achieve the installation of multiple locking pins.

[0107] Although the present invention has been described with reference to preferred embodiments, various modifications can be made thereto and components can be replaced with equivalents without departing from the scope of the invention. In particular, the technical features mentioned in the various embodiments can be combined in any manner, provided there is no structural conflict. The present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A clamping device, characterized in that The clamping device has a first state and a second state, and the clamping device includes: The housing assembly includes a first housing and a second housing rotatably connected in a first direction, the first housing being sleeved outside the second housing, and the second housing including a receiving cavity and a first through hole penetrating the sidewall of the receiving cavity; The clamping assembly is partially located within the receiving cavity and is rotatably connected to the second housing in a second direction, wherein the first direction intersects the second direction; A transmission assembly is located in the receiving cavity, and at least a portion of the transmission assembly is located within the first through hole and is slidably connected to the second housing along the first direction; The first limiting component is slidably connected to the first housing; In the first state, the first limiting component is located inside the first through hole. During the transition from the first state to the second state, the transmission component slides relative to the second housing to make the clamping component rotate and drive the first limiting component to disengage from the first through hole.

2. The clamping device of claim 1, wherein It also includes a power input assembly, which includes a rotating member rotatably connected to the second housing in the first direction and a sliding member drively connected to the rotating member. At least a portion of the rotating member and the sliding member are both located within the receiving cavity, and the sliding member is connected to the transmission assembly.

3. The clamping device of claim 1, wherein The first limiting component includes a first limiting member that is slidably disposed along the first housing and a first resetting member connected between the first limiting member and the first housing. The first resetting member drives the first limiting member to slide in a direction away from the first housing. In the first state, at least a portion of the first limiting member is located within the first through hole and on the side of the transmission assembly facing the clamping assembly.

4. The clamping device of claim 3, wherein It also includes a second limiting component, which is spaced apart from the first limiting component around the first direction. The second limiting component includes a second limiting member that is slidably disposed along the first housing and a second reset member connected between the second limiting member and the first housing. The second reset member drives the second limiting member to slide in a direction away from the first housing. In the second state, at least a portion of the second limiting member is located on the side of the transmission assembly away from the clamping assembly.

5. The clamping device of claim 3, wherein The transmission assembly includes a body component located inside the receiving cavity and a guide component connected to the body component. Part of the guide component is located within the first through hole, slides along the first direction, and contacts the first limiting component.

6. The clamping device of claim 5, wherein The guide member includes a first guide portion and a first abutment portion connected in sequence along the first direction at one end of the second housing that is radially away from the body member. The first abutment portion protrudes from the first guide portion along the direction of the guide member away from the body member. The first limiting member includes a second guide portion and a second abutting portion connected in sequence at one end facing the second housing along the first direction, and the second abutting portion protrudes from the second guide portion along the direction close to the second housing.

7. The clamping device of claim 1, wherein The clamping assembly includes a connecting shaft arranged radially along the second housing, and a first clamping member and a second clamping member rotatably connected to the connecting shaft; The clamping assembly further includes a third reset member connected to the connecting shaft, which drives the first clamping member and the second clamping member to a relaxed state.

8. The clamping device of claim 7, wherein The first clamping member has a first roller rotatably disposed at one end facing the transmission assembly in the second direction, and the first roller abuts against the transmission assembly; And / or, the second clamping member is provided with a second roller rotatably around one end of the transmission assembly in the second direction, and the second roller abuts against the transmission assembly.

9. The holding device according to claim 1, characterized in that It also includes a separation assembly, which includes a separation elastic member and a separation frame slidably connected to the second housing along the first direction. One end of the separation elastic member is connected to the second housing, and the other end of the separation elastic member is connected to the separation frame. At least a portion of the separation frame is located on the side of the clamping assembly opposite to the transmission assembly along the first direction. The separation elastic element drives the separation frame to move away from the clamping assembly in the first direction.

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

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