Mechanical clamping jaw

Abstract

The utility model provides a mechanical clamping jaw which comprises a body, the body limits a central axis, the front end of the body is provided with two clamping devices which are oppositely arranged, and the two clamping devices are symmetrically arranged relative to the central axis; the camera module is arranged on the top face of the body, the optical axis of the camera module extends in the direction of the central axis, and the view field range of the camera module covers the moving range of the clamping device; and the wrist rotating device is arranged at the rear end of the body so as to drive the body to rotate around a second axis perpendicular to the central axis in a pitching manner.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a mechanical gripper. Background Technology

[0002] The addition of grippers to robotic vacuum cleaners is a significant innovation in the smart home industry in recent years. It not only enhances the cleaning function of robotic vacuum cleaners but also enables them to pick up and organize items.

[0003] An image acquisition device needs to be mounted on the gripper to accurately pick up items using the acquired images. To rationally position the image acquisition device, a built-in space for it is usually required on the gripper body. Furthermore, the addition of a flipping and folding mechanism for the image acquisition device further increases the space occupied by the device on the gripper body, affecting the spatial layout of the gripper. Utility Model Content

[0004] To solve the above technical problems, this utility model provides a mechanical gripper that simultaneously sets up a camera module and a wrist rotation device on the gripper body, which not only realizes the flexible operation of the gripper, but also realizes the reasonable spatial layout of the gripper.

[0005] One embodiment of this utility model provides a mechanical gripper, comprising:

[0006] The body defines a central axis, and two clamping devices are installed at the front end of the body, which are symmetrically arranged about the central axis.

[0007] A camera module, wherein the camera module is mounted on the top surface of the body, the optical axis of the camera module extends along the direction of the central axis, and the field of view of the camera module covers the movement range of the clamping device; and

[0008] A wrist rotation device is mounted at the rear end of the body to drive the body to pitch and rotate about a second axis perpendicular to the central axis.

[0009] In one embodiment, the top surface of the body has a groove extending along the central axis, and the camera module is connected to the body via the groove.

[0010] In one embodiment, a driving device is included, the driving device comprising:

[0011] A lead screw that extends along the central axis and rotates about the central axis under the drive of a drive motor;

[0012] A push-pull nut, which is threadedly connected to the lead screw;

[0013] A pair of drive arms, each drive arm hinged between the push-pull nut and one of the clamping devices;

[0014] The push-pull nut reciprocates along the central axis under the rotation of the lead screw, thereby driving the clamping device to move via the drive swing arm.

[0015] In one embodiment, the lead screw's helix angle is greater than the lead screw's friction self-locking angle.

[0016] The push-pull nut reciprocates along the direction of the central axis in response to the rotation of the lead screw or in response to an external force.

[0017] In one embodiment, each of the clamping devices includes:

[0018] A parallelogram swing arm is hinged to the front end of the body, and a drive swing arm is connected to the parallelogram swing arm to drive the parallelogram swing arm to move.

[0019] The gripper is fixed to the front end of the parallelogram swing arm.

[0020] In one embodiment, the clamping device includes:

[0021] A pad, which is detachably mounted on the inside of the gripper;

[0022] The two clamping devices have a clamping position where the parallelogram swing arms move towards each other to abut against each other, and an open position where the parallelogram swing arms move away from each other to a space between the pads.

[0023] In one embodiment, it includes:

[0024] A vacuuming module is mounted on the outside of one of the clamping devices. The vacuuming module includes a gripper head and a suction tube communicating with the gripper head. The gripper head is flush with the front end of the gripper.

[0025] In one embodiment, the vacuum module includes:

[0026] A fixing buckle is installed on the outside of the parallelogram swing arm, and the straw is fixed to the fixing buckle.

[0027] In one embodiment, the vacuuming module includes:

[0028] A straw connector is provided, which is connected between the gripper head and the straw, and both ends of the straw connector are detachably connected to the gripper head and the straw, respectively.

[0029] In one embodiment, the vacuuming module includes:

[0030] A brush is mounted on the front end of the gripper suction head, and the front end of the brush protrudes from the front end of the gripper.

[0031] In this example, the camera module 30 is mounted on the top surface of the main body 10. Therefore, the fixing and installation of the camera module 30 does not occupy space in the main body 10. Furthermore, the camera module 30 is mounted at the front end of the main body 10, close to the gripping device 20. Thus, the rear end of the main body 10 can be used to house the wrist rotation device 40. In this example, by making reasonable use of the top space of the main body 10, the internal space of the main body 10 is saved. This allows for the simultaneous placement of the camera module and the wrist rotation device, satisfying the mechanical gripper's need to grasp objects based on image recognition results while also improving the mechanical gripper's degree of freedom of movement. Without increasing the overall size of the main body, more functional modules are integrated, achieving more optimized functional integration.

[0032] Furthermore, in this example, the clamping device 20 moves in a translational manner rather than an arc-shaped manner when moving towards or away from each other via the parallelogram swing arm 21. In this way, the object to be clamped will not be pushed away due to the opposite movement of the clamping device 20. Attached Figure Description

[0033] The following figures are for illustrative purposes only and do not limit the scope of the present invention.

[0034] Figure 1 This is a schematic diagram of the mechanical gripper of this utility model.

[0035] Figure 2 This is a schematic diagram of the mechanical gripper of this utility model.

[0036] Figure 3 This is a partial exploded view of the mechanical gripper of this utility model.

[0037] Figure 4a and Figure 4b This is a schematic diagram showing the position of the mechanical gripper of this utility model.

[0038] Figure 5 This is a partial cross-sectional view of the mechanical gripper of this utility model. Detailed Implementation

[0039] To provide a clearer understanding of the technical features, objectives, and effects of this utility model, specific embodiments of the present utility model are now described with reference to the accompanying drawings, in which the same reference numerals denote the same parts.

[0040] In this document, “illustrative” means “serving as an example, illustration or description”, and any illustration or implementation described herein as “illustrative” should not be construed as a more preferred or advantageous technical solution.

[0041] To keep the drawings concise, only the parts related to this utility model are shown schematically in each drawing, and do not represent their actual structure as a product. In addition, to make the drawings concise and easy to understand, in some drawings, only one of the components with the same structure or function is shown schematically, or only one of them is labeled.

[0042] In this article, terms such as "up," "down," "front," "back," "left," and "right" are used only to indicate the relative positional relationship between related parts, rather than to define the absolute position of these related parts.

[0043] In this article, "first," "second," etc., are used only to distinguish one another, and not to indicate degree of importance, order, or prerequisite for each other.

[0044] In this document, terms such as "equal" and "same" are not strict mathematical and / or geometric limitations, but also include errors that are understandable to those skilled in the art and permissible in manufacturing or use. Unless otherwise stated, numerical ranges in this document include not only the entire range within its two endpoints, but also several subranges contained therein.

[0045] The exemplary embodiments will now be described more fully with reference to the accompanying drawings.

[0046] like Figures 1 to 3 As shown, one embodiment of this utility model provides a mechanical gripper, comprising:

[0047] The main body 10 defines a central axis L. Two clamping devices 20 are installed at the front end of the main body 10 and are arranged symmetrically about the central axis L.

[0048] A camera module 30 is mounted on the top surface of the main body 10. The optical axis of the camera module 30 extends along the direction of the central axis L. The field of view of the camera module 30 covers the movement range of the clamping device 20.

[0049] A wrist rotation device 40 is installed at the rear end of the main body 10 to drive the main body 10 to pitch and rotate around a second axis perpendicular to the central axis L.

[0050] In this example, the camera module 30 is mounted on the top surface of the main body 10. Therefore, the fixing and installation of the camera module 30 does not occupy space in the main body 10. Furthermore, the camera module 30 is mounted at the front end of the main body 10, close to the gripping device 20. Thus, the rear end of the main body 10 can be used to house the wrist rotation device 40. In this example, by making reasonable use of the top space of the main body 10, the internal space of the main body 10 is saved. This allows for the simultaneous placement of the camera module and the wrist rotation device, satisfying the mechanical gripper's need to grasp objects based on image recognition results while also improving the mechanical gripper's degree of freedom of movement. Without increasing the overall size of the main body, more functional modules are integrated, achieving more optimized functional integration.

[0051] The top surface of the body 10 has a groove extending along the central axis L, and the camera module 30 is connected to the body 10 via the groove.

[0052] The camera module 30 is fixed in the slide groove by sliding against the top surface of the main body 10, which eliminates the need for additional fixing steps and structures and does not occupy the volume of the main body 10. The slide groove can be in the form of a dovetail groove, which can both limit the position of the camera module 30 in the direction perpendicular to the top surface of the main body 10 and facilitate the disassembly, assembly, and position adjustment of the camera module 30.

[0053] Furthermore, it includes a drive unit, which comprises:

[0054] Lead screw 51 extends along the central axis L and rotates around the central axis L under the drive of the drive motor;

[0055] Push-pull nut 52, which is threadedly connected to lead screw 51;

[0056] A pair of drive arms 53, each drive arm 53 is hinged between a push-pull nut 52 and a clamping device 20;

[0057] Driven by the rotation of the lead screw 51, the push-pull nut 52 reciprocates along the direction of the central axis L, thereby driving the clamping device 20 to move via the drive swing arm 53.

[0058] In this configuration, the lead screw 51 does not move along the central axis L, but only rotates around the central axis L. The push-pull nut 52 is threadedly connected to the lead screw 51, and both sides of the push-pull nut 52 are limited by the drive swing arms 53 and cannot rotate relative to the lead screw 51. Thus, the push-pull nut 52 is limited to move relative to the lead screw 51 along the central axis L, thereby driving the movement of the clamping device 20 via the drive swing arms 53.

[0059] The drive arm 53 is either a curved arm or angled relative to the central axis L. The movement of the push-pull nut 52 along the central axis L causes a change in the angle between the drive arm 53 and the central axis L, which in turn causes the pair of clamping devices 20 to move towards or away from each other, thereby clamping or releasing an object. The opposite movement of the pair of clamping devices 20 enables the clamping action, while the opposite movement enables the release of the clamped object or the preparation of opening the clamped object.

[0060] The movement of the push-pull nut 52 toward the object to be clamped along the central axis L can increase the angle between the drive arm 53 and the central axis L, so that the pair of clamping devices 20 move in opposite directions. Conversely, the movement of the push-pull nut 52 away from the object to be clamped along the central axis L can decrease the angle between the drive arm 53 and the central axis L, so that the pair of clamping devices 20 move toward each other.

[0061] Specifically, in this example, the thread helix angle of the lead screw 51 is greater than the friction self-locking angle of the lead screw 51, and the push-pull nut 52 reciprocates along the direction of the central axis L in response to the rotation of the lead screw 51 or in response to an external force.

[0062] In this example, the lead screw 51 is configured to reciprocate in response to rotation, and also to reciprocate along the central axis L when the lead screw 51 stops rotating, driven by an external force. This is because the thread helix angle of the lead screw 51 is greater than the friction self-locking angle of the lead screw 51, so the push-pull nut 52 can be driven when the external force is greater than the frictional force between it and the lead screw 51.

[0063] Therefore, even if the motor that drives the lead screw 51 to rotate stops working, the user can still manually drive the clamping device to reset, so as to avoid it being exposed to the outside of the sweeping robot and causing collisions or other problems.

[0064] In one embodiment, each clamping device 20 includes:

[0065] Parallelogram swing arm 21 is hinged to the front end of the body 10, and drive swing arm 53 is connected to parallelogram swing arm 21 to drive parallelogram swing arm 21 to move.

[0066] The gripper 22 is fixed to the front end of the parallelogram swing arm 21.

[0067] In this example, the clamping device 20 moves in a translational manner rather than an arc manner when moving towards or away from each other via the parallelogram swing arm 21. In this way, the object to be clamped will not be pushed away due to the opposite movement of the clamping device 20.

[0068] If the two long sides of the parallelogram are restricted to remain parallel, the front end of the parallelogram swing arm 21 connected to the gripper 22 can remain in a straight line direction, specifically, in a direction perpendicular to the central axis L or in a direction that forms an angle with the central axis L.

[0069] The clamping device 20 includes:

[0070] Pad 23, which is detachably mounted on the inside of the gripper 22;

[0071] Among them, the two clamping devices 20 have as follows Figure 4b The parallelogram-shaped swing arms 21 shown move towards each other to the clamping position where the pads 23 abut against each other, and as shown in the figure Figure 4a The parallelogram-shaped swing arms 21 shown move away from each other to an open position with gaps between the pads 23.

[0072] The pad 23 can be a convenient replaceable gripper pad, which can be replaced with different styles as needed, such as different hardness, thickness, surface roughness, etc.

[0073] Furthermore, including:

[0074] A vacuuming module 60 is mounted on the outside of one of the clamping devices 20. The vacuuming module 60 includes a gripper head 61 and a suction tube communicating with the gripper head 61. The gripper head 61 is flush with the front end of the gripper 22.

[0075] The vacuuming module 60 is used to assist in removing dust, debris, etc., near the grippers to keep them clean. The vacuuming module 60 is located outside one of the gripping devices 20 to avoid obstructing the movement of the pair of gripping devices 20.

[0076] The gripper head 61 is fixed to the gripper 22 via a fixing groove 611. The fixing groove 611 serves as a sliding guide in a first direction and a limiting position in a second direction forming an angle (e.g., 90°) with the first direction. The gripper head 61 slides into the fixing groove 611 along the first direction until it reaches the end of the fixing groove 611 and is thus limited in the second direction by the gripper 22, preventing the gripper head 61 from disengaging from the gripper 22 along the second direction. The first direction is the extending direction of the gripper 22, and the second direction is perpendicular to the extending direction of the gripper 22, specifically perpendicular to one side surface of the gripper 22.

[0077] Optionally, the gripper 22 may also have a locking pin to hold the gripper head 61, which slides to the end of the fixed groove 611, in place in the first direction.

[0078] like Figure 3As shown, it includes: a vacuuming module 60 including:

[0079] The fixing buckle 63 is installed on the outside of the parallelogram swing arm 21, and the straw is fixed to the fixing buckle 63.

[0080] Since the clamping device 20 is a movable part, the vacuuming module 60 can be tightly attached to the clamping device 20 by the fixing buckle 63 and move together with it. This will not hinder the movement of the clamping device 20, nor will it cause problems such as entanglement or twisting due to the movement of the clamping device 20.

[0081] like Figure 5 As shown, the vacuuming module 60 includes:

[0082] The straw connector 64 is connected between the gripper head 61 and the straw, and both ends of the straw connector 64 are detachably connected to the gripper head 61 and the straw, respectively.

[0083] The straw connector 64 is a convenient maintenance straw connector, which has a flange that matches and engages with the connector socket of the gripper head 61. There is a removable filter screen 66 between the straw connector 64 and the gripper head 61, which can be removed, cleaned and replaced.

[0084] The vacuum module 60 includes:

[0085] The brush 65 is mounted on the front end of the gripper suction head 61, and the front end of the brush 65 protrudes from the front end of the gripper 22.

[0086] In this example, the camera module 30 is mounted on the top surface of the main body 10. Therefore, the fixing and installation of the camera module 30 does not occupy space in the main body 10. Furthermore, the camera module 30 is mounted at the front end of the main body 10, close to the gripping device 20. Thus, the rear end of the main body 10 can be used to house the wrist rotation device 40. In this example, by making reasonable use of the top space of the main body 10, the internal space of the main body 10 is saved. This allows for the simultaneous placement of the camera module and the wrist rotation device, satisfying the mechanical gripper's need to grasp objects based on image recognition results while also improving the mechanical gripper's degree of freedom of movement. Without increasing the overall size of the main body, more functional modules are integrated, achieving more optimized functional integration.

[0087] Furthermore, in this example, the clamping device 20 moves in a translational manner rather than an arc-shaped manner when moving towards or away from each other via the parallelogram swing arm 21. In this way, the object to be clamped will not be pushed away due to the opposite movement of the clamping device 20.

[0088] In this example, the lead screw 51 is configured to reciprocate in response to rotation of the lead screw 51, and also to reciprocate along the central axis L when the lead screw 51 stops rotating, driven by an external force. This is because the thread helix angle of the lead screw 51 is greater than its friction self-locking angle, allowing the push-pull nut 52 to be driven when the external force is greater than the frictional force between it and the lead screw 51. Therefore, even if the motor driving the lead screw 51 stops working, the user can still manually drive the clamping device to reset, preventing it from being exposed to the outside of the robot vacuum cleaner and causing collisions or other problems.

[0089] The detailed descriptions listed above are merely specific descriptions of feasible implementation methods of this utility model, and are not intended to limit the scope of protection of this utility model. All equivalent implementation methods or modifications made without departing from the spirit of the present utility model, such as combinations, divisions or repetitions of features, should be included within the scope of protection of this utility model.

Claims

1. A mechanical gripper, characterized in that, include: The body (10) defines a central axis (L), and two clamping devices (20) are mounted on the front end of the body (10) and are arranged opposite to each other. The two clamping devices (20) are symmetrically arranged about the central axis (L). A camera module (30) is mounted on the top surface of the body (10), the optical axis of the camera module (30) extends along the direction of the central axis (L), and the field of view of the camera module (30) covers the movement range of the clamping device (20); and A wrist rotation device (40) is mounted at the rear end of the body (10) to drive the body (10) to pitch and rotate about a second axis perpendicular to the central axis (L).

2. The mechanical gripper according to claim 1, characterized in that, The top surface of the body (10) has a groove extending along the direction of the central axis (L), and the camera module (30) is connected to the body (10) via the groove.

3. The mechanical gripper according to claim 1, characterized in that, Includes a drive unit, the drive unit comprising: A lead screw (51) extends along the central axis (L) and rotates about the central axis (L) under the drive of a drive motor. A push-pull nut (52) is threadedly connected to the lead screw (51); A pair of drive arms (53), each drive arm (53) is hinged between the push-pull nut (52) and the clamping device (20); The push-pull nut (52) reciprocates along the direction of the central axis (L) under the rotation of the lead screw (51), so as to drive the clamping device (20) to move via the drive swing arm (53).

4. The mechanical gripper according to claim 3, characterized in that, The thread helix angle of the lead screw (51) is greater than the friction self-locking angle of the lead screw (51). The push-pull nut (52) reciprocates along the direction of the central axis (L) in response to the rotation of the lead screw (51) or in response to an external force.

5. The mechanical gripper according to claim 3, characterized in that, Each of the clamping devices (20) includes: A parallelogram swing arm (21) is hinged to the front end of the body (10), and a drive swing arm (53) is connected to the parallelogram swing arm (21) to drive the parallelogram swing arm (21) to move. The gripper (22) is fixed to the front end of the parallelogram swing arm (21).

6. The mechanical gripper according to claim 5, characterized in that, The clamping device (20) includes: Pad (23), the pad (23) being detachably mounted on the inside of the gripper (22); The two clamping devices (20) have a clamping position where the parallelogram swing arms (21) move towards each other to abut against each other, and an open position where the parallelogram swing arms (21) move away from each other to a space between the pads (23).

7. The mechanical gripper according to claim 5, characterized in that, include: A vacuuming module (60) is mounted on the outside of one of the clamping devices (20). The vacuuming module (60) includes a gripper head (61) and a suction tube communicating with the gripper head (61). The gripper head (61) is flush with the front end of the gripper (22).

8. The mechanical gripper according to claim 7, characterized in that, include: The vacuum module (60) includes: A fixing buckle (63) is installed on the outside of the parallelogram swing arm (21), and the straw is fixed to the fixing buckle (63).

9. The mechanical gripper according to claim 7, characterized in that, The vacuum module (60) includes: A straw connector (64) is connected between the gripper head (61) and the straw, and both ends of the straw connector (64) are detachably connected to the gripper head (61) and the straw, respectively.

10. The mechanical gripper according to claim 7, characterized in that, The vacuum module (60) includes: A brush (65) is mounted on the front end of the gripper suction head (61), and the front end of the brush (65) protrudes from the front end of the gripper (22).

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