Mechanical claw and robot

Abstract

The utility model discloses a mechanical gripper and a robot. The mechanical claw comprises a driving device, wherein the driving device comprises at least one output shaft extending in the first direction; the pair of clamping pieces comprises at least one movable clamping piece, the movable clamping pieces are connected with the output shaft, the pair of clamping pieces can be driven by the driving device to relatively approach or leave along the second direction, and clamping is carried out through the approaching action of the pair of clamping pieces; the movable clamping piece is connected with the output shaft through the transmission assembly, the transmission assembly drives the movable clamping piece to rotate around the axis in the second direction, and the first direction intersects with the second direction. According to the clamping device, the direction of the rotating axis of the movable clamping piece is different from the extending direction of the driving device, so that the space occupied by the driving device in the second direction is reduced.

Description

Technical Field

[0001] This application relates to the field of mechanical grippers, and more particularly to a mechanical gripper and robot. Background Technology

[0002] With the rapid development of science and technology, technological growth points are also changing daily, and intelligent robots that replace humans in performing complex and repetitive tasks have also come onto the stage. As a key end effector, the robotic gripper is widely used in tasks such as workpiece grasping, handling, and assembly.

[0003] Currently, the drive mechanism of mechanical grippers has the problem of a high axial volume ratio. Utility Model Content

[0004] To solve the above-mentioned technical problems, this application provides a mechanical gripper and a robot. The mechanical gripper of this application can reduce the space occupied by the drive device in the axial direction of the gripper's rotation.

[0005] This application is achieved through the following technical solution.

[0006] A first aspect of this application provides a mechanical gripper, comprising: a drive device including at least one output shaft extending along a first direction; a pair of grippers, including at least one movable gripper connected to the output shaft, and the pair of grippers being capable of approaching or moving away relative to each other along a second direction under the drive of the drive device, and gripping by the approaching action of the pair of grippers; and at least one transmission assembly, the movable gripper being connected to the output shaft via the transmission assembly, the transmission assembly driving the movable gripper to rotate about an axis along the second direction, the first direction and the second direction intersecting.

[0007] In this application, a pair of clamping members are positioned close to each other along a second direction for clamping, and a driving device extends along a first direction. Under the drive of the driving device, a transmission assembly can drive the movable clamping member to rotate along the axis of the second direction. Since the direction of the axis of rotation of the movable clamping member is different from the direction of extension of the driving device, the space occupied by the driving device in the second direction is reduced.

[0008] In some embodiments of this application, the movable clamping member includes a rotatably connected pushing mechanism and a clamping part, wherein the pushing mechanism is connected to the transmission assembly and rotates under the drive of the transmission assembly.

[0009] In some embodiments of this application, the pushing mechanism includes a first link, a second link, and a third link connected in sequence. The first link is rotatably connected to the second link, and the second link is rotatably connected to the third link. The second link is connected to the clamping part, and the first link is connected to the transmission assembly and rotates under the drive of the transmission assembly. The driving device includes a driving device body and a housing. The driving device body is located inside the housing. One end of the first link is rotatably connected to the housing, and one end of the third link is rotatably connected to the housing.

[0010] The clamping part is driven by three sequentially connected links as a pushing mechanism, which is simple in structure and occupies little space.

[0011] The first link and the third link are respectively connected to the housing. By using the housing to fix one end of the first link and one end of the third link, the space and components required for fixing the first link and the third link can be saved, thereby saving space and reducing costs.

[0012] In some embodiments of this application, the second connecting rod is integral with the clamping part; or the second connecting rod is detachably connected with the clamping part.

[0013] The second link is integrated with the clamping part, which facilitates installation and increases strength.

[0014] The second link is detachably connected to the clamping part, facilitating maintenance and replacement of the clamping part. In some embodiments, multiple clamping parts of different sizes can be detachably connected to the pushing mechanism to facilitate replacement for different clamping scenarios. Specifically, when clamping heavy objects, a clamping part with greater strength and rigidity can be installed; conversely, when clamping lighter items, a clamping part with less strength and rigidity can be installed. This allows for application in a wider range of scenarios.

[0015] In some embodiments of this application, the pushing mechanism includes a pair of support rods disposed opposite each other along a third direction. One end of the first connecting rod includes a first side and a second side along the third direction, and one end of the third connecting rod includes a third side and a fourth side along the third direction. Along the third direction, the first side and the third side are on the same side, and the second side and the fourth side are on the same side. The pair of support rods includes a first support rod and a second support rod. The first side of the first connecting rod is rotatably connected to one end of the first support rod, the third side of the third connecting rod is rotatably connected to the other end of the first support rod, the second side of the first connecting rod is rotatably connected to one end of the second support rod, and the fourth side of the third connecting rod is rotatably connected to the other end of the second support rod. The third direction intersects the first direction and the second direction.

[0016] Using support rods to fix one end of the first link and one end of the third link improves the stability of the structure and facilitates installation.

[0017] In some embodiments of this application, at least one of a pair of support rods is fixed to the housing of the drive device.

[0018] One of the two support rods is fixed to the shell, which helps to enhance the stability of the overall structure.

[0019] In some embodiments of this application, the housing has a slot, and at least one of a pair of support rods is disposed in the slot.

[0020] Grooving the housing and slotting the support rods can reduce the space occupied by the support rods.

[0021] In some embodiments of this application, the driving device includes a first output shaft and a second output shaft arranged in opposite directions along the first direction; or, the driving device includes a first driving device and a second driving device arranged side by side, the first driving device including a first output shaft extending along the first direction, and the second driving device including a second output shaft extending along the first direction; the transmission assembly includes a first transmission assembly and a second transmission assembly; the pair of clamping members includes a first movable clamping member and a second movable clamping member arranged opposite to each other along the second direction, the first movable clamping member being connected to the first output shaft through the first transmission assembly, and the second movable clamping member being connected to the second output shaft through the second transmission assembly.

[0022] Two movable clamping parts provide better clamping effect.

[0023] In some embodiments of this application, the transmission assembly includes a first transmission member and a second transmission member. The first transmission member is connected to the output shaft and rotates coaxially with the output shaft. The second transmission member is connected to the pushing mechanism. The first transmission member drives the second transmission member to rotate. The axial direction of the rotation of the first transmission member is parallel to the first direction, and the axial direction of the rotation of the second transmission member is parallel to the second direction.

[0024] In some embodiments of this application, the first movable clamping member includes a first support rod disposed in the slot, and the second movable clamping member includes a third support rod disposed in the slot, wherein the first support rod and the third support rod are located on both sides of the plane containing the first direction and the second direction, respectively.

[0025] The first and third supports are located on both sides, which helps maintain the symmetry of the overall structure and thus achieves structural stability.

[0026] In some embodiments of this application, the movable clamping member includes a gripping member, and the clamping part is detachably connected to the gripping member.

[0027] The gripper can be detachably connected to the clamping part, making it applicable to a wider range of scenarios. In some embodiments, multiple grippers of different sizes can be detachably connected to the clamping part to facilitate replacement for different clamping scenarios. Specifically, when clamping heavy objects, grippers with greater strength and rigidity can be installed; conversely, when clamping lighter objects, grippers with less strength and rigidity can be installed.

[0028] A second aspect of this application provides a robot, comprising: a robot body; and a mechanical gripper as described in any one of the first aspects, the mechanical gripper being connected to the robot body.

[0029] Since the direction of the rotation axis of the movable gripper is different from the direction of the extension of the drive device, the space occupied by the drive device in the second direction is reduced, which is conducive to the miniaturization of the robot. Attached Figure Description

[0030] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiments below. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0031] Figure 1 Schematic diagram of the three-dimensional structure of the mechanical gripper provided for some embodiments of this application Figure 1 ;

[0032] Figure 2 Schematic diagram of the three-dimensional structure of the mechanical gripper provided for some embodiments of this application Figure 2 ;

[0033] Figure 3 Schematic diagram of the three-dimensional structure of the mechanical gripper provided for some embodiments of this application Figure 3 ;

[0034] Figure 4 Schematic diagram of the three-dimensional structure of the mechanical gripper provided for some embodiments of this application Figure 4 ;

[0035] Figure 5 Schematic diagram of the three-dimensional structure of the mechanical gripper provided for some embodiments of this application Figure 5 ;

[0036] Figure 6 This is a schematic diagram of the structure of a clamping member provided for some embodiments of this application.

[0037] Explanation of reference numerals in the attached figures

[0038] 1. Drive unit; 10. Output shaft; 11. First output shaft; 12. Second output shaft; 100. Mechanical gripper; 101. First drive unit; 102. Second drive unit; 110. Drive unit body; 120. Housing; 121. Slot; 122. Upper housing; 123. Lower housing; 124. Connecting part; 2. Clamping member; 20. Movable clamping member; 21. First movable clamping member; 22. Second movable clamping member; 23. Gripping member; 24. Connecting hole; 210. Pushing mechanism; 211. First... 212. Linkage; 213. Second link; 220. Clamping part; 2001. First shaft; 2002. Fixed wheel; 2111. First side; 2112. Second side; 2131. Third side; 2132. Fourth side; 231. First support rod; 232. Second support rod; 233. Third support rod; 3. Transmission assembly; 31. First transmission component; 32. Second transmission component; 301. First transmission assembly; 302. Second transmission assembly; X. First direction; Y. Second direction; Z. Third direction. Detailed Implementation

[0039] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0040] With the rapid development of science and technology, technological growth points are also changing daily, and intelligent robots that replace humans in performing complex and repetitive tasks have also come onto the stage. As a key end effector, the robotic gripper is widely used in tasks such as workpiece grasping, handling, and assembly.

[0041] Currently, the drive mechanism of mechanical grippers has the problem of a high axial volume ratio.

[0042] The mechanical gripper of this application can reduce the space occupied by the drive device in the axial direction of the gripper's rotation. Based on the same or similar concept, this application also provides a robot including the aforementioned mechanical gripper.

[0043] The mechanical gripper of this application includes: a drive device, the drive device including at least one output shaft extending along a first direction; a pair of grippers, including at least one movable gripper connected to the output shaft, and the pair of grippers being able to approach or move away from each other relative to each other along a second direction under the drive of the drive device, and gripping by the approaching action of the pair of grippers; at least one transmission assembly, the movable gripper being connected to the output shaft through the transmission assembly, the transmission assembly driving the movable gripper to rotate about an axis along the second direction, the first direction and the second direction intersecting.

[0044] In this application, a pair of clamping members are positioned close to each other along a second direction for clamping, and a driving device extends along a first direction. Under the drive of the driving device, a transmission assembly can drive the movable clamping member to rotate along the axis of the second direction. Since the direction of the axis of rotation of the movable clamping member is different from the direction of extension of the driving device, the space occupied by the driving device in the second direction is reduced.

[0045] like Figures 1 to 6 As shown, the mechanical gripper of this application may include a drive device 1, a pair of clamping members 2, and at least one transmission component 3.

[0046] The drive device 1 may include at least one output shaft 10, which extends along a first direction X. A transmission assembly 3 is connected to both the output shaft 10 and the movable clamping member 20. The drive device 1 drives the transmission assembly 3 via the output shaft 10, and under the drive of the transmission assembly 3, the movable clamping member 20 can rotate along an axis in a second direction Y. The movable clamping member 20 rotates about an axis parallel to the second direction Y. It should be noted that this axis can be a virtual axis or a physical axis.

[0047] In this application, a pair of clamping members 2 includes at least one movable clamping member 20. For example, a pair of clamping members 2 may consist of one movable clamping member 20 and one stationary clamping member (fixed clamping member). The movable clamping member 20 may approach or move away from the stationary clamping member, and the movable clamping member 20 performs clamping by approaching the stationary clamping member. In some embodiments, a pair of clamping members 2 may include two movable clamping members 20.

[0048] In this application, the movable clamping member 20 may include a rotatably connected pushing mechanism 210 and clamping part 220. The pushing mechanism 210 is connected to the transmission assembly 3 and rotates under the drive of the transmission assembly 3.

[0049] In some embodiments of this application, such as Figures 1 to 5 As shown, the transmission assembly 3 may include a first transmission member 31 and a second transmission member 32. The first transmission member 31 is connected to the output shaft 10 and rotates coaxially with the output shaft 10. The output shaft 10 rotates along a first direction X, and the first transmission member 31 rotates along the first direction X. The second transmission member 32 is connected to the pushing mechanism 210. The rotation of the first transmission member 31 drives the rotation of the second transmission member 32, and the pushing mechanism 210 rotates under the drive of the second transmission member 32.

[0050] In this application, the first transmission component 31 can be a worm gear, and the second transmission component 32 can be a worm wheel. However, this application is not limited to this. In some embodiments, the first transmission component 31 and the second transmission component 32 can also be one or more of a lead screw, gear, or other transmission mechanism. This application does not impose any restrictions, as long as it can perform the function of transmission, it is within the scope of this application.

[0051] In this application, the first transmission member 31 and the second transmission member 32 can transmit power through meshing, and the torque of the first transmission member 31 is transmitted to the second transmission member 32, thereby driving other components.

[0052] The axial direction of rotation of the first transmission member 31 is the first direction X, or it can be considered that the axial direction of rotation of the first transmission member 31 is parallel to the first direction X. The axial direction of rotation of the second transmission member 32 is the second direction Y, or it can be considered that the axial direction of rotation of the second transmission member 32 is parallel to the second direction Y. The first direction X and the second direction Y intersect, for example, the first direction X and the second direction Y are nearly perpendicular. However, this application is not limited to this, and in some embodiments, the first direction X and the second direction Y may intersect at other angles.

[0053] According to the above embodiment, a pair of clamping members 2 approach each other along a second direction Y to perform clamping, where the second direction Y corresponds to the clamping direction. The drive device 1 extends along a first direction X, and the output shaft 10 extends along the first direction X. The driving force output by the drive device 1 is transmitted to the pushing mechanism 210 via a first transmission member 31 and a second transmission member 32, causing the pushing mechanism 210 to move for clamping. Thus, according to the configuration of this application, the clamping direction of the mechanical gripper is different from the extension direction of the drive device, thereby saving space in the clamping direction.

[0054] Furthermore, since the pair of grippers are configured to be relatively close or far apart, the pair of grippers occupy a certain space in the first direction. In such an embodiment, the drive device and the output shaft of the drive device both extend along the first direction, making full use of the space of the mechanical claw in the first direction. The overall structure of the mechanical claw is compact, and the overall volume of the mechanical claw is relatively reduced.

[0055] In some embodiments of this application, such as Figures 1 to 5 As shown, the drive device 1 may include a first output shaft 11 and a second output shaft 12 arranged in opposite directions along a first direction X. The transmission assembly 3 includes a first transmission assembly 301 and a second transmission assembly 302. A pair of clamping members 2 may include a first movable clamping member 21 and a second movable clamping member 22 arranged opposite each other along a second direction Y. The first movable clamping member 21 is connected to the first output shaft 11 through the first transmission assembly 301, and the second movable clamping member 22 is connected to the second output shaft 12 through the second transmission assembly 302. Clamping with two movable clamping members allows for more precise adjustment and improves the clamping effect.

[0056] In this application, as Figure 1 and Figure 2As shown, a drive device 1 may include two output shafts 10 (a first output shaft 11 and a second output shaft 12). In such an embodiment, the first output shaft 11 and the second output shaft 12 are arranged in opposite directions along a first direction X. The two output shafts 10 included in the drive device 1 can be driven synchronously, thereby enabling synchronous rotation of both arms, reducing the difficulty of control, improving the accuracy of grasping, and making the structure simpler.

[0057] In some embodiments, such as Figure 4 and Figure 5 As shown, the mechanical gripper 100 may have two drive units 1, each including an output shaft 10. For example, the drive units 1 may include a first drive unit 101 and a second drive unit 102 arranged in parallel, tangentially parallel to each other. The first drive unit 101 includes a first output shaft 11 extending along the first direction X, and the second drive unit 102 includes a second output shaft 12 extending along the first direction X. The first output shaft 11 and the second output shaft 12 are arranged in opposite directions along the first direction X, and are offset along the first direction X. By including the first drive unit 101 and the second drive unit 102 arranged side by side, asymmetrical gripping can be achieved, and a greater gripping force can be provided.

[0058] In some embodiments of this application, such as Figures 1 to 5 As shown, the pushing mechanism 210 includes a first link 211, a second link 212 and a third link 213 connected in sequence. The first link 211 and the second link 212 are rotatably connected, the second link 212 and the third link 213 are rotatably connected, and the second link 212 is connected to the clamping part 220.

[0059] In this application, the first link 211 and the third link 213 can be arranged in parallel.

[0060] In this application, the first link 211 is connected to the transmission assembly 3 and rotates under the drive of the transmission assembly 3. For example, the first link 211 is connected to the second transmission member 32 and rotates under the drive of the second transmission member 32.

[0061] The drive device 1 may include a drive device body 110 and a housing 120. The drive device body 110 is located inside the housing 120. One end of the first connecting rod 211 is rotatably connected to the housing 120, and one end of the third connecting rod 213 is rotatably connected to the housing 120.

[0062] The first link 211, the second link 212, and the third link 213 are connected sequentially, with the first link 211 and the third link 213 respectively connected to the housing 120. The housing 120, the first link 211, the second link 212, and the third link 213 form a parallelogram-shaped linkage that serves as a pushing mechanism 210 to drive the clamping part 220 to perform clamping. This structure, using three sequentially connected links as a pushing mechanism to drive the clamping part 220, is simple and occupies little space.

[0063] Furthermore, the first and third links are respectively connected to the housing, and the housing is used to fix one end of the first link and one end of the third link, which saves space and components required for fixing the first and third links, thereby saving space and reducing costs. Moreover, using the housing as a link in the parallelogram linkage reduces installation steps during the installation process.

[0064] In some embodiments of this application, the second link 212 and the clamping part 220 are integrated, which facilitates installation and improves strength.

[0065] In some embodiments of this application, the second link 212 and the clamping part 220 are detachably connected. This detachable connection facilitates maintenance and replacement of the clamping part. In some embodiments, multiple clamping parts 220 of different sizes can be detachably connected to the pushing mechanism 210 to allow for replacement for different clamping scenarios. Specifically, when clamping heavy objects, a clamping part with greater strength and rigidity can be installed; conversely, when clamping lighter objects, a clamping part with less strength and rigidity can be installed. This allows for application in a wider range of scenarios.

[0066] In this application, the driving mechanism 210 includes a first shaft 2001, and a second transmission member 32 is sleeved on the first shaft 2001. The driving mechanism 210 also includes a fixed wheel 2002 sleeved on the first shaft 2001, and both the fixed wheel 2002 and the second transmission member 32 are fixedly connected to the first shaft 2001. Thus, under the drive of the driving device 1, the first transmission member 31 drives the second transmission member 32 to rotate, and the second transmission member 32 drives the first shaft 2001 and the fixed wheel 2002 to rotate together.

[0067] In some embodiments of this application, the actuating mechanism 210 may include a pair of support rods disposed opposite each other along a third direction Z, the pair of support rods being connected between the first link 211 and the third link 213. The pair of support rods may include a first support rod 231 and a second support rod 232.

[0068] One end of the first connecting rod 211 includes a first side 2111 and a second side 2112 along the third direction Z. One end of the second support rod 232 includes a third side 2131 and a fourth side 2132 along the third direction Z. Along the third direction Z, the first side 2111 and the third side 2131 are on the same side, and the second side 2112 and the fourth side 2132 are on the same side. The first side 2111 of the first connecting rod 211 is rotatably connected to one end of the support rod, and the third side 2131 of the second support rod 232 is rotatably connected to the other end of the support rod. The third direction Z and the first direction X intersect the second direction Y, respectively. In some embodiments, the first support rod 231 can be rotatably connected between the first side 2111 of the first connecting rod 211 and the third side 2131 of the third connecting rod 213, and the second support rod 232 can be rotatably connected between the second side 2112 of the first connecting rod 211 and the fourth side 2132 of the third connecting rod 213.

[0069] In this application, the first direction X, the second direction Y, and the third direction Z can be perpendicular to each other or intersect at other angles.

[0070] In this application, the side of the pair of clamping members 2 closest to the object to be clamped is defined as the inside, and the side furthest from the object to be clamped is defined as the outside. The first link 211 is located outside the third link 213, and the third link 213 is located inside the first link 211. The clamping part 220 is connected to the end of the second link 212 closest to the third link 213.

[0071] The second transmission component 32 is fixedly connected to the fixed wheel 2002 through an internal pin hole, allowing it to rotate as a whole. Both sides of this whole component are fixedly connected to the lower hole (one end of the first connecting rod 211) via bearings and studs, respectively. The first connecting rod 211 clamps the outer rod. The first connecting rod 211 is rotatably connected to the first support rod 231 via bearings. The lower hole (third side 2131 of the third connecting rod 213) is rotatably connected to the first support rod 231 via bearings. The first support rod 231 is fixedly connected to the slot 121 on the upper part of the housing 120 of the drive device 1, serving as a frame. The third connecting rod 213 is rotatably connected to the first support rod 231 via bearings and screws. The second side 2112 of the first connecting rod 211 and the fourth side 2132 of the third connecting rod 213 are rotatably connected via the third support rod 233. The second support rod 232 only serves to connect the two inner and outer rods. The other ends of the first link 211 and the third link 213 are rotatably connected to the second link via screws and bearings, respectively.

[0072] Fixing one end of the first link and one end of the third link with the first and second support rods improves the stability of the structure and facilitates installation.

[0073] In some embodiments of this application, at least one of a pair of support rods is fixed to the housing 120 of the drive device 1.

[0074] In this application, a horizontally mounted motor (drive unit body 110) serves as the drive source, connected and transmitted via a worm gear (first transmission member 31 and second transmission member 32). The fixed wheel 2002 drives the first connecting rod 211 to rotate. Since the first connecting rod 211, second connecting rod 212, third connecting rod 213, and a pair of fixed support rods (first support rod 231 and third support rod 233) form a parallelogram structure, the third connecting rod 213 rotates synchronously in parallel, ultimately resulting in the parallel movement of the clamping part 220. The two opposing clamping parts 220 of the pair of clamping members approach each other to complete the parallel gripping of the mechanical claw.

[0075] At least one of the pair of support rods is fixed to the housing 120, which helps to enhance the stability of the overall structure. For example, the first support rod 231 can be fixed to the housing 120. Since the first support rod 231 and the second connecting rod 212 form two pairs of sides of a parallelogram, and the first support rod 231 is a fixed support, the angle between the second connecting rod 212 and the axis remains unchanged due to the principle of parallelograms. By designing the angle of the clamping part 220 connected to the arm of the second connecting rod 212, the clamping part 220 and the axis of the mechanical gripper can always remain parallel, that is, the mechanical gripper can always open and close in parallel.

[0076] In some embodiments of this application, the housing 120 has a slot 121, and a support rod fixed to the housing 120 is disposed in the slot 121. The first support rod 231 can be fixed in the slot 121. By providing the slot 121 in the housing 120 and disposing of the first support rod 231 in the slot 121, the space occupied by the first support rod 231 can be reduced, thereby achieving a compact structure.

[0077] In some embodiments of this application, when a pair of clamping members 2 includes two movable clamping members 20, each movable clamping member 20 may have the same or similar structure. For example, the first movable clamping member 21 may include a first support rod 231 fixedly disposed relative to the housing 120, and the second movable clamping member 22 may include a third support rod 233 fixedly disposed relative to the housing 120. The first support rod 231 and the third support rod 233 are located on opposite sides of the plane containing the first direction X and the second direction Y, respectively.

[0078] The first support rod 231 and the third support rod 233 are located on both sides, which helps to maintain the symmetry of the overall structure and thus achieve structural stability.

[0079] In some embodiments of this application, when a pair of clamping members 2 includes two movable clamping members 20, the respective clamping portions 220 of the two movable clamping members 20 can be arranged symmetrically and in parallel.

[0080] It should be noted that the actuating mechanism of this application is not limited to the actuating mechanism based on the parallelogram principle described in the above embodiments. In some embodiments, the actuating mechanism may also be various other forms of linkage structure. For example, the actuating mechanism 210 may be as follows: Figure 6 The linkage structure shown.

[0081] In some embodiments of this application, the movable clamping member 20 may include a gripping member 23, and the clamping part 220 is detachably connected to the gripping member 23. For example, the movable clamping member 20 may include one or more connecting holes 24 (e.g., bolt holes), through which it is detachably connected to gripping members 23 of various end claw types, thereby enabling the connection of a mechanical claw with an ultra-large coverage area to perform large-area, long-stroke gripping.

[0082] The gripper 23 can be detachably connected to the clamping part 220, allowing the robotic gripper to be applied to more scenarios. In some embodiments, multiple grippers of different sizes can be detachably connected to the clamping part to facilitate replacement for different clamping scenarios. Specifically, when clamping heavy objects, a gripper with higher strength and rigidity can be installed; conversely, when clamping lighter objects, a gripper with lower strength and rigidity can be installed. The end of the clamping part can be connected to and replaced with various gripper types, greatly expanding the applicability of the robotic gripper. Furthermore, when used with a robot end effector, different clamping requirements do not necessitate replacing the entire robotic gripper; simply unscrew the end gripper for replacement, making replacement convenient and quick. Different gripper types can also be customized according to specific clamping needs.

[0083] Based on the same or similar concept, this application also provides a robot, including: a robot body; and a mechanical gripper as in the first aspect, the mechanical gripper being connected to the robot body. In this application, the robot body may be a robotic arm or other machine used to operate a robotic hand for grasping.

[0084] In this application, the robot can be a robot used for handling and sorting in places such as supermarkets, warehouse management, and pharmacies.

[0085] like Figure 3 As shown, the housing 120 may include an upper housing 122 and a lower housing 123. The upper housing 122 includes a slot 121, and the lower housing 122 may include a connecting part 124 (connecting flange), which can be connected to the end of the robot arm.

[0086] Since the direction of the rotation axis of the movable gripper is different from the direction of the extension of the drive device, the space occupied by the drive device in the second direction is reduced, which is conducive to the miniaturization of the robot.

[0087] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0088] In the description of the embodiments of this application, technical terms such as "first," "second," and "third" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0089] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0090] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects are in an "or" relationship.

[0091] In the description of the embodiments of this application, the technical terms "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "circumferential", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed, operated or used in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0092] In the description of the embodiments of this application, unless otherwise expressly specified and limited, technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application according to the specific circumstances.

[0093] In the description of the embodiments of this application, unless otherwise expressly specified and limited, the technical term "contact" should be interpreted broadly, and can be direct contact, contact through an intermediate medium layer, contact between two contacting parties with substantially no interaction force, or contact between two contacting parties with interaction force.

[0094] The above embodiments are merely illustrative of the technical solutions of this application and are not intended to limit it. 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 or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and they should all be covered within the scope of the claims and specification of this application. In particular, as long as there is no structural conflict, the various technical features mentioned in the embodiments can be combined in any way. This application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A mechanical gripper, characterized in that, include: A drive device, the drive device including at least one output shaft extending along a first direction; A pair of clamping members, including at least one movable clamping member connected to the output shaft, and the pair of clamping members are capable of approaching or moving away from each other in a second direction under the drive of a drive device, and clamping is performed by the approaching action of the pair of clamping members; At least one transmission component, wherein the movable clamping member is connected to the output shaft via the transmission component, and the transmission component drives the movable clamping member to rotate about an axis along a second direction, wherein the first direction and the second direction intersect.

2. The mechanical gripper according to claim 1, characterized in that, The movable clamping member includes a rotatably connected pushing mechanism and a clamping part. The pushing mechanism is connected to the transmission assembly and rotates under the drive of the transmission assembly.

3. The mechanical gripper according to claim 2, characterized in that, The pushing mechanism includes a first link, a second link, and a third link connected in sequence. The first link is rotatably connected to the second link, and the second link is rotatably connected to the third link. The second link is connected to the clamping part, and the first link is connected to the transmission assembly and rotates under the drive of the transmission assembly. The driving device includes a driving device body and a housing. The driving device body is located inside the housing. One end of the first connecting rod is rotatably connected to the housing, and one end of the third connecting rod is rotatably connected to the housing.

4. The mechanical gripper according to claim 3, characterized in that, The second connecting rod is integral with the clamping part; or The second connecting rod is detachably connected to the clamping part.

5. The mechanical gripper according to claim 3, characterized in that, The pushing mechanism includes a pair of support rods arranged opposite each other along a third direction, one end of the first connecting rod includes a first side and a second side along the third direction, and one end of the third connecting rod includes a third side and a fourth side along the third direction; Along the third direction, the first side and the third side are on the same side, the second side and the fourth side are on the same side, the pair of support rods includes a first support rod and a second support rod, the first side of the first connecting rod is rotatably connected to one end of the first support rod, the third side of the third connecting rod is rotatably connected to the other end of the first support rod, the second side of the first connecting rod is rotatably connected to one end of the second support rod, and the fourth side of the third connecting rod is rotatably connected to the other end of the second support rod, the third direction intersects the first direction and the second direction.

6. The mechanical gripper according to claim 5, characterized in that, At least one of the pair of support rods is fixed to the housing of the drive device; and / or, The housing has a slot, and at least one of a pair of support rods is disposed in the slot.

7. The mechanical gripper according to claim 6, characterized in that, The driving device includes a first output shaft and a second output shaft arranged in opposite directions along the first direction, or the driving device includes a first driving device and a second driving device arranged in parallel, wherein the first driving device includes a first output shaft extending along the first direction and the second driving device includes a second output shaft extending along the first direction. The transmission assembly includes a first transmission assembly and a second transmission assembly; The pair of clamping members includes a first movable clamping member and a second movable clamping member disposed opposite to each other along the second direction. The first movable clamping member is connected to the first output shaft via the first transmission assembly, and the second movable clamping member is connected to the second output shaft via the second transmission assembly; and / or, The transmission assembly includes a first transmission member and a second transmission member. The first transmission member is connected to the output shaft and rotates coaxially with the output shaft. The second transmission member is connected to the pushing mechanism. The first transmission member drives the second transmission member to rotate. The axial direction of the rotation of the first transmission member is parallel to the first direction, and the axial direction of the rotation of the second transmission member is parallel to the second direction.

8. The mechanical gripper according to claim 7, characterized in that, The first movable clamping member includes a first support rod disposed in the slot, and the second movable clamping member includes a third support rod disposed in the slot. The first support rod and the third support rod are respectively located on both sides of the plane containing the first direction and the second direction.

9. The mechanical gripper according to any one of claims 2 to 8, characterized in that, The movable clamping member includes a gripping member, and the clamping part is detachably connected to the gripping member.

10. A robot, characterized in that, include: The robot itself; as well as The mechanical gripper as described in any one of claims 1 to 9, wherein the mechanical gripper is connected to the robot body.

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