Gripping device and robot

Abstract

The utility model relates to the technical field of clamp and provide a kind of clamping device and robot.The utility model discloses clamping device, including substrate, jaw and drive part, jaw is equidistantly arranged along the circumference of the substrate more than two, drive part is connected on the substrate;The jaw includes the connecting portion articulated with the substrate, and the clamping portion that can be clamped article is connected on the connecting portion;The drive part connects the connecting portion, can drive the connecting portion rotation, makes the clamping portion close to or away from the central axis of the substrate.The utility model more than two jaws are contacted with article, and article is clamped, thus, article is difficult to incline or rotate in carrying or transfer, thus help to improve the clamping stability of article.

Description

Technical Field

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

[0002] Robot grippers, also known as robotic grippers, are key components installed at the end effector of a robot that directly contact the object being manipulated. They play a crucial role in material handling, precision assembly, and logistics sorting. Their performance directly affects the working efficiency, stability, and reliability of the robot system.

[0003] In related technologies, robot gripping devices often employ a two-point gripping structure, which uses two symmetrically arranged grippers to hold an object. Since the two-point gripping structure only applies force at two contact points of the object, when the object has an irregular shape, uneven surface, or a shifted center of gravity, it is prone to tilting or rotating during handling and transfer, resulting in unstable gripping. Utility Model Content

[0004] In view of this, the present invention aims to provide a clamping device to help improve the clamping stability of articles.

[0005] To achieve the above objectives, the technical solution of this utility model is implemented as follows:

[0006] A clamping device includes a substrate, two or more grippers equidistantly arranged along the circumference of the substrate, and a drive unit connected to the substrate.

[0007] The gripper includes a connecting portion hinged to the base plate, and a gripping portion connected to the connecting portion for gripping an article.

[0008] The driving part is connected to the connecting part and can drive the connecting part to rotate, so that the clamping part is close to or away from the central axis of the substrate.

[0009] Furthermore, the driving unit includes: a guide post fixedly connected to the substrate perpendicularly, a driving plate slidably sleeved on the guide post along the axial direction of the guide post, and a connecting rod with one end hinged to the driving plate and the other end hinged to the connecting part; the hinge point between the connecting rod and the connecting part is spaced apart from the hinge point between the substrate and the connecting part; driving the driving plate to slide along the axial direction of the guide post enables two or more clamping parts to move closer or further apart synchronously.

[0010] Furthermore, the drive unit also includes a mounting plate fixed to the other end of the guide post and a power component connected to the mounting plate that can drive the drive plate to slide circumferentially along the guide post.

[0011] Furthermore, the power component includes: a motor fixedly connected to the mounting plate, and a lead screw coaxially fixedly connected to the output shaft of the motor; the lead screw passes through the drive plate and is threadedly connected to the drive plate.

[0012] Furthermore, the power component includes a cylinder, the cylinder body of which is fixedly connected to the mounting plate, and the piston rod of which is fixedly connected to the drive plate.

[0013] Furthermore, a bearing is mounted on the substrate, the lead screw extends toward the substrate, and the bearing rotatably connects the substrate and the lead screw.

[0014] Furthermore, multiple guide posts are provided, and the multiple guide posts are equidistantly distributed along the circumference of the substrate.

[0015] Furthermore, a sliding sleeve is slidably sleeved along the axial direction of the guide post, and the sliding sleeve is fixedly connected to the drive plate through the drive plate.

[0016] Compared with the prior art, this utility model has the following advantages:

[0017] (1) The clamping device of this utility model comprises two or more grippers arranged on the substrate along the circumference of the substrate, and a driving part arranged on the substrate. By controlling the driving part, the two or more grippers are moved closer to or further away from the central axis of the substrate, thereby realizing the picking and placing of objects. When gripping an object, the two or more grippers move closer to the object simultaneously under the action of the driving part, completing multi-contact point clamping of the object. When the object has an irregular shape, uneven surface, or a shifted center of gravity, the grippers contact the object to be clamped and move the object between the two or more grippers, adjusting the positional relationship between the center of gravity of the object and the two or more grippers. Ultimately, the two or more grippers are in contact with the object and clamp the object. As a result, the object is less likely to tilt or rotate during handling or transfer, thus helping to improve the clamping stability of the object.

[0018] (2) When the drive plate moves along the axial direction of the guide post toward the side away from the base plate, two or more clamping parts move toward the side away from the central axis under the pulling action of the connecting rod, thereby increasing the distance between the two or more jaws to facilitate the release of the clamped item. Based on the above, it can be understood that when the drive plate moves along the axial direction of the guide post toward the side closer to the base plate, two or more clamping parts move toward the side closer to the center line under the pushing action of the connecting rod, and the distance between the two or more jaws decreases to achieve clamping of the item. By setting the drive unit to include the guide post, the drive plate, and the connecting rod, it is possible to synchronously adjust two or more jaws.

[0019] (3) By setting the power components as a lead screw and a motor, and using the lead screw and motor to adjust the distance between the drive plate and the base plate, the adjustment accuracy of the distance between the drive plate and the base plate can be improved. This helps to improve the control accuracy of the gripper's clamping force on the object.

[0020] (4) By setting bearings to connect the lead screw to the base plate, it helps to avoid wear of the base plate or lead screw caused by direct connection between the lead screw and the base plate. At the same time, using bearings to connect the lead screw to the base plate helps to avoid the oscillation phenomenon at the end of the lead screw away from the motor, thereby improving the running stability of the power components.

[0021] This invention also proposes a robot to help improve the stability of the robot when transferring items, thereby improving the safety of the items.

[0022] To achieve the above objectives, the technical solution of this utility model is implemented as follows:

[0023] A robot equipped with the gripping device described above. Attached Figure Description

[0024] The accompanying drawings, which form part of this utility model, are used to provide a further understanding of the utility model. The illustrative embodiments of the utility model and their descriptions are used to explain the utility model and do not constitute an undue limitation of the utility model. In the drawings:

[0025] Figure 1 This is a schematic diagram of the overall structure as described in an embodiment of the present utility model;

[0026] Figure 2 This is a schematic diagram of some of the parts described in the embodiments of this utility model;

[0027] Figure 3 This is a schematic diagram of the power component, including a cylinder, described in an embodiment of the present invention.

[0028] Explanation of reference numerals in the attached figures:

[0029] 1. Base plate; 2. Gripper; 201. Connecting part; 202. Clamping part; 3. Driving part; 301. Guide post; 302. Driving plate; 303. Connecting rod; 304. Mounting plate; 305. Power component; 3051. Motor; 3052. Lead screw; 3053. Cylinder; 4. Bearing; 5. Sliding sleeve; α. Central axis. Detailed Implementation

[0030] To make the technical solution and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0031] It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments of the present invention can be combined with each other.

[0032] Furthermore, in the description of this utility model, it should be noted that if terms such as "upper," "lower," "inner," or "outer" appear, indicating orientation or positional relationship, they are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. In addition, if terms such as "first" or "second" appear, they are also used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0033] Furthermore, in the description of this utility model, unless otherwise explicitly defined, the terms "installation," "connection," "joining," and "connector" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model in light of the specific circumstances.

[0034] In this utility model, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of this utility model. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0035] The present invention will now be described in detail through exemplary embodiments. However, it should be understood that, without further description, elements, structures, and features in one embodiment may be advantageously incorporated into other embodiments.

[0036] An embodiment of the first aspect of this utility model provides a clamping device that is applied to a robot, enabling the robot to grasp and transfer objects. By utilizing its structural design, the clamping device can increase the number of clamping points on the object to improve the stability of the object transfer.

[0037] In existing technologies, robot gripping devices mostly adopt a two-point gripping structure, that is, gripping an object through two symmetrically arranged grippers. Since the two-point gripping structure only applies force to the two contact points of the object, when the object has an irregular shape, uneven surface, or a shifted center of gravity, it is easy for the object to tilt or rotate during handling and transfer, resulting in unstable gripping.

[0038] In view of this, in order to overcome the shortcomings of the prior art, the clamping device in this embodiment combines... Figure 1 and Figure 2 In terms of overall design, the clamping device includes a base plate 1, two or more grippers 2 equidistantly arranged along the circumference of the base plate 1, and a drive unit 3 connected to the base plate 1; the grippers 2 include a connecting part 201 hinged to the base plate 1, and a clamping part 202 connected to the connecting part 201 that can clamp an item; the drive unit 3 is connected to the connecting part 201 and can drive the connecting part 201 to rotate, so that the clamping part 202 moves closer to or away from the central axis α of the base plate 1.

[0039] Therefore, by providing two or more grippers 2 along the circumference of the substrate 1 and a driving unit 3 on the substrate 1, the driving unit 3 is controlled to move the two or more grippers 2 closer to or further away from the central axis α of the substrate 1, thereby achieving the picking and placing of objects. When gripping an object, the two or more grippers 2 simultaneously move closer to the object under the action of the driving unit 3, completing multi-contact point gripping of the object. When the object has an irregular shape, uneven surface, or a shifted center of gravity, the grippers 2 contact the object to be gripped and move the object between the two or more grippers 2, adjusting the positional relationship between the object's center of gravity and the two or more grippers 2, ultimately achieving that both or more grippers 2 are in contact with the object and grip it. As a result, the object is less likely to tilt or rotate during handling or transfer, thus helping to improve the gripping stability of the object.

[0040] Based on the above general introduction, specifically, two or more grippers 2 refers to three or more grippers 2 equidistantly arranged along the circumference of the substrate 1; preferably, in this embodiment, three grippers 2 are provided. It is worth noting that the connecting part 201 is hinged to the lower surface of the substrate 1, and the axis of rotation of the hinge shaft that connects the connecting part 201 to the substrate 1 is perpendicular to the central axis α of the substrate 1.

[0041] Continue to combine Figure 1 and Figure 2As shown, in some exemplary embodiments, the driving unit 3 includes a guide post 301 fixedly connected to the substrate 1 perpendicularly, a driving plate 302 slidably sleeved on the guide post 301 along the axial direction of the guide post 301, and a connecting rod 303 hinged at one end to the driving plate 302 and at the other end to the connecting part 201; the hinge point between the connecting rod 303 and the connecting part 201 is spaced apart from the hinge point between the substrate 1 and the connecting part 201; driving the driving plate 302 to slide along the axial direction of the guide post 301 enables two or more clamping parts 202 to move closer or further apart synchronously. It is worth noting that the pivot rotation axis of the connecting rod 303 and the connecting part 201 is perpendicular to the central axis α, and the pivot rotation axis of the connecting rod 303 and the connecting part 201 is parallel to the pivot rotation axis of the connecting part 201 hinged to the substrate 1.

[0042] With the drive unit 3 configured as described above, when adjusting the clamping part 202 to be closer to or further away from the central axis α of the substrate 1, it is only necessary to move the drive plate 302 along the axial direction of the guide post 301 to achieve the linkage 303 driving the connecting part 201 to rotate with the substrate 1. Specifically, when the drive plate 302 moves away from the substrate 1 along the axial direction of the guide post 301, two or more clamping parts 202 move away from the central axis α under the pulling action of the linkage 303, thereby increasing the distance between two or more jaws 2 to facilitate the release of the clamped item. Based on the above, it can be understood that when the drive plate 302 moves closer to the substrate 1 along the axial direction of the guide post 301, two or more clamping parts 202 move closer to the center line under the pushing action of the linkage 303, and the distance between two or more jaws 2 decreases to achieve the clamping of the item. By setting the drive unit 3 to include a guide post 301, a drive plate 302, and a connecting rod 303, it is possible to synchronously adjust two or more grippers 2.

[0043] Based on the above, in order to facilitate the axial adjustment of the drive plate 302 along the guide post 301, the drive unit 3 further includes a mounting plate 304 fixed to the other end of the guide post 301 and a power member 305 connected to the mounting plate 304 and capable of driving the drive plate 302 to slide circumferentially along the guide post 301. It can be understood that the mounting plate 304 is fixed to the side of the guide post 301 opposite to the base plate 1.

[0044] As an optional implementation of the power component 305, in this embodiment, specifically, the power component 305 includes a motor 3051 fixedly connected to the mounting plate 304, and a lead screw 3052 coaxially fixedly connected to the output shaft of the motor 3051; the lead screw 3052 passes through the drive plate 302 and is threadedly connected to the drive plate 302.

[0045] With the above configuration, when it is necessary to adjust the distance between the drive plate 302 and the base plate 1, that is, to make the drive plate 302 slide up and down along the axial direction of the guide post 301, only the drive motor 3051 needs to be driven. By controlling the output shaft of the motor 3051 to rotate forward or backward, the lead screw 3052 is driven to rotate forward or backward. Since the lead screw 3052 is threadedly connected to the drive plate 302, the drive plate 302 will not rotate under the limit of the guide post 301, but will slide along the axial direction of the guide post 301. This achieves the adjustment of the distance between the drive plate 302 and the base plate 1. By setting the power components 305 as the lead screw 3052 and the motor 3051, and using the lead screw 3052 and the motor 3051 to adjust the distance between the drive plate 302 and the base plate 1, the adjustment accuracy of the distance between the drive plate 302 and the base plate 1 is improved. This helps to improve the control accuracy of the gripper 2's clamping force on the object.

[0046] Based on the above, in order to improve the stability of the lead screw 3052 when rotating, a bearing 4 is installed on the substrate 1, the lead screw 3052 extends into the substrate 1, and the bearing 4 rotatably connects the substrate 1 and the lead screw 3052.

[0047] By using bearing 4 to connect lead screw 3052 to base plate 1, wear of base plate 1 or lead screw 3052 caused by direct connection between lead screw 3052 and base plate 1 can be avoided. At the same time, using bearing 4 to connect lead screw 3052 to base plate 1 can help avoid oscillation at the end of lead screw 3052 away from motor 3051, thereby improving the operational stability of power component 305.

[0048] To facilitate the axial movement of the drive plate 302 along the guide posts 301, multiple guide posts 301 are provided, and the multiple guide posts 301 are evenly distributed along the circumference of the substrate 1. All the multiple guide posts 301 penetrate the drive plate 302, enabling the drive plate 302 to move axially along the guide posts 301. Furthermore, the mounting plate 304 and the multiple guide posts 301 are fixedly connected to the end of the substrate 1 facing away from the substrate 1.

[0049] Based on the above, in order to reduce wear on the drive plate 302 or the guide post 301 when the drive plate 302 slides along the axial direction of the guide post 301, a sliding sleeve 5 is slidably sleeved along the axial direction of the guide post 301. The sliding sleeve 5 penetrates the drive plate 302 and is fixedly connected to it. As an optional embodiment of the sliding sleeve 5, in specific production, the sliding sleeve 5 can be made of a non-metallic material with a low coefficient of friction or good self-lubricating properties, such as polytetrafluoroethylene, nylon, or polyethylene.

[0050] It is worth noting that, regarding the clamping device of this embodiment, based on the above exemplary embodiments, in specific implementation, as a preferred embodiment, it still consists of... Figure 1 and 2 As shown.

[0051] The connecting part 201 has a block-shaped structure. One end of the connecting part 201 is hinged to the substrate 1, and the remaining end of the connecting part 201 is hinged to the connecting rod 303. With the above arrangement, the hinge point between the connecting rod 303 and the connecting part 201 is spaced apart from the hinge point between the substrate 1 and the connecting part 201.

[0052] The clamping part 202 has an isosceles triangle cross section, and the base of the cross section is in contact with the connecting part 201. With this arrangement, when the position of the connecting plate and the substrate 1 is fixed, the opening of the two or more grippers 2 on the side away from the substrate 1 is larger than the opening on the side closer to the substrate 1, which makes it easier to clamp objects of different volumes.

[0053] The clamping device described in this application embodiment has two or more grippers 2 arranged on the substrate 1 along the circumference of the substrate 1, and a driving unit 3 arranged on the substrate 1. By controlling the driving unit 3, the two or more grippers 2 are moved closer to or further away from the central axis α of the substrate 1, thereby realizing the picking and placing of objects. When gripping an object, the two or more grippers 2 simultaneously move closer to the object under the action of the driving unit 3, completing multi-contact point clamping of the object. When the object has an irregular shape, uneven surface, or a shifted center of gravity, the grippers 2 contact the object to be clamped and move the object between the two or more grippers 2, adjusting the positional relationship between the center of gravity of the object and the two or more grippers 2. Ultimately, both or more grippers 2 are in contact with the object and clamp the object. Therefore, the object is less likely to tilt or rotate during handling or transfer, thus helping to improve the clamping stability of the object.

[0054] An embodiment of the second aspect of the utility model provides a clamping device, such as... Figure 3 As shown, the clamping device differs from the clamping device provided in the first aspect embodiment in that the power component 305 is a cylinder 3053, the cylinder body of the cylinder 3053 is fixedly connected to the mounting plate 304, and the piston rod of the cylinder 3053 is fixedly connected to the drive plate 302.

[0055] By incorporating a cylinder 3053 as a driving component, the cylinder 3053 exhibits good response speed and resistance to both high and low temperatures when adjusting the distance between the driving plate 302 and the base plate 1.

[0056] A third aspect of this utility model provides a robot equipped with the gripping device described above.

[0057] The robot in this embodiment, by being equipped with the gripping device described above, helps to improve the gripping stability of items, thereby enhancing the safety of items when the robot transfers them.

[0058] The above descriptions are merely some embodiments of this utility model and are not intended to limit the utility model. The technical features or structures in the foregoing different embodiments can be arbitrarily combined to form other specific technical solutions as needed. For those skilled in the art, this utility model can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A clamping device, characterized in that, include: The substrate (1), two or more grippers (2) are equidistantly arranged along the circumference of the substrate (1), and a drive unit (3) connected to the substrate (1); The gripper (2) includes a connecting part (201) hinged to the base plate (1) and a gripping part (202) connected to the connecting part (201) for gripping an article; The driving part (3) is connected to the connecting part (201) and can drive the connecting part (201) to rotate, so that the clamping part (202) moves closer to or further away from the central axis (α) of the substrate (1).

2. The clamping device according to claim 1, characterized in that, The drive unit (3) includes: The guide post (301) is perpendicularly fixed to the substrate (1), the drive plate (302) is slidably sleeved on the guide post (301) along the axial direction of the guide post (301), and the connecting rod (303) is hinged at one end to the drive plate (302) and at the other end to the connecting part (201). The hinge point between the connecting rod (303) and the connecting part (201) is spaced apart from the hinge point between the base plate (1) and the connecting part (201); By driving the drive plate (302) to slide along the axial direction of the guide post (301), two or more clamping parts (202) can move closer or further away from each other synchronously.

3. The clamping device according to claim 2, characterized in that, The drive unit (3) also includes: A mounting plate (304) fixed to the other end of the guide post (301) and a power component (305) connected to the mounting plate (304) that can drive the drive plate (302) to slide circumferentially along the guide post (301).

4. The clamping device according to claim 3, characterized in that, The power component (305) includes: A motor (3051) fixedly connected to the mounting plate (304), and a lead screw (3052) coaxially fixedly connected to the output shaft of the motor (3051); The lead screw (3052) passes through the drive plate (302) and is threadedly connected to the drive plate (302).

5. The clamping device according to claim 3, characterized in that, The power component (305) includes: The cylinder (3053) has its cylinder body fixedly connected to the mounting plate (304), and its piston rod fixedly connected to the drive plate (302).

6. The clamping device according to claim 4, characterized in that: A bearing (4) is mounted on the substrate (1), and a lead screw (3052) extends toward the substrate (1), and the bearing (4) rotatably connects the substrate (1) and the lead screw (3052).

7. The clamping device according to claim 2, characterized in that: The guide posts (301) are provided in multiple ways, and the multiple guide posts (301) are distributed at equal intervals along the circumference of the substrate (1).

8. The clamping device according to claim 2, characterized in that: A sliding sleeve (5) is slidably sleeved along the axial direction of the guide post (301), and the sliding sleeve (5) is fixedly connected to the drive plate (302) and penetrates the drive plate (302).

9. A robot, characterized in that: The robot is equipped with a gripping device as described in any one of claims 1 to 8.

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