Robots and their arm and gripper mechanisms

Abstract

This utility model relates to the field of robotics, providing a robot and its robotic arm and gripper mechanism. The gripper mechanism includes a gripper body, two grippers, an external connector, and a drive transmission device. The drive transmission device includes a lead screw and two nuts. The lead screw extends along a first direction, and its two external threads rotate in opposite directions. The grippers are mounted on the nuts, and the nuts and external threads engage. A motor is mounted on the gripper body, and the motor drives the lead screw to rotate, causing the two grippers to move closer or further apart along the first direction. The motor is located at one end of the lead screw's extension direction, which reduces the distance between the gripper body's axis of rotation and the grippers, improving the compactness of the structure and the gripper's flexibility in grasping objects. The gripper body is rotatably mounted on the external connector, which is mounted on the robotic arm. The axis of rotation of the gripper body is parallel to the first direction, making the rotation of the gripper body relative to the external connector similar to the rotation of a human hand relative to an arm, thus making it more convenient to use.

Description

Technical Field

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

[0002] In existing robots, grippers are typically used to grasp and hold items. Figure 1 An existing robotic gripper mechanism is shown, such as Figure 1 Two grippers 21' are mounted on the gripper body 1'. A drive device 43' is provided and connected to the two grippers to drive them to move closer or further apart along the X1' direction. The gripper mechanism is connected to the robotic arm via an external connector 3'. The gripper body is rotatably mounted on the external connector, and the gripper's posture is adjusted by rotating the gripper body relative to the external connector. Figure 1 In the existing gripper mechanisms shown, because the drive unit is positioned between the gripper body and the external component along the Z1' direction, the distance H' from the rotation axis of the gripper body to the gripper is relatively long, resulting in a large structural size and inflexible operation. Utility Model Content

[0003] The technical problem to be solved by this utility model is to overcome the defects of the large structure and inflexible operation of the gripper mechanism of the robot in the prior art, and to provide a robot and its mechanical arm and gripper mechanism.

[0004] The present invention solves the above-mentioned technical problems through the following technical solution:

[0005] A gripper mechanism for a robot, comprising:

[0006] External components;

[0007] The gripper body is rotatably configured relative to the external component;

[0008] Two grippers;

[0009] A drive transmission device is used to drive the two grippers to move closer or further apart relative to each other along a first direction;

[0010] The rotation axis of the gripper body is parallel to the first direction, and the drive transmission device includes:

[0011] The lead screw extends along a first direction and has two externally threaded portions spaced apart along the first direction and with opposite directions of rotation.

[0012] Two nuts, one-to-one with the external thread portion and the jaw, the jaw is fixed on the corresponding nut, the nut is slidably mounted on the jaw body along the first direction and engages with the corresponding external thread portion;

[0013] A motor is mounted on the gripper body and located at one end of the lead screw along the first direction. The output shaft of the motor is connected to the lead screw for driving the lead screw to rotate.

[0014] In this design, the motor's output shaft drives a lead screw to rotate, which in turn moves a nut along a first direction. This causes the two grippers to move closer together or further apart along the first direction, enabling the gripping and releasing of items. The gripper mechanism is mounted on the robot's arm via an external connector. The gripper body and its mounted structure rotate relative to the external connector to adjust the gripper's position and improve the gripper's flexibility in grasping and handling items. Similar to the rotation of a human hand relative to its arm, the gripper body's axis of rotation is parallel to the first direction, making it more convenient to use. By driving the grippers with a lead screw and nut, and mounting the motor at one end of the lead screw's extension direction, the distance from the gripper body's axis of rotation to the grippers can be reduced, improving the structure's compactness and the gripper's flexibility in grasping items.

[0015] Preferably, the output shaft of the motor and the lead screw are fixedly connected.

[0016] In this design, the motor's output shaft and lead screw are fixedly connected, avoiding the backlash problem of gear transmissions and improving transmission accuracy.

[0017] Preferably, the gripper mechanism further includes an encoder, which includes a magnetic component and a magnetic induction chip. The magnetic induction chip is fixed on the gripper body, and the magnetic component is drively connected to the output shaft of the motor.

[0018] In this solution, an encoder is used to detect the motor rotation signal in order to control the motor.

[0019] Preferably, the rotor of the motor is sleeved on the outer periphery of the stator of the motor and fixedly connected to the output shaft. The stator is fixed on the gripper body and is used to drive the rotor to rotate. The output shaft passes through the inside of the stator.

[0020] In this design, the rotor is mounted on the outer periphery of the stator, allowing for manual or tool-assisted rotation of the rotor to precisely adjust the rotation angle of the motor output shaft when the grippers pick up items, enabling fine-tuning or debugging of the motor.

[0021] Preferably, the gripper mechanism further includes an encoder and meshing first gear and second gear. The encoder includes a magnetic component and a magnetic induction chip. The magnetic induction chip is fixed on the gripper body, the magnetic component is fixed on the first gear, and the second gear is sleeved and fixed on the output shaft.

[0022] In this solution, the encoder is offset from the output shaft by two gears, which makes the axial dimension of the output shaft compact.

[0023] Preferably, the motor further includes a first end cover, the rotor and the output shaft are fixedly connected by the first end cover, the first end cover is located on and covers the end of the rotor and the stator away from the lead screw along a first direction, and the encoder is disposed at the end of the motor facing the lead screw along the first direction.

[0024] In this design, the first end cap is located at the end furthest from the lead screw, which can cover the structure at the motor end. The encoder is located at the end of the motor facing the lead screw, facilitating the mounting of the encoder's magnetic induction chip on the gripper body.

[0025] Preferably, the motor further includes a gear shaft, a stator mounting component, and a second end cover. The second end cover is located at one end of the stator mounting component facing the lead screw in a first direction. The stator is fixed on the stator mounting component. The stator mounting component, the second end cover, and the gripper body are fixedly connected. The first gear is fixed on the gear shaft. The gear shaft is rotatably mounted on the second end cover and the stator mounting component.

[0026] In this design, the stator is fixed to the gripper body by the stator mounting component and the second end cover, which also supports the gear shaft on the first gear, resulting in a compact structure.

[0027] Preferably, the drive transmission device further includes a guide assembly, which includes a slidingly engaged guide rail and two sliders. The guide rail extends parallel to the first direction and is fixed on the gripper body. The sliders and the nuts in the guide assembly correspond one-to-one and are fixedly connected.

[0028] In this solution, a guide component is set to guide the nut, so that the nut can drive the jaws to move along the lead screw.

[0029] Preferably, the guide assembly consists of two sets, disposed at both ends of the lead screw along a second direction, the second direction being perpendicular to the first direction. The gripper mechanism further includes two gripper mounting pieces corresponding one-to-one with the gripper, and the nut, the slider, and the gripper are all fixed on the corresponding gripper mounting pieces.

[0030] In this design, two sets of guide components are set up, which have a stronger load-bearing capacity and make the gripper grip more stable.

[0031] Preferably, the gripper body is provided with two limiting parts, which are respectively located at both ends of the lead screw along the first direction, and the slider is restricted between the two limiting parts.

[0032] Preferably, the lead screw is a trapezoidal lead screw or a ball screw.

[0033] In this design, if a ball screw is used, the rolling resistance is low. If a trapezoidal screw is used, the self-locking is reliable.

[0034] Preferably, the gripper mechanism includes a joint assembly and two connectors spaced apart along a first direction and fixed to the gripper body. The joint assembly is disposed between the two connectors. Each end of the joint assembly along the first direction has an output end, and the output end corresponds one-to-one with the connector. The output end is fixed to the gripper body through the corresponding connector and is rotatably mounted on the external component.

[0035] In this solution, the output end of the joint assembly and the gripper body are fixed by a connector. The output end of the joint assembly rotates relative to the external component, thereby driving the gripper body and gripper to rotate.

[0036] Preferably, the external connector, the gripper body, and the gripper are arranged sequentially along a third direction perpendicular to the first direction.

[0037] Preferably, the grippers and the gripper body are arranged sequentially along a third direction. The gripper mechanism also includes a camera, which is mounted on the gripper body and located at one end of the two grippers along the second direction, the middle of the two grippers along the first direction, one end of the two grippers facing the gripper body along the third direction, and one end of the two grippers facing away from the gripper body along the third direction. The first direction, the second direction, and the third direction are perpendicular to each other.

[0038] In this solution, the camera is positioned so that it faces the ends of the two grippers, and the field of view can cover the end of the gripper away from the camera along the second direction. This ensures that the gripper can capture the object being grasped, providing feedback to the user and facilitating precise control of the gripper's movement to grasp the object.

[0039] Preferably, the number of cameras is two, and the two cameras are respectively located at both ends of the gripper along the second direction.

[0040] In this solution, two cameras are set up. On the one hand, the camera can be directed towards the item being gripped by the gripper even when the gripper body rotates at any angle. On the other hand, if the gripper mechanism is used in a left-right configuration, the cameras in the left and right gripper mechanisms are set up in the same way, which improves versatility.

[0041] A robotic arm includes an arm, the robotic arm further including a gripper mechanism of a robot as described in any of the above technical solutions, the external component being mounted on the arm.

[0042] A robot includes a robot body and a robotic arm. The robotic arm includes an arm and also includes a gripper mechanism as described in any of the above technical solutions. One end of the arm is mounted on the robot body in the extension direction, and the other end is connected to the external connector.

[0043] Preferably, one end of the arm extending in the direction of extension is rotatably mounted on the robot body around the robot's length, width, and height directions, and the robotic arm is configured such that when the arm is in its initial position without rotating around the robot's width and height directions, the first direction is parallel to the robot's length direction.

[0044] Preferably, the extension direction of the robotic arm is perpendicular to the first direction.

[0045] The positive and progressive effects of this utility model are as follows:

[0046] The motor's output shaft drives a lead screw to rotate, which in turn moves a nut along a first direction. This causes the two grippers to move closer together or further apart along the same direction, thus gripping and releasing items. The gripper mechanism is mounted on the robot's arm via an external connector. The gripper body and its mounted structure rotate relative to the connector to adjust the gripper's position and improve its gripping and handling flexibility. Similar to the rotation of a human hand relative to its arm, the gripper body's axis of rotation is parallel to the first direction for easier use. By driving the grippers with a lead screw and nut, and mounting the motor at one end of the lead screw's extension direction, the distance from the gripper body's axis of rotation to the grippers can be reduced, improving structural compactness and gripping flexibility. Attached Figure Description

[0047] Figure 1 This is a schematic diagram of an existing gripper mechanism;

[0048] Figure 2 This is a schematic diagram of the gripper mechanism in Embodiment 1;

[0049] Figure 3 This is a partial structural cross-sectional view of the gripper mechanism in Embodiment 1;

[0050] Figure 4 This is a cross-sectional view of the motor, lead screw, and encoder of Example 1;

[0051] Figure 5 This is a partial structural cross-sectional view of the motor, lead screw, and encoder in Example 1;

[0052] Figure 6 This is a schematic diagram showing the dimensions of Example 1;

[0053] Figure 7 This is a schematic diagram of the camera's perspective in Example 1;

[0054] Figure 8 This is a simplified schematic diagram of the robot in Example 2.

[0055] Explanation of reference numerals in the attached figures:

[0056] 10,000 robots;

[0057] 1000 robotic arms;

[0058] Gripper mechanism 1100, arm 1200;

[0059] gripper body 1, limiting part 11;

[0060] Gripper 21, gripper mounting part 22;

[0061] External component 3;

[0062] Drive transmission device 4;

[0063] Lead screw 41, external threaded part 411;

[0064] Nut 42;

[0065] Motor 43, output shaft 431, rotor 432, stator 433, first end cover 434, second end cover 435, stator mounting part 436, first gear 437, gear shaft 438, second gear 439;

[0066] Guide assembly 44, guide rail 441, slider 442;

[0067] Encoder 5, magnetic component 51, magnetic induction chip 52;

[0068] Connector 6;

[0069] Joint assembly 7, output terminal 71;

[0070] Camera 81, Camera mounting parts 82;

[0071] Robot body 2000. Detailed Implementation

[0072] The present invention will be further illustrated by way of embodiments below, but the present invention is not limited to the scope of the embodiments described herein.

[0073] Example 1

[0074] This embodiment provides a gripper mechanism for a robot. Figures 2-7 This is a schematic diagram of this embodiment.

[0075] like Figure 2 , Figure 3 The gripper mechanism 1100 includes:

[0076] External component 3 is used to connect to the arm 1200 of the robotic arm to mount the gripper mechanism 1100 on the arm 1200;

[0077] The gripper body 1 is rotatably mounted relative to the external component 3, and the axis of rotation of the gripper body 1 is parallel to the first direction X1. Figure 3 The approximate position of the pivot of the gripper body 1 is indicated by the dotted line T.

[0078] Two grippers 21 are used to grip and pick up items;

[0079] The drive transmission device 4 includes a motor 43, a lead screw 41, and two nuts 42. The lead screw 41 extends along the X1 direction and has two external threads 411 with opposite directions of rotation. The two external threads 411 are spaced apart along the X1 direction to correspond one-to-one with the nuts 42 and the grippers 21. The nuts 42 are mounted on the gripper body 1 and can slide relative to the gripper body 1 along the X1 direction. The nuts 42 and the external threads 411 mesh, and the grippers 21 are fixed on the nuts 42. The motor 43 is mounted on the gripper body 1 and is located at one end of the lead screw 41 along the X1 direction. The output shaft 431 of the motor 43 is connected to the lead screw 41. The output shaft 431 drives the lead screw 41 to rotate, thereby driving the nuts 42 to slide, so that the two grippers 21 can move closer or further apart along the X1 direction to grip or release items.

[0080] The gripper mechanism 1100 is mounted on the robot arm 1200 via an external connector 3. The gripper body 1 and the structure mounted on it rotate relative to the external connector 3 to adjust the position of the gripper 21 and improve the flexibility of the gripper 21 in grasping and moving items. Similar to the rotation of a human hand relative to the arm 1200, the rotation axis of the gripper body 1 is parallel to the X1 direction, making it more convenient for the gripper 21 to grasp items. The two grippers 21 are driven by a lead screw 41 and two nuts 42, and a motor 43 is mounted at one end of the lead screw 41 in the extension direction. This reduces the distance from the rotation axis of the gripper body 1 to the gripper 21, improving the compactness of the structure and the flexibility of the gripper 21 in grasping items.

[0081] like Figure 4 , Figure 5 The output shaft 431 of the motor 43 is fixedly connected to the lead screw 41, avoiding the backlash problem of gear transmissions and improving transmission accuracy. In other embodiments, a reducer or other transmission mechanism can be provided between the output shaft 431 of the motor 43 and the lead screw 41.

[0082] like Figure 4 , Figure 5In the motor 43, the rotor 432 and output shaft 431 are fixedly connected, and the stator 433 is fixed on the gripper body 1. The rotor 432 is driven to rotate through the stator 433. The output shaft 431 passes through the inside of the stator 433, and the rotor 432 is sleeved on the outer circumference of the stator 433, which facilitates manual or tool-assisted rotation of the outer rotor 432 to precisely adjust the rotation angle of the motor 43 output shaft 431 when the gripper 21 picks up an item, enabling fine demonstration control or debugging of the motor 43. In other embodiments, the stator 433 can be sleeved on the outer circumference of the rotor 432, and the power of the rotor 432 can be transmitted to the lead screw 41 through the output shaft 431.

[0083] like Figure 4 , Figure 5 The gripper mechanism 1100 also includes an encoder 5, which includes a magnetic component 51 and a magnetic induction chip 52. The magnetic induction chip 52 is fixed on the gripper body 1. The magnetic component 51 is a magnet and is connected to the output shaft 431 of the motor 43. When the motor 43 is working, the output shaft 431 drives the magnetic component 51 to rotate. The rotation of the magnetic component 51 is captured by the magnetic induction chip 52, thereby obtaining the rotation of the output shaft 431 to control the operation of the motor 43.

[0084] like Figure 4 , Figure 5 The gripper mechanism 1100 also includes a meshing first gear 437 and a second gear 439. A magnetic component 51 is fixed to the first gear 437, and the second gear 439 is sleeved and fixed to the output shaft 431. By using these two gears to offset the encoder 5 from the output shaft 431, the axial dimensions can be made more compact. In other embodiments, an off-axis encoder can be used to detect the rotation of the output shaft 431. A magnetic ring is installed on the output shaft 431, and the chip in the encoder that performs magnetic induction is offset from the output shaft 431.

[0085] like Figure 4 , Figure 5The motor 43 also includes a gear shaft 438, a first end cover 434, a second end cover 435, and a stator mounting component 436. The first end cover 434 is disposed at the end of the stator 433 and the rotor 432 away from the lead screw 41 along the X1 direction. The first end cover 434 is used to cover the stator 433 and the rotor 432 at the end away from the lead screw 41 and to fix the rotor 432 and the output shaft 431 so as to transmit the rotation of the rotor 432 on the outside of the motor 43 to the output shaft 431 on the inside. The stator 433 is fixed on the stator mounting part 436, which is fixed on the gripper body 1. The second end cover 435 is fixedly installed on the end of the stator mounting part 436 facing the lead screw in the X1 direction. The first gear 437 is fixed on the gear shaft 438, which is rotatably mounted on the second end cover 435 and the stator mounting part 436. The stator 433 is fixed on the gripper body 1 by the stator mounting part 436 and the second end cover 435, while supporting the gear shaft 438 on the first gear 437, making the structure compact.

[0086] like Figure 2 The drive transmission device 4 also includes a guide assembly 44, which includes a guide rail 441 and two sliders 442. The guide rail 441 extends along the X1 direction and is fixed on the gripper body 1. The sliders 442 are slidably disposed on the guide rail 441. The two sliders 442 and two nuts 42 in a single guide assembly 44 correspond one-to-one. The nuts 42 are fixed on the corresponding sliders 442. The guide assembly 44 guides the nuts 42 so that the nuts 42 move along the lead screw 41.

[0087] Furthermore, the gripper mechanism 1100 includes two sets of guide components 44, which are located at both ends of the lead screw 41 along the second direction Y1, where Y1 is perpendicular to X1. The gripper mechanism 1100 also includes two gripper mounting pieces 22, each corresponding to a gripper 21. The nut 42, slider 442, and gripper 21 are all fixed to their respective mounting pieces 22. The two sets of guide components 44 provide stronger load-bearing capacity and more stable gripping by the gripper 21. The two sliders 442 corresponding to the same nut 42 and the same gripper 21 are fixed together by the gripper mounting pieces 22. In other embodiments, the number of guide components 44 can be flexibly adjusted according to load-bearing capacity, size, and other requirements. In this embodiment, the gripper 21 is detachably fixed to the gripper mounting piece 22, facilitating replacement of the gripper 21 as needed for gripping items. In other embodiments, the gripper mounting piece 22 and the gripper 21 can be separate or integrated.

[0088] like Figure 2 , Figure 3The gripper body 1 is provided with two limiting parts 11, which are located at both ends of the lead screw 41 along the X1 direction, respectively, to limit the slider 442 and prevent the slider 442 from disengaging from the lead screw 41. In other embodiments, the limiting parts 11 may be omitted, or the limiting parts 11 may be provided on the lead screw 41 or the gripper body 1. The lead screw 41 may be, but is not limited to, a ball screw or a trapezoidal screw. In this embodiment, a trapezoidal screw is used, which can maintain self-locking even if the motor 43 is de-energized, ensuring that the gripper 21 reliably holds the item after it is gripped and preventing loosening.

[0089] like Figure 2 External component 3, gripper body 1, and gripper 21 are arranged sequentially along the third direction Z1, wherein the three directions X1, Y1, and Z1 are perpendicular to each other.

[0090] like Figure 3 The gripper mechanism 1100 also includes a joint assembly 7 and two connecting members 6. The two connecting members 6 are spaced apart along the X1 direction and fixed to the gripper body 1. The joint assembly 7 is disposed between the two connecting members 6. The joint assembly 7 has output ends 71 ​​at both ends along the X1 direction. The two output ends 71 ​​are fixedly connected to the two connecting members 6 respectively to fix them to the gripper body 1. The output ends 71 ​​are rotatable relative to the external member 3. The rotation axis of the output ends 71 ​​is the rotation axis of the gripper body 1. The gripper body 1 is rotated by rotating the output ends 71 ​​relative to the external member 3 to adjust its posture. Of the two output ends 71, one can be used as a power output end 71 and the other as a support auxiliary end, or both can be used as power output ends 71. Figure 3 The joint assembly 7 and the external connector 3 are simplified in the diagram using dashed lines. For instructions on how to set up the joint assembly 7 and the external connector 3 in the robot so that the output end 71 of the joint assembly 7 can rotate relative to the external connector 3, please refer to the existing technology.

[0091] like Figure 6 In this embodiment, the installation interval distance between the gripper 21 and the rotating shaft of the gripper body 1 is H. H is the distance between the rotating shaft of the gripper body 1 and the nut 42. Specifically, in this embodiment, it is the farthest distance along the Z1 direction between the axis of the output end 71 of the joint assembly 7 and the outer surface of the nut 42. H is mainly affected by the height of the lead screw 41, the wall thickness of the nut 42, and the maximum diameter of the joint assembly 7. The setting of the motor 43 has no effect on H, making the size of H small. The rotation of the joint assembly 7 and the movement of the gripper 21 are close to the human hand operation experience, which is flexible and convenient to use.

[0092] The overall length of the gripper 21 assembly is L1, which mainly consists of the length of the guide rail 441 (L2) plus the length of the motor 43. The gripper 21 is mounted on the slider 442 via the gripper mounting piece 22. The movable width L3 of the two grippers 21 is L2 minus the length of the two sliders 442 themselves in the X1 direction, without occupying more space, and the overall fixation rigidity is good.

[0093] like Figure 2 , Figure 7 The gripper mechanism 1100 also includes a camera 81 and a camera mounting component 82. The camera mounting component 82 is fixed between two connecting components 6, and the camera 81 is fixed to the camera mounting component 82, thus fixing the camera 81 to the gripper body 1. The camera 81 is located between the two grippers 21 along the X1 direction, at one end of the gripper 21 along the Y1 direction, at the end of the gripper 21 facing the gripper body 1 along the Z1 direction, and at the end of the gripper 21 away from the gripper body 1 along the Z1 direction, so that the vertical viewing angle of the camera 81 is directly facing the ends of the two grippers 21. Within the viewing angle range α, the camera 81 can cover the end of the gripper 21 away from the camera 81 along the Y1 direction, thereby ensuring that the gripper 21 can capture the object being grasped, providing feedback to the user and facilitating precise control of the gripper 21's movement to grasp the object. In other embodiments, the number and installation position of the cameras 81 can be flexibly adjusted according to usage requirements; for example, two cameras 81 can be set, with the two cameras 81 located at the two ends of the gripper 21 along the Y1 direction. On the one hand, the gripper body 1 can rotate at any angle relative to the external component 3, ensuring that there is a camera 81 facing the item being gripped by the gripper 21; on the other hand, if the gripper mechanism 1100 is used in a left-right situation, it is convenient to set the same cameras 81 in the left and right gripper mechanisms 1100, thereby improving versatility.

[0094] Example 2

[0095] This embodiment provides a robot. Figure 8 This is a schematic diagram of this embodiment.

[0096] like Figure 8 The robot 10000 includes a robot body 2000 and a robotic arm 1000. The robotic arm 1000 includes an arm 1200 and a gripper mechanism 1100. One end of the arm 1200 is mounted on the robot body 2000 in the extending direction, and the other end is fixedly connected to an external component in the gripper mechanism 1100. In this embodiment, the structure of the gripper mechanism 1100 can refer to Embodiment 1 or other embodiments.

[0097] like Figure 8 The extension direction of the robotic arm 1000 is perpendicular to the first direction of the gripper mechanism 1100, so that the gripper mechanism 1100 is positioned relative to the arm 1200 in a manner similar to that of a human hand relative to an arm, allowing for flexible operation.

[0098] like Figure 8 The arm 1200 is rotatably configured relative to the robot body 2000 in three directions: length (X2), width, and height (Z2) around the robot 10000. When the arm 1200 is in its initial state and has not yet rotated around the robot 10000 in these directions, the first direction of the gripper mechanism 1100 is parallel to the length (X2) of the robot 10000. The robot 10000 provided in this embodiment has an arm 1200 similar to a human arm with three degrees of rotational freedom, and a gripper mechanism 1100 similar to a human hand with one degree of rotational freedom. This gives the robot 10000 at least four degrees of rotational freedom to manipulate the gripper mechanism 1100 to adjust its posture, resulting in flexible control and ease of use. Extensive information regarding how to configure the arm 1200 to rotate relative to the robot body 2000 is available in the prior art and can be referred to therein.

[0099] While specific embodiments of this utility model have been described above, those skilled in the art should understand that these are merely illustrative examples, and the scope of protection of this utility model is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principles and essence of this utility model, but all such changes and modifications fall within the scope of protection of this utility model.

Claims

1. A gripper mechanism for a robot, comprising: External components; The gripper body is rotatably configured relative to the external component; Two grippers; A drive transmission device is used to drive the two grippers to move closer or further apart relative to each other along a first direction; The characteristic is that the rotation axis of the gripper body is parallel to the first direction, and the drive transmission device includes: The lead screw extends along a first direction and has two externally threaded portions spaced apart along the first direction and with opposite directions of rotation. Two nuts, one-to-one with the external thread portion and the jaw, the jaw is fixed on the corresponding nut, the nut is slidably mounted on the jaw body along the first direction and engages with the corresponding external thread portion; A motor is mounted on the gripper body and located at one end of the lead screw along the first direction. The output shaft of the motor is connected to the lead screw for driving the lead screw to rotate.

2. The gripper mechanism of the robot according to claim 1, wherein The output shaft of the motor is fixedly connected to the lead screw; And / or, the gripper mechanism further includes an encoder, the encoder including a magnetic element and a magnetic induction chip, the magnetic induction chip being fixed on the gripper body, and the magnetic element being drively connected to the output shaft of the motor.

3. The gripper mechanism of the robot according to claim 1, wherein The rotor of the motor is sleeved on the outer periphery of the stator of the motor and fixedly connected to the output shaft. The stator is fixed on the gripper body and is used to drive the rotor to rotate. The output shaft passes through the inside of the stator. And / or, the gripper mechanism further includes an encoder and meshing first gear and second gear. The encoder includes a magnetic component and a magnetic induction chip. The magnetic induction chip is fixed on the gripper body, the magnetic component is fixed on the first gear, and the second gear is sleeved and fixed on the output shaft.

4. The gripper mechanism of the robot according to claim 3, wherein The motor also includes a first end cover, the rotor and the output shaft are fixedly connected by the first end cover, the first end cover is located on and covers the end of the rotor and the stator away from the lead screw along a first direction, and the encoder is disposed at the end of the motor facing the lead screw along the first direction; And / or, the motor further includes a gear shaft, a stator mounting component, and a second end cover, the second end cover being located at one end of the stator mounting component facing the lead screw in a first direction, the stator being fixed on the stator mounting component, the stator mounting component, the second end cover and the gripper body being fixedly connected, the first gear being fixed on the gear shaft, and the gear shaft being rotatably mounted on the second end cover and the stator mounting component.

5. The gripper mechanism of the robot as claimed in claim 1, wherein, The drive transmission device further includes a guide assembly, which includes a slidingly fitted guide rail and two sliders. The guide rail extends parallel to the first direction and is fixed on the gripper body. The sliders and nuts in the guide assembly correspond one-to-one and are fixedly connected. The guide components are in two sets, disposed at both ends of the lead screw along a second direction, the second direction being perpendicular to the first direction. The gripper mechanism also includes two gripper mounting parts corresponding to the grippers, and the nut, the slider, and the grippers are all fixed on the corresponding gripper mounting parts; and / or, the gripper body is provided with two limiting parts, the two limiting parts being located at both ends of the lead screw along the first direction, and the slider being restricted between the two limiting parts; and / or, the lead screw is a trapezoidal lead screw or a ball screw.

6. The gripper mechanism of the robot as claimed in claim 1, wherein, The gripper mechanism includes a joint assembly and two connectors spaced apart along a first direction and fixed to the gripper body. The joint assembly is disposed between the two connectors. Each end of the joint assembly along the first direction has an output end, and the output end corresponds to the connector. The output end is fixed to the gripper body through the corresponding connector and is rotatably mounted on the external component. And / or, the external component, the gripper body, and the gripper are arranged sequentially along a third direction perpendicular to the first direction.

7. The gripper mechanism of the robot as described in claim 1, characterized in that, The grippers and gripper bodies are arranged sequentially along a third direction. The gripper mechanism also includes a camera, which is mounted on the gripper body and located at one end of the two grippers along the second direction, the middle of the two grippers along the first direction, one end of the two grippers facing the gripper body along the third direction, and one end of the two grippers facing away from the gripper body along the third direction. The first direction, the second direction, and the third direction are perpendicular to each other. There are two cameras, which are located at the two ends of the grippers along the second direction.

8. A robot arm comprising an arm, characterized in that The robotic arm further includes a gripper mechanism for the robot as described in any one of claims 1-7, and the external component is mounted on the arm.

9. A robot comprising a robot body and a robot arm, the robot arm comprising an arm, characterized in that The robotic arm further includes a gripper mechanism for the robot as described in any one of claims 1-7, wherein one end of the arm extending in the direction of extension is mounted on the robot body and the other end is connected to the external connector.

10. The robot of claim 9, wherein, One end of the arm extending in the direction of extension is rotatably mounted on the robot body around the length, width, and height directions of the robot. The robotic arm is configured such that when the arm is in its initial position before rotating around the width and height directions of the robot, the first direction is parallel to the length direction of the robot. And / or, the extension direction of the robotic arm is perpendicular to the first direction.

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