Clamping jaw, manipulator and experimental apparatus

Abstract

A clamping jaw (10), comprising a fixed base (11), a transmission rod (12), a movable base (13), a plurality of transmission structures (14) and a plurality of fingers (15), wherein the transmission rod (12) is movably connected to the fixed base (11); the movable base (13) is connected to the transmission rod (12) and can move relative to the fixed base (11) in the axial direction of the transmission rod (12); the plurality of transmission structures (14) are movably connected to both the fixed base (11) and the movable base (13), and the plurality of transmission structures (14) are spaced apart from each other in the circumferential direction of the transmission rod (12); the plurality of fingers (15) are connected to the plurality of transmission structures (14) in a one-to-one correspondence; the transmission rod (12) moves to drive the movable base (13) to move in the axial direction of the transmission rod (12), the movable base (13) drives the plurality of transmission structures (14) to move synchronously, and the plurality of transmission structures (14) drive the plurality of fingers (15) to move synchronously in the radial direction of the transmission rod (12). Also provided is a manipulator. Also provided is an experimental apparatus.

Description

grippers, robotic arms and experimental equipment

[0001] This application claims priority to Chinese Patent Application No. 202422634459.9, filed on October 29, 2024, entitled "Grippers, Robotic Hands and Experimental Apparatus", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of experimental equipment technology, specifically to a gripper, a robotic arm, and experimental equipment. Background Technology

[0003] When conducting experiments, items such as test tubes for liquids, powder cylinders for powders, and material trays are needed, and clamping devices are usually required to grasp these items.

[0004] Currently, each gripping arm of the gripper requires a separate drive structure, resulting in a large space occupation for the gripper. Summary of the Invention

[0005] The purpose of this application is to provide a gripper, a robotic arm, and an experimental device to solve the problem of large space occupation by grippers.

[0006] To achieve the objectives of this application, the following technical solution is provided:

[0007] In a first aspect, this application provides a gripper, including a fixed base, a transmission rod, a movable base, multiple transmission structures, and multiple fingers. The transmission rod is movably connected to the fixed base; the movable base is connected to the transmission rod and is movable relative to the fixed base along the axial direction of the transmission rod; the multiple transmission structures are movably connected to both the fixed base and the movable base, and are spaced apart circumferentially along the transmission rod; the multiple fingers are connected to the multiple transmission structures in a one-to-one correspondence; wherein, the transmission rod moves to drive the movable base to move axially along the transmission rod, the movable base drives the multiple transmission structures to move synchronously, and the multiple transmission structures drive the multiple fingers to move synchronously radially along the transmission rod.

[0008] In one embodiment, the fixed base includes a first base body and a plurality of first connecting parts. The plurality of first connecting parts are connected to the first base body. The transmission rod passes through the first base body and is movably connected to the first base body. The plurality of first connecting parts are spaced apart along the circumference of the transmission rod. The plurality of transmission structures are rotatably connected to the plurality of first connecting parts in a one-to-one correspondence.

[0009] In one embodiment, the movable seat includes a second seat body and a plurality of second connecting parts. The plurality of second connecting parts are connected to the second seat body and protrude outward from the second seat body along the radial direction of the transmission rod. The transmission rod is connected to the second seat body. The plurality of second connecting parts are spaced apart circumferentially along the transmission rod. The plurality of transmission structures are movably connected to the plurality of second connecting parts in a one-to-one correspondence.

[0010] In one embodiment, one end of the transmission rod is fixedly or slidably connected to the movable seat, and the transmission rod can move relative to the fixed seat along its own axial direction to drive the movable seat to move; or, the transmission rod is drivenly connected to the movable seat, and the transmission rod can rotate about its own axis to move the movable seat along the axial direction of the transmission rod.

[0011] In one embodiment, the gripper further includes a gripper drive member, which is disposed on the fixed base and is in transmission cooperation with the transmission rod. The gripper drive member is used to drive the transmission rod to move.

[0012] In one embodiment, the gripper drive is a motor, the transmission rod is a lead screw, the gripper drive is connected to the transmission rod, the transmission rod is connected to the movable seat through a nut, and the gripper drive drives the transmission rod to rotate so that the movable seat moves along the axial direction of the transmission rod; or, the gripper drive is a motor, the gripper drive is connected to the transmission rod through a gear and rack pair, and the gripper drive drives the transmission rod to move along its own axial direction to move the movable seat.

[0013] In one embodiment, the gripper further includes a first mating member disposed on the transmission rod. The first mating member is used to engage with a second mating member for transmission, and the second mating member is used to transmit power so that the first mating member drives the transmission rod to move.

[0014] In one embodiment, the transmission rod is slidably connected to the fixed seat and the movable seat along the axial direction of the transmission rod, and the gripper further includes an elastic element, one end of which elastically abuts against the transmission rod and the other end of which elastically abuts against the movable seat.

[0015] In one embodiment, the transmission rod is a splined shaft, and the gripper further includes a first spline nut and a second spline nut. The first spline nut and the second spline nut are spaced apart along the axial direction of the transmission rod, and are both sleeved on the transmission rod and movably connected to the transmission rod. The first spline nut is connected and fixed to the fixed seat, and the second spline nut is connected and fixed to the movable seat.

[0016] In one embodiment, both the first spline nut and the second spline nut are slidably connected to the transmission rod along the axial direction of the transmission rod; the gripper further includes a gripper drive member, which is connected to the fixed base and to one end of the transmission rod, and is used to drive the transmission rod to move along its own axial direction.

[0017] In one embodiment, the transmission rod is also capable of rotating about its own axis relative to the gripper drive; the gripper drive is a motor, and the transmission rod is rotatably connected to the output end of the gripper drive via a transition bearing.

[0018] In one embodiment, the gripper further includes a locking member, a limiting member, and an elastic member. The locking member is disposed at the end of the transmission rod and located on the side of the movable seat facing away from the fixed seat. The limiting member is disposed on the transmission rod and located between the first spline nut and the second spline nut. One end of the elastic member elastically abuts against the limiting member, and the other end elastically abuts against the movable seat.

[0019] In one embodiment, the gripper further includes a rotating mechanism connected to the fixed base and capable of driving the fixed base to rotate axially about the transmission rod.

[0020] In one embodiment, both the first spline nut and the second spline nut are fixed relative to the transmission rod in the circumferential direction; the rotating mechanism includes a rotating drive, a first rotating gear and a second rotating gear, the rotating drive is connected to the first rotating gear, the second rotating gear is connected to the fixed base, the first rotating gear meshes with the second rotating gear, and the rotating drive drives the first rotating gear to rotate and drive the second rotating gear to rotate, so as to drive the fixed base and the transmission rod to rotate synchronously.

[0021] In one embodiment, the gripper further includes a mounting base and a pressure plate. The gripper drive and the rotary drive are both disposed on the mounting base. The fixed base is rotatably connected to the mounting base via a rotary bearing. The pressure plate is disposed on the fixed base and is used to limit the rotary bearing in the axial direction of the transmission rod.

[0022] In one embodiment, the transmission structure includes a first connecting rod and a transmission mechanism. One end of the first connecting rod is rotatably connected to the fixed seat, and the other end is rotatably connected to the transmission mechanism. The transmission mechanism is movably connected to the movable seat, and the finger is connected to the transmission mechanism.

[0023] In one embodiment, the transmission mechanism includes a second connecting rod, a first sliding part, and a second sliding part. One end of the second connecting rod is rotatably connected to the end of the first connecting rod away from the fixed seat. The first sliding part is disposed on the second connecting rod, and the second sliding part is disposed on the movable seat. The first sliding part and the second sliding part are slidably connected in the radial direction of the transmission rod. The finger is connected to the end of the second connecting rod away from the first connecting rod.

[0024] In one embodiment, the second link includes a first segment and a second segment. One end of the first segment is rotatably connected to the end of the first link away from the fixed base. One end of the second segment is fixedly connected to the end of the first segment away from the first link. An angle is formed between the first segment and the second segment. The first sliding part is disposed on the second segment. The finger is connected to the end of the second segment away from the first segment.

[0025] In one embodiment, the transmission mechanism includes a third link, a fourth link, and a fifth link. One end of the third link is rotatably connected to the end of the first link away from the fixed seat, and the other end of the third link is rotatably connected to one end of the fourth link. The third link is also rotatably connected to the movable seat. The end of the fourth link away from the third link is connected to the finger. Both ends of the fifth link are rotatably connected to the fourth link and the movable seat, respectively.

[0026] In one embodiment, the third link includes a third segment and a fourth segment. One end of the third segment is rotatably connected to the end of the first link away from the fixed base, and the other end is connected to the fourth segment. The end of the fourth segment near the third segment is rotatably connected to the movable base, and the other end is rotatably connected to the fourth link. The third segment and the fourth segment have an included angle, and the third segment extends from the fourth segment toward the direction near the transmission rod. The first link extends from the fixed base toward the direction near the transmission rod, and the fourth link extends from the fourth segment toward the direction near the transmission rod.

[0027] Secondly, this application also provides a robotic hand, including a robotic arm and a gripper as described in any one of the various embodiments of the first aspect, wherein the gripper's mounting base is connected to the robotic arm.

[0028] In one embodiment, the robotic arm includes a base, a connecting seat, and a support arm assembly. The connecting seat is connected to the fixed seat. One end of the support arm assembly is connected to the base, and the other end is connected to the connecting seat. The support arm assembly is used to drive the connecting seat to move in space.

[0029] In one embodiment, the support arm assembly includes a first drive mechanism, a first connecting arm, and a second connecting arm. The first drive mechanism is disposed on the base. One end of the first connecting arm is connected to the first drive mechanism, and the other end is rotatably connected to the second connecting arm. One end of the second connecting arm is connected to the connecting seat.

[0030] In one embodiment, the support arm assembly further includes a second drive mechanism, a third connecting arm, and a fourth connecting arm. The second drive mechanism is disposed on the base. One end of the third connecting arm is connected to the second drive mechanism, and the other end is rotatably connected to one end of the fourth connecting arm. The other end of the fourth connecting arm is rotatably connected to the second connecting arm, and the connection position between the fourth connecting arm and the second connecting arm is spaced apart from the connection position between the first connecting arm and the second connecting arm.

[0031] In one embodiment, the fourth connecting arm and the connecting seat are rotatably connected to opposite ends of the second connecting arm along its length, and the first connecting arm is rotatably connected to a position between the two ends of the second connecting arm.

[0032] In one embodiment, the first connecting arm includes a first connecting plate, a second connecting plate, and a plurality of first connecting posts. The first connecting plate and the second connecting plate are arranged relatively spaced apart, and the plurality of first connecting posts are connected between the first connecting plate and the second connecting plate, and the plurality of first connecting posts are spaced apart. The second connecting arm includes a third connecting plate, a fourth connecting plate, and a plurality of second connecting posts. The third connecting plate and the fourth connecting plate are arranged relatively spaced apart, and the plurality of second connecting posts are connected between the third connecting plate and the fourth connecting plate, and the plurality of second connecting posts are spaced apart. The first connecting plate is rotatably connected to the third connecting plate, the second connecting plate is rotatably connected to the fourth connecting plate, and the fourth connecting arm is rotatably connected to both the third connecting plate and the fourth connecting plate.

[0033] In one embodiment, the robotic arm further includes an adjusting arm assembly, one end of which is connected to the base and the other end of which is connected to the connecting seat. The connecting seat is rotatably connected to the second connecting arm, and the adjusting arm assembly is used to drive the connecting seat to rotate relative to the second connecting arm.

[0034] In one embodiment, the adjusting arm assembly includes a third drive mechanism, a first adjusting arm, a second adjusting arm, an adjusting plate, and a third adjusting arm. The third drive mechanism is disposed on the base. One end of the first adjusting arm is connected to the third drive mechanism, and the other end of the first adjusting arm is rotatably connected to one end of the second adjusting arm. The adjusting plate is rotatably connected to the first connecting arm. The end of the second adjusting arm away from the first adjusting arm is rotatably connected to the adjusting plate. The two ends of the third adjusting arm are rotatably connected to the adjusting plate and the connecting base, respectively. The three positions where the adjusting plate is rotatably connected to the first connecting arm, the second adjusting arm, and the third adjusting arm form a triangle.

[0035] In one embodiment, one end of the adjusting arm assembly is fixedly connected to the base, and the other end is rotatably connected to the connecting seat. The adjusting arm assembly includes a first adjusting arm, a second adjusting arm, an adjusting plate, and a third adjusting arm. One end of the first adjusting arm is fixedly connected to the base, and the other end of the first adjusting arm is rotatably connected to one end of the second adjusting arm. The adjusting plate is rotatably connected to the first connecting arm. The end of the second adjusting arm away from the first adjusting arm is rotatably connected to the adjusting plate. The two ends of the third adjusting arm are rotatably connected to the adjusting plate and the connecting seat, respectively. The three positions where the adjusting plate is rotatably connected to the first connecting arm, the second adjusting arm, and the third adjusting arm form a triangle.

[0036] In one embodiment, the first connecting arm is rotatably connected to the adjusting plate about a first rotation axis, the third adjusting arm is rotatably connected to the adjusting plate about a second rotation axis, the second connecting arm is rotatably connected to the connecting seat about a third rotation axis, and the third adjusting arm is rotatably connected to the connecting seat about a fourth rotation axis; the first rotation axis, the second rotation axis, the third rotation axis, and the fourth rotation axis are all parallel to each other, and the distance between the first rotation axis and the second rotation axis is equal to the distance between the third rotation axis and the fourth rotation axis, and the distance between the first rotation axis and the third rotation axis is equal to the distance between the second rotation axis and the fourth rotation axis;

[0037] And / or, the first adjusting arm and the second adjusting arm are rotatably connected about a fifth rotation axis, the first driving mechanism drives the first connecting arm to rotate about a sixth rotation axis, and the second adjusting arm is rotatably connected to the adjusting plate about a seventh rotation axis; the first rotation axis, the fifth rotation axis, the sixth rotation axis, and the seventh rotation axis are all parallel to each other, and the distance between the first rotation axis and the sixth rotation axis is equal to the distance between the fifth rotation axis and the seventh rotation axis;

[0038] And / or, the rotation axis of the third connecting arm driven by the second driving mechanism coincides with the sixth rotation axis, the rotation axis of the first connecting arm and the second connecting arm rotatably connected coincides with the first rotation axis, the third connecting arm and the fourth connecting arm are rotatably connected around the eighth rotation axis, and the fourth connecting arm and the second connecting arm are rotatably connected around the ninth rotation axis; the first rotation axis, the sixth rotation axis, the eighth rotation axis and the ninth rotation axis are all parallel to each other, and the distance between the first rotation axis and the sixth rotation axis is equal to the distance between the eighth rotation axis and the ninth rotation axis, and the distance between the first rotation axis and the ninth rotation axis is equal to the distance between the sixth rotation axis and the eighth rotation axis.

[0039] In one embodiment, the gripper further includes a first mating member connected to the transmission rod; the manipulator further includes a gripper drive assembly, one end of which is connected to the base and the other end of which is in transmission engagement with the first mating member, the gripper drive assembly being used to drive the first mating member to move so that the transmission rod moves along its own axial direction.

[0040] In one embodiment, the gripper drive assembly includes a fourth drive mechanism, a belt drive mechanism, and a second mating component. The fourth drive mechanism is disposed on the base, the second mating component is rotatably connected to one end of the second connecting arm near the connecting seat, and the second mating component is in transmission engagement with the first mating component. The belt drive mechanism is in engagement with the fourth drive mechanism and the second mating component.

[0041] In one embodiment, the belt drive mechanism includes a first synchronous pulley, a second synchronous pulley, a third synchronous pulley, a first synchronous belt, and a second synchronous belt. The first synchronous pulley is connected to the fourth drive mechanism. The first synchronous pulley and the second synchronous pulley are connected via the first synchronous belt. The second synchronous pulley and the third synchronous pulley are connected via the second synchronous belt. The second synchronous pulley is rotatably connected to the first connecting arm. The third synchronous pulley is engaged with a second mating component. The first mating component is a rack, and the second mating component is a gear. The rack meshes with the gear.

[0042] In one embodiment, the robotic arm further includes a rotation drive and a rotating disk. The base is fixedly connected to the rotating disk, and the rotation drive is connected to the rotating disk and can drive the rotating disk to rotate.

[0043] Thirdly, this application also provides an experimental device, including a gripper as described in any one of the various embodiments of the first aspect, or a robotic arm as described in any one of the various embodiments of the second aspect.

[0044] The gripper in this embodiment is equipped with a movable seat that is connected to the transmission rod and can move relative to the fixed seat along the axial direction of the transmission rod. The fingers are connected to both the fixed seat and the movable seat through a transmission structure. The transmission rod drives the movable seat to move relative to the fixed seat to change the space between the multiple fingers, thereby achieving the gripping of the target object. There is no need to set up separate drive structures for multiple fingers. The gripper has a small and compact structure and occupies little space. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0046] Figure 1 is a perspective view of the gripper in one embodiment;

[0047] Figure 2 is a perspective view of the gripper according to another embodiment;

[0048] Figure 3 is a perspective view of a robotic arm according to one embodiment;

[0049] Figure 4 is a perspective view of the robotic arm of one embodiment from another angle;

[0050] Figure 5 is a perspective view of a robotic arm according to another embodiment;

[0051] Figure 6 is a perspective view of the robotic arm from another angle in another embodiment;

[0052] Figure 7 is a perspective view of the gripper in another embodiment;

[0053] Figure 8 is a cross-sectional schematic diagram of the gripper according to another embodiment;

[0054] Figure 9 is a perspective view of the gripper from another angle in yet another embodiment;

[0055] Figure 10 is a perspective view of a robotic arm according to another embodiment.

[0056] Explanation of reference numerals in the attached drawings: 100-Manipulator; 10-Gripper; 11-Fixed base; 111-First base; 112-First connecting part; 12-Transmission rod; 13-Modible base; 131-Second base; 132-Second connecting part; 14-Transmission structure; 141-First link; 142-Transmission mechanism; 143-Second link; 1431-First segment; 1432-Second segment; 1433-Through hole; 144-First sliding part; 145-Second sliding part; 146-Third link; 1461-Third segment; 1462-Fourth segment; 147-Fourth link; 148-Fifth link; 15-Finger 16-First mating part, 17-Elastic part, 181-First spline nut, 182-Second spline nut, 183-Transfer bearing, 184-Transfer connector, 185-Locking part, 186-Limiting part, 187-Mounting base, 188-Pressure plate, 189-Gripper drive, 19-Rotating mechanism, 191-Rotating drive, 192-First rotating gear, 193-Second rotating gear, 194-Rotating bearing, 195-Sensing plate; 20-Robotic arm, 21-Base, 211-Base plate, 212-Side plate, 22-Connecting seat, 23-Support arm assembly, 231-First drive mechanism, 232-First connecting arm, 2321-First connecting plate, 2322-Second connecting plate, 2323-First connecting column, 233-Second connecting arm, 2331-Third connecting plate, 2332-Fourth connecting plate, 2333-Second connecting column, 234-Second drive mechanism, 235-Third connecting arm, 236-Fourth connecting arm, 24-Adjusting arm assembly, 241-Third drive mechanism, 242-First adjusting arm, 243-Second adjusting arm, 244-Adjusting plate, 245-Third adjusting arm; 30-Gripper drive assembly; 31-Fourth drive mechanism; 32-Belt drive mechanism; 321-First synchronous pulley; 322-Second synchronous pulley; 323-Third synchronous pulley; 324-First synchronous belt; 325-Second synchronous belt; 33-Second mating part; 41-Rotation drive component; 42-Rotary disk; L1-First rotation axis; L2-Second rotation axis; L3-Third rotation axis; L4-Fourth rotation axis; L5-Fifth rotation axis; L6-Sixth rotation axis; L7-Seventh rotation axis; L8-Eighth rotation axis; L9-Ninth rotation axis. Detailed Implementation

[0057] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0058] It should be noted that when a component is said to be "fixed" to another component, it can be directly on the other component or it can be in a middle component. When a component is said to be "connected" to another component, it can be directly connected to the other component or it may be in a middle component.

[0059] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. The terminology used in the specification of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and / or" as used in this application includes any and all combinations of one or more of the associated listed items.

[0060] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0061] Please refer to Figures 1 to 10. This application embodiment provides a gripper 10, including a fixed base 11, a transmission rod 12, a movable base 13, multiple transmission structures 14, and multiple fingers 15.

[0062] The structure of the fixing base 11 is not limited, and the fixing base 11 can be used as a support foundation for other structures. The fixing base 11 can be roughly flat or curved, and its cross-section can be circular, rectangular, regular hexagonal, regular octagonal, etc., without any specific limitations.

[0063] The fixed base 11 is also used to connect with a motion mechanism, which can move the gripper 10 by moving the fixed base 11. The motion mechanism can be a robotic arm, such as a four-axis robotic arm or a six-axis robotic arm; or a multi-directional translation mechanism, such as a horizontal movement mechanism, a vertical movement mechanism, or an XYZ three-axis movement mechanism. The specific structure of the motion mechanism can refer to any feasible solution, and this application embodiment does not impose any limitations.

[0064] The motion mechanism moves the gripper 10 to the location where the target object is stored, and then uses the gripper 10 to hold the target object and move it to the target location. The function of the gripper 10 is to stably hold the target object. The target object can be various containers used to hold substances. Alternatively, the target object can be a tray used to hold containers. The substances can be biological reagents, chemical reagents, solid powders, consumables, etc., without limitation. Substances are usually contained in containers (not shown), such as test tubes, centrifuge tubes, solvent bottles, glass slides, silicon disks, and well plates, and the containers can be placed on the tray. The embodiments of this application do not limit the structure of the containers or trays. It is understood that, in addition to holding trays, the gripper 10 can also be used to hold other materials, such as frame-shaped objects, plate-shaped objects, etc., and the embodiments of this application do not limit this.

[0065] The transmission rod 12 is movably connected to the fixed base 11. Optionally, the transmission rod 12 passes through the fixed base 11 and is movably connected to the fixed base 11. Alternatively, the transmission rod 12 is movably connected to one side surface of the fixed base 11. The cross-section of the transmission rod 12 can be square, circular, triangular, regular polygonal, etc., without any specific limitation. The transmission rod 12 can rotate about its own axis relative to the fixed base 11, and can also move along its own axial direction relative to the fixed base 11, without limitation.

[0066] The movable seat 13 is connected to the transmission rod 12 and can move axially relative to the fixed seat 11 along the transmission rod 12. The movable seat 13 can be connected to one end of the transmission rod 12 or between the two ends of the transmission rod 12. The connection between the movable seat 13 and the transmission rod 12 can be a fixed connection, such as welding, bonding, snap-fitting, screwing, riveting, etc., without any specific limitation. The connection between the movable seat 13 and the transmission rod 12 can also be a sliding connection. Driven by the transmission rod 12, the movable seat 13 can move axially toward or away from the fixed seat 11 along the transmission rod 12.

[0067] Multiple transmission structures 14 are movably connected to both the fixed base 11 and the movable base 13, and the multiple transmission structures 14 are spaced apart along the circumference of the transmission rod 12. Multiple fingers 15 are connected to the multiple transmission structures 14 in a one-to-one correspondence.

[0068] The movable connection between the transmission structure 14 and the fixed seat 11 and the movable seat 13 can be a sliding connection or a rotating connection. The connection method can be snap-fit, screw-fit, riveting, hinge, pivot, shaft connection, etc., without limitation. In one embodiment, the transmission structure 14 is rotatably connected to the fixed seat 11, and the transmission structure 14 is slidably connected to the movable seat 13.

[0069] The number of transmission structures 14 can be two, three, four, five, six, etc., without limitation. In one specific embodiment, as shown in the figure, the number of transmission structures 14 is four. Optionally, multiple transmission structures 14 are arranged at circumferential intervals along the transmission rod 12 and are symmetrical about the axis of the transmission rod 12.

[0070] The shape of the finger 15 is not specifically limited; it can be a straight rod or a plate, extending along the axis of the transmission rod 12. The finger 15 can also be an arc-shaped or "V"-shaped structure protruding radially from the transmission rod 12, depending on actual needs. The finger 15 can be fixedly connected to the transmission structure 14, or it can be movably connected. The connection method between the finger 15 and the transmission structure 14 can be welding, bonding, snap-fitting, screwing, riveting, etc., with no specific limitations. The number of fingers 15 can be two, three, four, five, six, etc., corresponding to the number of transmission structures 14, with no limitation.

[0071] The transmission rod 12 moves to drive the movable seat 13 to move along the axial direction of the transmission rod 12. The movable seat 13 drives multiple transmission structures 14 to move synchronously. The multiple transmission structures 14 drive multiple fingers 15 to move synchronously in the radial direction of the transmission rod 12.

[0072] Existing grippers typically apply clamping force circumferentially to the target object. Therefore, a large clamping force is required to overcome gravity, meaning a sufficient frictional force is provided to the target object to overcome its weight. Each finger of an existing gripper generally requires a separate drive structure, resulting in a large space occupied by the gripper. A significant amount of space needs to be reserved for the gripper's movement within the storage space of the target object, which is unfavorable for gripping in small spaces or when objects are densely packed together.

[0073] When gripping a target object, the gripper 10 is moved near the target object, and the transmission rod 12 moves to drive the movable seat 13 to move relative to the fixed seat 11 along the axial direction of the transmission rod 12. When the movable seat 13 moves toward the fixed seat 11, the movable seat 13 drives the transmission structure 14 to move synchronously. The transmission structure 14 drives multiple fingers 15 to move outward in the radial direction of the transmission rod 12, so that the gripper 10 opens and the target object can be inserted into the space between the multiple fingers 15 for easy gripping. When the movable seat 13 moves away from the fixed seat 11, the movable seat 13 drives the transmission structure 14 to move synchronously. The transmission structure 14 drives multiple fingers 15 to move inward in the radial direction of the transmission rod 12. The space between the multiple fingers 15 shrinks until it is equal to the corresponding size of the target object, so that the multiple fingers 15 of the gripper 10 clamp the target object, so that the gripper 10 tightens.

[0074] In this embodiment, the gripper 10 is equipped with a movable seat 13 that is connected to the transmission rod 12 and can move relative to the fixed seat 11 along the axial direction of the transmission rod 12. The fingers 15 are connected to both the fixed seat 11 and the movable seat 13 via the transmission structure 14. The transmission rod 12 drives the movable seat 13 to move relative to the fixed seat 11 to change the space between the multiple fingers 15, thereby achieving the gripping of the target object. There is no need to set up separate drive structures for the multiple fingers 15. The gripper 10 has a small and compact structure and occupies little space.

[0075] In one embodiment, referring to FIG1, the fixed base 11 includes a first base body 111 and a plurality of first connecting parts 112. The plurality of first connecting parts 112 are connected to the first base body 111. The transmission rod 12 passes through the first base body 111 and is movably connected to the first base body 111. The plurality of first connecting parts 112 are arranged at intervals along the circumference of the transmission rod 12. A plurality of transmission structures 14 are rotatably connected to the plurality of first connecting parts 112 in a one-to-one correspondence.

[0076] The fixing base 11 can be made of a material with high structural strength, specifically metal, high-strength plastic, ceramic, etc. Metal materials include aluminum, aluminum alloys, magnesium alloys, iron, and iron alloys. The fixing base 11 can be a one-piece structure, meaning the first base body 111 and the multiple first connecting parts 112 are manufactured using a single molding process, such as stamping or casting, without limitation. Alternatively, the fixing base 11 can be a separate structure, where the first base body 111 and the multiple first connecting parts 112 can be connected and fixed by welding, bonding, snap-fitting, screwing, riveting, etc.

[0077] The first seat 111 can be flat, curved, or otherwise, without limitation. Optionally, a plurality of first connecting portions 112 protrude outward from the first seat 111. The plurality of first connecting portions 112 can protrude outward along the radial direction of the first seat 111, or the plurality of first connecting portions 112 can protrude from the surface of the first seat 111 facing the movable seat 13, without limitation.

[0078] Optionally, the first base 111 has a connecting hole, through which the transmission rod 12 passes and is movably connected to the side wall of the connecting hole.

[0079] The rotational connection between the transmission structure 14 and the first connecting part 112 can be a snap-fit, screw-fit, riveting, hinge, pivot, shaft connection, etc., without limitation. The number of the first connecting parts 112 can be two, three, four, five, six, etc., without limitation. In a specific embodiment, as shown in Figures 1 and 3, the number of the first connecting parts 112 is four.

[0080] Optionally, the number of first connecting parts 112, transmission structures 14 and fingers 15 are the same, each first connecting part 112 is connected to a transmission structure 14, and each transmission structure 14 is connected to a finger 15 at the end away from the first connecting part 112.

[0081] By setting the fixing base 11, which includes a first base body 111 and multiple first connecting parts 112, the multiple first connecting parts 112 are spaced apart circumferentially along the transmission rod 12 and are connected one-to-one with multiple transmission structures 14. The gripper 10 can provide sufficient clamping force to the target object circumferentially, and the gripper 10 clamps stably, making it difficult for the target object to tilt. Optionally, the multiple first connecting parts 112 are spaced apart circumferentially along the transmission rod 12 and are symmetrical about the axis of the transmission rod 12. This arrangement ensures that the multiple transmission structures 14 connected to it are also symmetrical about the axis of the transmission rod 12, and thus the multiple fingers 15 are also symmetrical about the axis of the transmission rod 12, ensuring that the clamping force applied to the target object by the multiple fingers 15 is evenly distributed and improving clamping stability.

[0082] In one embodiment, referring to FIG1, the movable seat 13 includes a second seat body 131 and a plurality of second connecting parts 132. The plurality of second connecting parts 132 are connected to the second seat body 131 and protrude outward from the second seat body 131 along the radial direction of the transmission rod 12. The transmission rod 12 is connected to the second seat body 131. The plurality of second connecting parts 132 are arranged at intervals along the circumference of the transmission rod 12. A plurality of transmission structures 14 are movably connected to the plurality of second connecting parts 132 in a one-to-one correspondence.

[0083] The movable base 13 can be made of a material with high structural strength, specifically metal, high-strength plastic, ceramic, etc. Metal materials include aluminum, aluminum alloys, magnesium alloys, iron, and iron alloys. The movable base 13 can be a one-piece structure, meaning the second base body 131 and the multiple second connecting parts 132 are manufactured using a single molding process, such as stamping or casting, without limitation. Alternatively, the movable base 13 can be a separate structure, where the second base body 131 and the multiple second connecting parts 132 can be connected and fixed by welding, bonding, snap-fitting, screwing, riveting, etc.

[0084] Multiple second connecting portions 132 protrude radially outward from the second seat 131 along the transmission rod 12. Optionally, the second connecting portions 132 are generally rod-shaped and extend radially along the transmission rod 12. In orthographic projection along the direction from the fixed seat 11 to the movable seat 13, at least a portion of the second connecting portions 132 protrudes from the fixed seat 11.

[0085] The number of second connecting parts 132 can be two, three, four, five, six, etc., without limitation. In one specific embodiment, as shown in FIG1, the number of second connecting parts 132 is four. Optionally, multiple second connecting parts 132 are arranged at intervals along the circumference of the transmission rod 12 and are symmetrical about the axis of the transmission rod 12.

[0086] Optionally, the number of second connecting parts 132 is the same as the number of first connecting parts 112, and the second connecting parts 132 and the first connecting parts 112 are arranged in a one-to-one correspondence. That is, in the orthographic projection along the direction from the fixed seat 11 to the movable seat 13, the corresponding second connecting parts 132 and the first connecting parts 112 are located on the same straight line extending radially along the transmission rod 12.

[0087] Similarly, multiple transmission structures 14 are movably connected to multiple second connecting parts 132 in a one-to-one manner. The movable connection can be a rotating connection or a sliding connection, without limitation. The connection method between the transmission structure 14 and the second connecting part 132 can be snap-fit, screw-fit, riveting, hinge, pivot, shaft connection, etc., without limitation.

[0088] In one specific embodiment, as shown in FIG1, multiple transmission structures 14 are rotatably connected to multiple first connecting parts 112 in a one-to-one correspondence, and multiple transmission structures 14 are slidably connected to multiple second connecting parts 132 in a one-to-one correspondence. When the transmission rod 12 drives the movable seat 13 to move toward the fixed seat 11, the movable seat 13 drives the transmission structure 14 to move toward the fixed seat 11 synchronously, and the transmission structure 14 also moves outward relative to the movable seat 13 in the radial direction of the transmission rod 12, thereby opening the gripper 10; when the transmission rod 12 drives the movable seat 13 to move away from the fixed seat 11, the movable seat 13 drives the transmission structure 14 to move away from the fixed seat 11 synchronously, and the transmission structure 14 also moves inward relative to the movable seat 13 in the radial direction of the transmission rod 12, thereby tightening the gripper 10.

[0089] By setting the movable seat 13, which includes a second seat body 131 and multiple second connecting parts 132, the multiple second connecting parts 132 are arranged at intervals along the circumference of the transmission rod 12 and are movably connected to multiple transmission structures 14 in a one-to-one correspondence. The gripper 10 can provide sufficient clamping force to the target object along the circumference of the target object. The gripper 10 clamps stably and the target object is not easy to tilt to the side.

[0090] In one embodiment, one end of the transmission rod 12 is fixedly or slidably connected to the movable seat 13, and the transmission rod 12 can move relative to the fixed seat 11 along its own axial direction to drive the movable seat 13 to move. Alternatively, the transmission rod 12 and the movable seat 13 are connected in a transmission engagement, and the transmission rod 12 can rotate about its own axis to move the movable seat 13 along the axial direction of the transmission rod 12.

[0091] Optionally, one end of the transmission rod 12 is fixedly connected to the movable seat 13, and the transmission rod 12 moves relative to the fixed seat 11 along its own axial direction, thereby causing the movable seat 13 to move accordingly; or, one end of the transmission rod 12 is slidably connected to the movable seat 13, and the transmission rod 12 moves relative to the fixed seat 11 along its own axial direction, thereby directly or indirectly causing the movable seat 13 to move; or, the transmission rod 12 is connected to the movable seat 13 through a transmission fit, and the transmission rod 12 rotates relative to the fixed seat 11 around its own axis, thereby causing the movable seat 13 to move along the axial direction of the transmission rod 12 (for example, the transmission rod 12 is provided with a threaded structure, and the threaded structure of the transmission rod 12 can be connected to the movable seat 13 through a nut, and the transmission rod 12 rotates relative to the fixed seat 11 around its own axis, so that the nut causes the movable seat 13 to move along the axial direction of the transmission rod 12). All of the above methods are acceptable and there is no specific limitation.

[0092] With the above settings, the movement of the transmission rod 12 (moving along its own axis or rotating around its own axis) can be converted into the movement of the movable seat 13 along the axis of the transmission rod 12, making the transmission method simple and efficient.

[0093] In one embodiment, the gripper 10 further includes a gripper drive 189, which is disposed on the fixed base 11 and is in transmission cooperation with the transmission rod 12. The gripper drive 189 is used to drive the transmission rod 12 to move.

[0094] Optionally, the gripper drive 189 can be a motor, hydraulic cylinder, pneumatic cylinder, etc., without limitation. The gripper drive 189 can be used to drive the transmission rod 12 to move along its own axial direction. The gripper drive 189 has a drive shaft, which can move linearly when the gripper drive 189 is running. For example, when the gripper drive 189 is a motor, the motor can be a linear motor or a lead screw motor, which enables its drive shaft to move linearly; or, for example, when the gripper drive 189 is a hydraulic cylinder or a pneumatic cylinder, the drive shaft is a piston rod, which can perform linear extension and retraction. Alternatively, the gripper drive 189 can also be used to drive the transmission rod 12 to rotate around its own axis, without limitation.

[0095] The connection between the gripper drive component 189 and the fixed base 11 can be a fixed connection, such as welding, bonding, snap-fitting, screwing, riveting, etc., without limitation. The connection between the gripper drive component 189 and the fixed base 11 can also be a movable connection, such as a rotating connection.

[0096] By including a gripper drive 189, the gripper 10 can perform clamping and opening actions without being connected to an additional transmission component.

[0097] In one embodiment, the gripper drive 189 is a motor, and the transmission rod 12 is a lead screw. The gripper drive 189 is connected to the transmission rod 12 via a transmission connection (e.g., the drive shaft of the motor is connected to the transmission rod 12 via a coupling). The transmission rod 12 is connected to the movable seat 13 via a nut. The gripper drive 189 drives the transmission rod 12 to rotate, causing the movable seat 13 to move axially along the transmission rod 12. Alternatively, the gripper drive 189 is a motor, and the gripper drive 189 is connected to the transmission rod 12 via a gear and rack pair. The gripper drive 189 drives the transmission rod 12 to move axially along its own axis, thereby moving the movable seat 13.

[0098] Optionally, the transmission rod 12 rotates around its own axis under the drive of the gripper drive 189 and is connected to the movable seat 13 through a nut. A screw and nut pair is formed between the transmission rod 12 and the movable seat 13, which can convert the rotational motion of the transmission rod 12 into the linear motion of the movable seat 13. The movable seat 13 can move relative to the fixed seat 11 along the axial direction of the transmission rod 12 under the transmission connection of the transmission rod 12.

[0099] Alternatively, the gripper drive 189 can be connected to the transmission rod 12 via a gear and rack pair, allowing the transmission rod 12 to move relative to the fixed seat 11 along its own axis, thereby driving the movable seat 13 to move relative to the fixed seat 11 along the axial direction of the transmission rod 12. Both of these transmission connection methods are acceptable and are not specifically limited.

[0100] By setting the gripper drive 189 as a motor, the gripper drive 189 drives the transmission rod 12 to rotate so that the movable seat 13 moves linearly along the axis of the transmission rod 12. Alternatively, the gripper drive 189 drives the transmission rod 12 to move so that the movable seat 13 moves linearly along the axis of the transmission rod 12. The transmission efficiency is high, and the transmission method can be selected according to the actual product needs.

[0101] In one embodiment, as shown in FIG1, the gripper 10 further includes a first mating member 16, which is disposed on the transmission rod 12. The first mating member 16 is used to engage with a second mating member 33 for transmission, and the second mating member 33 is used to transmit power so that the first mating member 16 drives the transmission rod 12 to move.

[0102] The first mating part 16 and the transmission rod 12 can be an integral structure or a separate structure. The first mating part 16 and the transmission rod 12 are connected and fixed by welding, bonding, snap-fitting, screwing, riveting and other methods, without restriction.

[0103] When the first mating part 16 and the second mating part 33 form a gear and rack pair, one of the first mating part 16 and the second mating part 33 is a rack, and the other is a gear. Alternatively, when the first mating part 16 and the second mating part 33 form a lead screw and nut pair, the transmission rod 12 is a lead screw, the first mating part 16 is the thread on the surface of the lead screw, and the second mating part 33 is a nut. Alternatively, the first mating part 16 and the second mating part 33 can also be any other feasible transmission mating structure, as long as the second mating part 33 can drive the transmission rod 12 to move with the first mating part 16, there are no specific restrictions.

[0104] The gripper 10 also includes a first mating part 16 and a second mating part 33 in a transmission engagement. The second mating part 33 is used to transmit power so that the first mating part 16 drives the transmission rod 12 to move. The transmission method is simple and efficient.

[0105] In one embodiment, the gripper 10 further includes a first mating member 16, a second mating member 33, and a gripper drive member 189. The first mating member 16 is a rack, the second mating member 33 is a gear, the gear meshes with the rack, the rack is located at the end of the transmission rod 12 away from the movable seat 13, and the gripper drive member 189 is a motor. The motor is connected to the gear and drives the gear to rotate. The gear drives the rack to move, thereby causing the transmission rod 12 to move along its own axial direction.

[0106] In one embodiment, as shown in FIG1, the transmission rod 12 is slidably connected to the fixed seat 11 and the movable seat 13 along the axial direction of the transmission rod 12. The gripper 10 also includes an elastic element 17, one end of which elastically abuts against the transmission rod 12, and the other end of which elastically abuts against the movable seat 13.

[0107] The transmission rod 12 passes through the fixed seat 11 and is slidably connected to both the fixed seat 11 and the movable seat 13. In one embodiment, the transmission rod 12 has a stepped structure, which can be located between the fixed seat 11 and the movable seat 13. One end of the transmission rod 12 is located on the side of the movable seat 13 facing away from the fixed seat 11, and the other end is located on the side of the fixed seat 11 facing away from the movable seat 13. One end of the elastic member 17 elastically abuts against the stepped structure of the transmission rod 12 located between the fixed seat 11 and the movable seat 13, and the other end elastically abuts against the movable seat 13. The elastic member 17 can be any feasible elastic member in the art, such as a compression spring, a tension spring, or a rubber elastic member, etc., and the embodiments of this application do not impose specific limitations.

[0108] Optionally, the elastic element 17 is wound around the transmission rod 12, with one end of the elastic element 17 abutting against the stepped surface of the stepped structure on the transmission rod 12, and the other end abutting against the movable seat 13. The elastic element 17 is preferably a compression spring or a rubber sleeve.

[0109] When there is no relative movement between the transmission rod 12 and the movable seat 13, the elastic element 17 may have an initial deformation or no deformation. During the process of the transmission rod 12 driving the movable seat 13 away from the fixed seat 11, the elastic element 17 may change from its initial deformation to a larger deformation, or from no deformation to deformation. During the process of the transmission rod 12 driving the movable seat 13 towards the fixed seat 11, the elastic element 17 may recover from its large deformation to its initial deformation. The elastic deformation of the elastic element 17 provides a buffering force to the movable seat 13 and provides preload through the elastic element 17.

[0110] In one embodiment, referring to Figures 7 to 10, the transmission rod 12 is a splined shaft, and the gripper 10 further includes a first spline nut 181 and a second spline nut 182. The first spline nut 181 and the second spline nut 182 are spaced apart along the axial direction of the transmission rod 12, and are both sleeved on the transmission rod 12 and are movably connected to the transmission rod 12 (such as sliding connection and / or rotational connection). The first spline nut 181 is connected and fixed to the fixed seat 11, and the second spline nut 182 is connected and fixed to the movable seat 13.

[0111] The spline shaft, the first spline nut 181, and the second spline nut 182 together form a ball spline. A ball spline is a high-precision, directional linear transmission component in which steel balls inside the spline nut roll back and forth in the groove of the spline shaft, providing smooth and unrestricted linear motion.

[0112] Optionally, the fixing seat 11 can be connected and fixed to the side circumferential surface of the first spline nut 181 and / or the surface of the first spline nut 181 opposite to each other on the axis of the spline shaft, without any specific limitation. The connection method between the fixing seat 11 and the first spline nut 181 can be welding, bonding, snap-fitting, screwing, riveting, etc., without any specific limitation.

[0113] Similarly, the connection method between the second spline nut 182 and the movable seat 13 can be referred to the connection method between the first spline nut 181 and the fixed seat 11 mentioned above, and will not be repeated here.

[0114] By setting the transmission rod 12 as a splined shaft, the fixed seat 11 and the movable seat 13 are movably connected to the splined shaft through splined nuts, respectively. The transmission efficiency between the splined shaft and the splined nut is high and the transmission accuracy is good, which can reduce the friction and movement deviation between the fixed seat 11 and the movable seat 13 and the transmission rod 12.

[0115] In one embodiment, as shown in FIG8, the first spline nut 181 and the second spline nut 182 are both slidably connected to the transmission rod 12 along the axial direction of the transmission rod 12, and the gripper drive member 189 is connected to one end of the transmission rod 12. The gripper drive member 189 is used to drive the transmission rod 12 to move along its own axial direction.

[0116] The first spline nut 181 and the second spline nut 182 are slidably connected to the transmission rod 12 in the following way: a groove is provided on the outer periphery of the spline shaft along its own axial direction, and the first spline nut 181 and the second spline nut 182 are both connected to the groove and can move along the groove, so that the two spline nuts can move relative to the transmission rod 12 along the axial direction of the transmission rod 12.

[0117] Optionally, the gripper drive 189 is a motor, and the output end of the gripper drive 189 is the drive shaft of the motor (such as a telescopic rod). The drive shaft of the motor is connected to one end of the transmission rod 12 and moves in a straight line, enabling the transmission rod 12 to move linearly. Alternatively, the gripper drive 189 is a hydraulic cylinder or a pneumatic cylinder, and the output end of the gripper drive 189 is the piston rod of the hydraulic cylinder or the pneumatic cylinder. The piston rod of the gripper drive 189 can perform linear telescopic motion, causing the transmission rod 12 to move linearly, without limitation.

[0118] With this configuration, the gripper drive 189 drives the transmission rod 12 to move along its own axial direction. When the gripper drive 189 drives the transmission rod 12 to move upward (from the movable seat 13 to the fixed seat 11), the transmission rod 12 drives the second spline nut 182 to move toward the first spline nut 181, which in turn drives the movable seat 13 to move toward the fixed seat 11, causing the finger 15 to open. When the gripper drive 189 drives the transmission rod 12 to move downward (from the fixed seat 11 to the movable seat 13), the transmission rod 12 drives the second spline nut 182 to move away from the first spline nut 181, which in turn drives the movable seat 13 to move away from the fixed seat 11, causing the finger 15 to tighten.

[0119] In one embodiment, as shown in Figures 7 and 8, the transmission rod 12 is also capable of rotating about its own axis relative to the gripper drive 189. The gripper drive 189 is a motor, and the transmission rod 12 is rotatably connected to the output end of the gripper drive 189 via a transition bearing 183.

[0120] Optionally, the adapter bearing 183 includes a relatively movable inner ring and an outer ring. The inner ring of the adapter bearing 183 is sleeved on one end of the transmission rod 12 and connected and fixed to the transmission rod 12. The outer ring of the adapter bearing 183 is connected and fixed to the output end of the gripper drive 189. This allows the transmission rod 12 to rotate relative to the gripper drive 189 around its own axis. It is understood that the transmission rod 12 can also be connected and fixed to the outer ring of the adapter bearing 183, and the gripper drive 189 can be connected and fixed to the inner ring of the adapter bearing 183. There are no restrictions.

[0121] Optionally, the output end of the gripper drive 189 is provided with an adapter 184, and the outer ring of the adapter bearing 183 is connected and fixed to the output end of the gripper drive 189 through the adapter 184. The specific shape of the adapter 184 is not limited, as long as it can be adapted to the output end of the gripper drive 189 and the outer ring of the adapter bearing 183.

[0122] By setting the transmission rod 12 to rotate relative to the gripper drive 189 around its own axis, the transmission rod 12 can drive the spline nut connected to it to rotate or be driven by the spline nut connected to it to rotate, thereby driving multiple fingers 15 to rotate, which can adjust the position of the fingers 15 of the gripper 10 to facilitate the gripping of different objects.

[0123] In one embodiment, as shown in Figures 7 and 8, the gripper 10 further includes a locking member 185, a limiting member 186, and an elastic member 17. The locking member 185 is disposed at the end of the transmission rod 12 and located on the side of the movable seat 13 facing away from the fixed seat 11. The limiting member 186 is disposed on the transmission rod 12 and located between the first spline nut 181 and the second spline nut 182. One end of the elastic member 17 elastically abuts against the limiting member 186, and the other end elastically abuts against the movable seat 13.

[0124] The locking element 185 is fixedly connected to the end of the transmission rod 12 and is used to drive the movable seat 13 to move upward when the gripper drive element 189 drives the transmission rod 12 to move upward (from the movable seat 13 to the fixed seat 11). The locking element 185 can be ring-shaped, block-shaped, etc., and there is no specific limitation.

[0125] Optionally, the limiting member 186 is connected and fixed to the transmission rod 12, and the connection method is not limited. The limiting member 186 is used to work together with the elastic member 17 to drive the movable seat 13 to move downward when the gripper drive member 189 drives the transmission rod 12 downward (from the fixed seat 11 to the movable seat 13). The limiting member 186 can be annular, or it can be a plurality of protrusions evenly arranged along the circumference of the transmission rod 12, and there is no specific limitation.

[0126] Optionally, the elastic element 17 is wound around the transmission rod 12, with one end of the elastic element 17 abutting against the limiting element 186 and the other end abutting against the movable seat 13 or the second spline nut 182. The elastic element 17 is preferably a compression spring or a rubber sleeve. The elastic deformation of the elastic element 17 provides a buffering force to the movable seat 13 and provides preload through the elastic element 17. The engagement of the elastic element 17 and the limiting element 186 is similar to the engagement of the elastic element 17 and the stepped structure on the transmission rod 12. As the transmission rod 12 drives the movable seat 13 to move closer to the fixed seat 11, the locking element 185 abuts against the movable seat 13 and the finger 15 gradually opens. At this time, the elastic element 17 returns to its initial deformation and remains unchanged. As the transmission rod 12 drives the movable seat 13 away from the fixed seat 11, the limiting element 186 and the elastic element 17 work together to press the movable seat 13 to move, and the finger 15 gradually tightens. To ensure the clamping force of the finger 15, the transmission rod 12 will continue to move under the action of the gripper drive element 189. At this time, the elastic element 17 is further compressed under the action of the limiting element 186.

[0127] By setting the locking element 185, the limiting element 186 and the elastic element 17, the relative movement of the movable seat 13 relative to the fixed seat 11 is realized, thereby realizing the opening and closing of the finger 15.

[0128] In one embodiment, as shown in Figures 7 to 9, the gripper 10 further includes a rotating mechanism 19, which is connected to the fixed base 11 and can drive the fixed base 11 to rotate axially around the transmission rod 12.

[0129] The rotating mechanism 19 can be directly connected to the fixed base 11 or indirectly connected to the fixed base 11, without restriction.

[0130] By setting a rotating mechanism 19, the fixed base 11 can rotate around the axis of the transmission rod 12, thereby driving the fingers 15 of the gripper 10 to rotate. The gripper 10 can be adjusted in the gripping position relative to the object to be gripped, which can improve the applicability of the gripper 10, such as opening and closing a cover.

[0131] In one embodiment, as shown in Figures 7 to 9, the first spline nut 181 and the second spline nut 182 are both fixed relative to the transmission rod 12 in the circumferential direction. The rotating mechanism 19 includes a rotating drive member 191, a first rotating gear 192, and a second rotating gear 193. The rotating drive member 191 is connected to the first rotating gear 192, and the second rotating gear 193 is connected to the fixed base 11. The first rotating gear 192 and the second rotating gear 193 mesh. The rotating drive member 191 drives the first rotating gear 192 to rotate and drives the second rotating gear 193 to rotate, thereby driving the fixed base 11 and the transmission rod 12 to rotate synchronously.

[0132] Understandably, both the first spline nut 181 and the second spline nut 182 are fixed relative to the transmission rod 12 in the circumferential direction, meaning that the first spline nut 181 and the second spline nut 182 will not rotate relative to the transmission rod 12. With this configuration, under the drive of the rotary drive component 191, the first spline nut 181, the fixed seat 11, and the transmission rod 12 rotate synchronously, and the fixed seat 11 and the movable seat 13 will not rotate relative to each other, thus preventing the transmission structure 14 from twisting during rotation and affecting its use.

[0133] The rotary drive component 191 can be a motor, cylinder, or other similar device, without limitation. Optionally, the first rotary gear 192 is connected and fixed to the output end of the rotary drive component 191, and can rotate following the output end of the rotary drive component 191. Optionally, the second rotary gear 193 is connected and fixed to the fixed base 11, and the connection method can be welding, bonding, snap-fitting, screwing, riveting, etc., without limitation.

[0134] Optionally, other transmission mechanisms (such as gears, racks, etc.) can be provided between the first rotating gear 192 and the second rotating gear 193, and the two can mesh directly without restriction. Optionally, other transmission structures can be used to replace the first rotating gear 192 and the second rotating gear 193, such as a combination of synchronous pulley and synchronous belt, worm gear mechanism, etc., without restriction.

[0135] Optionally, the second rotating gear 193 rotates and drives the fixed seat 11 to rotate. The fixed seat 11 drives the transmission rod 12 to rotate through the first spline nut 181. Since the second spline nut 182 also rotates synchronously with the transmission rod 12, the transmission rod 12 also drives the movable seat 13 to rotate through the second spline nut 182, thereby realizing the synchronous rotation of the fixed seat 11, the transmission rod 12 and the movable seat 13.

[0136] By setting the aforementioned rotating mechanism 19 to drive the fixed base 11 and the transmission rod 12 to rotate synchronously, the transmission method is simple and efficient.

[0137] In one embodiment, as shown in Figures 7 and 8, the gripper 10 further includes a mounting base 187 and a pressure plate 188. The gripper drive 189 and the rotation drive 191 are both disposed on the mounting base 187, and the fixed base 11 is rotatably connected to the mounting base 187 through a rotating bearing 194.

[0138] Optionally, the rotating bearing 194 includes an inner ring and an outer ring that can rotate relative to each other. The fixed seat 11 is connected and fixed to the inner ring of the rotating bearing 194, and the mounting seat 187 is connected and fixed to the outer ring of the rotating bearing 194. The rotation of the fixed seat 11 relative to the mounting seat 187 can be realized by the relative rotation of the inner ring and the outer ring of the rotating bearing 194.

[0139] The pressure plate 188 is disposed on the fixed base 11 and is used to limit the rotation bearing 194 in the axial direction of the transmission rod 12.

[0140] Optionally, the pressure plate 188 and the fixed base 11 can be an integral structure or a separate structure, without limitation. In the orthogonal projection along the axial direction of the transmission rod 12, at least a portion of the pressure plate 188 overlaps with the rotating bearing 194. This arrangement can limit the rotating bearing 194 in the axial direction of the transmission rod 12, preventing the rotating bearing 194 from moving in the axial direction of the transmission rod 12.

[0141] Optionally, the gripper 10 also includes a sensor (not shown) and a sensing plate 195. The sensor is mounted on the mounting base 187, and the sensing plate 195 is mounted on the pressure plate 188. When the rotary drive 191 drives the fixed base 11 to rotate, the pressure plate 188 rotates with the fixed base 11 and drives the sensing plate 195 to rotate relative to the sensor.

[0142] Optionally, the sensor and sensing element 195 can adopt any feasible sensing control structure in the art, without specific limitations. Optionally, the sensor can be an optocoupler sensor, and the sensing element 195 can be a metal sheet. When the sensing element 195 rotates into the sensor, it will cause a signal change in the sensor. The sensor and sensing element 195 cooperate with each other to realize functions such as zeroing the rotary drive 191 and counting the number of rotations.

[0143] In one embodiment, as shown in FIG1, the transmission structure 14 includes a first connecting rod 141 and a transmission mechanism 142. One end of the first connecting rod 141 is rotatably connected to the fixed seat 11, and the other end is rotatably connected to the transmission mechanism 142. The transmission mechanism 142 is movably connected to the movable seat 13, and the finger 15 is connected to the transmission mechanism 142.

[0144] Specifically, the rotatable connection between the first link 141 and the fixed base 11 can be achieved by rotatably connecting the first link 141 to the first connecting part 112 of the fixed base 11. This rotatable connection can be achieved through riveting, hinge, pivoting, shaft connection, etc., for example, via components such as a rotating shaft or universal joint. The rotatable connection between the first link 141 and the transmission mechanism 142 can also be achieved through components such as a rotating shaft or universal joint. The shape of the first link 141 can be a straight rod, a bent rod, etc., without limitation. The transmission mechanism 142 can be a single-link structure or a multi-link structure, with multiple links rotatably connected sequentially. The first link 141 is rotatably connected to one of the multiple links, and the finger 15 is connected to one of the multiple links.

[0145] The movable connection between the transmission mechanism 142 and the movable seat 13 can be a sliding connection or a rotating connection, without limitation. The finger 15 can be fixedly connected to the transmission mechanism 142 or movably connected, without limitation.

[0146] When the transmission rod 12 drives the movable seat 13 to move toward the fixed seat 11, the movable seat 13 drives the transmission structure 14 to move synchronously. The end of the first connecting rod 141 away from the fixed seat 11 moves radially in the transmission rod 12, and through the transmission mechanism 142 drives the finger 15 to move outward radially in the transmission rod 12, thereby opening the gripper 10 for easy grasping. When the transmission rod 12 drives the movable seat 13 away from the fixed seat 11, the movable seat 13 drives the transmission structure 14 to move synchronously. The end of the first connecting rod 141 away from the fixed seat 11 moves radially in the transmission rod 12, and through the transmission mechanism 142 drives the finger 15 to move inward radially in the transmission rod 12, thereby tightening the gripper 10.

[0147] By setting the transmission structure 14, which includes a first connecting rod 141 and a transmission mechanism 142, the movement of the movable seat 13 drives the rotation of the first connecting rod 141 and the movement of the transmission mechanism 142, thereby driving the finger 15 to move radially in the transmission rod 12, which can realize the gripping of the target object. The gripper 10 has a small and compact structure, occupies little space, and has high gripping stability.

[0148] In one embodiment, as shown in FIG1, the transmission mechanism 142 includes a second connecting rod 143, a first sliding part 144, and a second sliding part 145. One end of the second connecting rod 143 is rotatably connected to the end of the first connecting rod 141 away from the fixed seat 11. The first sliding part 144 is disposed on the second connecting rod 143, and the second sliding part 145 is disposed on the movable seat 13. The first sliding part 144 and the second sliding part 145 are slidably connected in the radial direction of the transmission rod 12. The finger 15 is connected to the end of the second connecting rod 143 away from the first connecting rod 141.

[0149] The second sliding part 145 is disposed on the movable seat 13, specifically on the second connecting part 132 of the movable seat 13. The first sliding part 144 and the second connecting rod 143 can be an integral structure or a separate structure. The first sliding part 144 and the second connecting rod 143 are connected and fixed by welding, bonding, snap-fitting, screwing, etc., without limitation. The second sliding part 145 and the movable seat 13 can be an integral structure or a separate structure. One of the first sliding part 144 and the second sliding part 145 is a slide rail, and the other is a slider; or, one of the first sliding part 144 and the second sliding part 145 is a slide rail, and the other is a part on the second connecting rod 143 or the movable seat 13 for sliding connection with the slide rail; or, the first sliding part 144 and the second sliding part 145 can also be any other feasible sliding fit structure, without specific limitations.

[0150] In one specific embodiment, the first sliding part 144 is a slider, and the second sliding part 145 is a slide rail. When the transmission rod 12 drives the movable seat 13 to move toward or away from the fixed seat 11, the first sliding part 144 slides relative to the second sliding part 145, so that the second connecting rod 143 moves outward or inward relative to the movable seat 13 in the radial direction of the transmission rod 12, thereby driving the finger 15 to move outward or inward in the radial direction of the transmission rod 12, realizing the opening or closing of the gripper 10.

[0151] By setting the transmission mechanism 142 to include a second connecting rod 143, a first sliding part 144 and a second sliding part 145, the first sliding part 144 and the second sliding part 145 are slidably connected in the radial direction of the transmission rod 12, so as to drive the second connecting rod 143 to move relative to the movable seat 13 in the radial direction of the transmission rod 12, thereby driving the finger 15 to open or close, and the gripper 10 has high gripping stability.

[0152] In one embodiment, as shown in FIG1, the second link 143 includes a first link segment 1431 and a second link segment 1432. One end of the first link segment 1431 is rotatably connected to the end of the first link 141 away from the fixed seat 11. One end of the second link segment 1432 is fixedly connected to the end of the first link segment 1431 away from the first link 141. The first link segment 1431 and the second link segment 1432 have an included angle. A first sliding part 144 is disposed on the second link segment 1432. A finger 15 is connected to the end of the second link segment 1432 away from the first link segment 1431.

[0153] The second connecting rod 143 can be a one-piece structure, meaning that the first rod segment 1431 and the second rod segment 1432 are manufactured as a single piece using a molding process, such as stamping or casting, without limitation. Alternatively, the second connecting rod 143 can be a separate structure, where the first rod segment 1431 and the second rod segment 1432 can be connected and fixed together by welding, bonding, snap-fitting, screwing, riveting, or other methods.

[0154] The first segment 1431 and the second segment 1432 can be straight, curved, or arc-shaped, without restriction. The included angle between the first segment 1431 and the second segment 1432 can be 30°, 40°, 50°, 60°, 70°, 80°, 90°, 100°, 110°, 120°, 130°, 140°, 150°, etc., without restriction.

[0155] In one specific embodiment, as shown in FIG1, both the first rod segment 1431 and the second rod segment 1432 are straight rods, and the first rod segment 1431 and the second rod segment 1432 are perpendicular to each other. Further, the extension direction of the first rod segment 1431 is parallel to the axis of the transmission rod 12, and the second rod segment 1432 extends radially along the transmission rod 12.

[0156] Optionally, the first rod segment 1431 has a through hole 1433, through which at least a portion of the movable seat 13 passes and can move radially along the transmission rod 12. This arrangement facilitates the sliding connection between the second connecting rod 143 and the movable seat 13 in the radial direction of the transmission rod 12, avoiding interference.

[0157] The connection method between the finger 15 and the second rod segment 1432 can be welding, bonding, snap-fitting, screwing, riveting, magnetic connection, etc., without limitation. Connecting the finger 15 to the end of the second rod segment 1432 away from the first rod segment 1431 can reduce the shortest distance between multiple fingers 15, so that the gripper 10 can provide sufficient clamping force and stable gripping when gripping the target object.

[0158] By setting the second link 143, which includes the first link segment 1431 and the second link segment 1432, the gripper 10 has a compact and reasonable structure, and stable gripping, while realizing transmission.

[0159] In another embodiment, as shown in FIG2, the transmission mechanism 142 includes a third link 146, a fourth link 147 and a fifth link 148. One end of the third link 146 is rotatably connected to the end of the first link 141 away from the fixed seat 11, and the other end of the third link 146 is rotatably connected to one end of the fourth link 147. The third link 146 is also rotatably connected to the movable seat 13. The end of the fourth link 147 away from the third link 146 is connected to the finger 15. The two ends of the fifth link 148 are rotatably connected to the fourth link 147 and the movable seat 13, respectively.

[0160] Specifically, the rotatable connection between the third link 146 and the movable seat 13 can be achieved by rotatably connecting the third link 146 and the second connecting part 132 of the movable seat 13. Similarly, the rotatable connection between the fifth link 148 and the movable seat 13 can be achieved by rotatably connecting the fifth link 148 and the second connecting part 132 of the movable seat 13. To further reduce the structural space occupied by the gripper 10, the second seat body 131 and the second connecting part 132 of the movable seat 13 have an included angle. The size of this included angle can be 30°, 40°, 50°, 60°, 70°, 80°, 90°, 100°, 110°, 120°, 130°, 140°, 150°, etc., without limitation.

[0161] The connection between the third link 146, the fourth link 147, the fifth link 148 and the movable seat 13 can be achieved by snap-fit, screw-fit, riveting, hinge, pivot, shaft connection, etc. For example, a rotatable connection can be achieved through components such as a rotating shaft or universal joint, without any restrictions.

[0162] The third link 146, the fourth link 147, and the fifth link 148 can be straight, curved, or arc-shaped, without restriction. There is an angle between the third link 146 and the fourth link 147, the specific angle of which can be 30°, 40°, 50°, 60°, 70°, 80°, 90°, 100°, 110°, 120°, 130°, 140°, or 150°, without restriction. The fifth link 148 can have an angle with the third link 146, or it can be approximately parallel to the third link 146, without restriction.

[0163] When the transmission rod 12 drives the movable seat 13 to move, the end of the first connecting rod 141 away from the fixed seat 11 rotates inward or outward in the radial direction of the transmission rod 12, and through the third connecting rod 146 and the fifth connecting rod 148, drives the fourth connecting rod 147 to move outward or inward relative to the movable seat 13 in the radial direction of the transmission rod 12, thereby driving the finger 15 to move outward or inward in the radial direction of the transmission rod 12, realizing the opening or tightening of the gripper 10.

[0164] Optionally, the third link 146, the fourth link 147, the fifth link 148, and the movable seat 13 can form a parallelogram mechanism, which is structurally stable and not easily deformed. It can provide stable support for the finger 15. When the finger 15 contacts the target object and performs gripping, the transmission mechanism 142 is not easily overturned by force, and the gripping is stable.

[0165] The transmission mechanism 142 includes a third link 146, a fourth link 147, and a fifth link 148. Through the rotational connection between the third link 146, the fourth link 147, the fifth link 148, and the movable seat 13, the finger 15 can be moved radially relative to the movable seat 13 on the transmission rod 12, thereby opening or closing the gripper 10 and ensuring high gripping stability of the gripper 10.

[0166] In one embodiment, as shown in FIG2, the third link 146 includes a third link segment 1461 and a fourth link segment 1462. One end of the third link segment 1461 is rotatably connected to the end of the first link 141 away from the fixed seat 11, and the other end is connected to the fourth link segment 1462. One end of the fourth link segment 1462 near the third link segment 1461 is rotatably connected to the movable seat 13, and the other end is rotatably connected to the fourth link 147. The third link segment 1461 and the fourth link segment 1462 have an included angle, and the third link segment 1461 extends from the fourth link segment 1462 toward the direction of the transmission rod 12. The first link 141 extends from the fixed seat 11 toward the direction of the transmission rod 12, and the fourth link 147 extends from the fourth link segment 1462 toward the direction of the transmission rod 12.

[0167] The third link 146 can be a one-piece structure, meaning that the third segment 1461 and the fourth segment 1462 are manufactured as a single piece using a molding process, such as stamping or casting, without limitation. Alternatively, the third link 146 can be a separate structure, where the third segment 1461 and the fourth segment 1462 can be connected and fixed using methods such as welding, bonding, snap-fitting, screwing, or riveting.

[0168] The third segment 1461 and the fourth segment 1462 can be straight, curved, or arc-shaped, without restriction. The included angle between the third segment 1461 and the fourth segment 1462 can be 30°, 40°, 50°, 60°, 70°, 80°, 90°, 100°, 110°, 120°, 130°, 140°, 150°, etc., without restriction.

[0169] Optionally, the fifth link 148 is generally parallel to the fourth link segment 1462. The first link 141 and the third link 146 are generally flared in the direction from the drive rod 12 and radially outward along the drive rod 12.

[0170] By setting the third link 146, which includes the third link segment 1461 and the fourth link segment 1462, the gripper 10 is compact and stable while achieving transmission.

[0171] Please refer to Figures 1 to 10. This application embodiment also provides a robotic arm 100, including a robotic arm 20 and a gripper 10 in this application embodiment. The fixed base 11 of the gripper 10 is connected to the robotic arm 20.

[0172] The gripper 10 and the robotic arm 20 can be directly or indirectly connected. The gripper 10 and the robotic arm 20 can be fixedly connected or movably connected. The movably connected connection can be a rotating connection and / or a sliding connection. The connection method can be welding, bonding, snap-fitting, screwing, riveting, etc., and there are no specific restrictions.

[0173] The specific structure of the robotic arm 20 can refer to any feasible scheme, and the embodiments of this application are not limited.

[0174] Optionally, different robotic arms 20 and grippers 10 in different embodiments can be freely combined to form the robotic hand 100 in the embodiments of this application. For example, Figures 1, 2 and 7 show three different embodiments of grippers 10, and Figures 3, 5 and 10 include three different embodiments of robotic arms 20. The gripper 10 in Figure 1 and the robotic arm 20 in Figure 3 are combined to form the robotic hand 100 (as shown in Figure 3). Alternatively, the gripper 10 in Figure 2 and the robotic arm 20 in Figure 3 can be combined to form the robotic hand 100, or the gripper 10 in Figure 1 and the robotic arm 20 in Figure 5 can be combined to form the robotic hand 100, and so on. There are no limitations.

[0175] The robotic arm 100 in this embodiment employs a robotic arm 20 and a gripper 10. The robotic arm 20 can increase the range of motion and / or angle of movement of the gripper 10, making the gripper 10 more flexible and widely applicable.

[0176] In one embodiment, as shown in Figures 1 and 3, the robotic arm 20 includes a base 21, a connecting seat 22, and a support arm assembly 23. The connecting seat 22 is connected to the fixed base 11. One end of the support arm assembly 23 is connected to the base 21, and the other end is connected to the connecting seat 22. The support arm assembly 23 is used to drive the connecting seat 22 to move in space.

[0177] The base 21 and the connecting seat 22 can be made of materials with high structural strength, specifically metal materials, high-strength plastics, ceramics, etc. Metal materials include aluminum, aluminum alloys, magnesium alloys, iron, and iron alloys. The specific structure of the base 21 and the connecting seat 22 can refer to any feasible scheme, and the embodiments of this application are not limited.

[0178] Optionally, the base 21 includes a base plate 211 and two side plates 212, with the two side plates 212 connected to opposite ends of the base plate 211, and the support arm assembly 23 mounted on the side plates 212. The base 21 can be an integral structure or a split structure, and the base plate 211 and the two side plates 212 can be connected and fixed by welding, bonding, snap-fitting, screwing, riveting, or other methods.

[0179] The connecting seat 22 is connected and fixed to the fixed seat 11. The connection method can be welding, bonding, snap-fitting, screwing, riveting, etc.

[0180] The support arm assembly 23 can be fixedly connected to the connecting seat 22, or it can be movably connected to the connecting seat 22, without limitation. The support arm assembly 23 can move the gripper 10 by driving the connecting seat 22 to move in space. The support arm assembly 23 can be a multi-directional translation mechanism, such as a horizontal movement mechanism, a vertical movement mechanism, or an XYZ three-axis movement mechanism; the support arm assembly 23 can also be a free-moving mechanism, meaning that the support arm assembly 23 can drive the connecting seat 22 to move in any direction in space.

[0181] By setting the robotic arm 20 to include a base 21, a connecting seat 22, and a support arm assembly 23, the base 21 provides support for the robotic arm 20, and the support arm assembly 23 can drive the connecting seat 22 to move in space, thereby driving the gripper 10 to move in space. The gripper 10 has a large range of motion and a wide working coverage area.

[0182] In one embodiment, as shown in Figures 3 and 4, the support arm assembly 23 includes a first drive mechanism 231, a first connecting arm 232, and a second connecting arm 233. The first drive mechanism 231 is disposed on the base 21. One end of the first connecting arm 232 is connected to the first drive mechanism 231, and the other end is rotatably connected to the second connecting arm 233. One end of the second connecting arm 233 is connected to the connecting seat 22.

[0183] The first drive mechanism 231 may include a driver and a gearbox. The driver is disposed on the base 21 and connected to the gearbox. The gearbox is connected to the first connecting arm 232 and may also be rotatably connected to the base 21. Optionally, the first drive mechanism 231 includes a first motor, a first gear connected to the first motor, and a second gear meshing with the first gear. The second gear is rotatably connected to the base 21 and connected to the first connecting arm 232. It is understood that the gearbox can be implemented in other forms, for example, a combination of a synchronous pulley and a synchronous belt can be used to replace the first gear and the second gear; this is not limited here. Alternatively, the gearbox may be omitted, and the driver may be directly connected to the first connecting arm 232.

[0184] The first connecting arm 232 and the second connecting arm 233 can be rotatably connected by means of snap-fit, screw-fit, riveting, hinge, pivot, shaft connection, etc. One end of the second connecting arm 233 can be fixedly connected to the connecting seat 22, or it can be movably connected, such as a sliding connection or a rotating connection, without limitation.

[0185] By setting a first driving mechanism 231, a first connecting arm 232, and a second connecting arm 233, the second connecting arm 233 can drive the gripper 10 to move under the drive of the first driving mechanism 231 and the transmission of the first connecting arm 232, so that the gripper 10 has at least one degree of freedom in one direction, can be adjusted according to the position of the target object, is flexible to use, and has high gripping accuracy.

[0186] In one embodiment, as shown in Figures 3 and 4, the support arm assembly 23 further includes a second drive mechanism 234, a third connecting arm 235, and a fourth connecting arm 236. The second drive mechanism 234 is disposed on the base 21. One end of the third connecting arm 235 is connected to the second drive mechanism 234, and the other end is rotatably connected to one end of the fourth connecting arm 236. The other end of the fourth connecting arm 236 is rotatably connected to the second connecting arm 233. The connection position between the fourth connecting arm 236 and the second connecting arm 233 is spaced apart from the connection position between the first connecting arm 232 and the second connecting arm 233.

[0187] Similar to the first drive mechanism 231, the second drive mechanism 234 includes a second motor, a third gear connected to the second motor, and a fourth gear meshing with the third gear. The fourth gear is rotatably connected to the base 21 and connected to the third connecting arm 235. Likewise, a combination of a synchronous pulley and a synchronous belt can be used instead of the third and fourth gears; this is not a limitation.

[0188] Optionally, the first motor, the first gear, and the second gear are mounted on the same side plate 212, while the second motor, the third gear, and the fourth gear are mounted on another side plate 212. The first gear, the second gear, the third gear, and the fourth gear are housed between the two opposing side plates 212, thereby reducing space occupation.

[0189] Optionally, one of the fourth connecting arm 236 and the first connecting arm 232 is connected to the end of the second connecting arm 233 away from the connecting seat 22, and the other is connected to the second connecting arm 233 between the two ends of the second connecting arm 233, so as to avoid interference between the connecting arms when rotating.

[0190] First, define the directions. Referring to Figure 3, X is the forward and backward direction of the robotic arm 20, Y is the left and right direction of the robotic arm 20, and Z is the up and down direction of the robotic arm 20. The X, Y, and Z directions are perpendicular to each other.

[0191] Driven by the first drive mechanism 231, the first connecting arm 232 can drive the second connecting arm 233 and the gripper 10 to rotate around the connection position between the first connecting arm 232 and the first drive mechanism 231. At this time, the robotic arm 20 can be considered to perform pitch motion in the X direction, and the gripper 10 can move in the X direction. Driven by the second drive mechanism 234, the third connecting arm 235 can drive the second connecting arm 233 and the gripper 10 to rotate around the connection position between the second connecting arm 233 and the fourth connecting arm 236 via the fourth connecting arm 236. At this time, the robotic arm 20 can be considered to perform up-and-down motion in the Z direction, and the gripper 10 can move in the Z direction. Under the combined drive of the first drive mechanism 231 and the second drive mechanism 234, the gripper 10 can move along the X and / or Y directions to perform various linear or curvilinear movements, without specific limitations.

[0192] The support arm assembly 23 also includes a second drive mechanism 234, a third connecting arm 235, and a fourth connecting arm 236. The second connecting arm 233 can drive the gripper 10 to rotate around the connection position between the second connecting arm 233 and the fourth connecting arm 236 under the drive of the second drive mechanism 234. This can increase the degree of freedom of movement of the gripper 10. The gripper 10 can be adjusted according to the position of the target object, making it flexible to use and highly accurate in gripping.

[0193] In one embodiment, as shown in FIG3, the fourth connecting arm 236 and the connecting seat 22 are respectively rotatably connected to the two opposite ends of the second connecting arm 233 along the length direction, and the first connecting arm 232 is rotatably connected to the position between the two ends of the second connecting arm 233, for example, the first connecting arm 232 is rotatably connected to the middle position of the second connecting arm 233 or a position close to the fourth connecting arm 236.

[0194] The fourth connecting arm 236 is rotatably connected to the end of the second connecting arm 233 away from the connecting seat 22. The distance between the gripper 10 and the connection position of the fourth connecting arm 236 and the second connecting arm 233 is relatively far. When the gripper 10 rotates around the connection position of the second connecting arm 233 and the fourth connecting arm 236 under the drive of the second driving mechanism 234, the radius of the movable range of the gripper 10 is the length of the second connecting arm 233, and the gripping range of the gripper 10 is relatively large.

[0195] Optionally, the connection position between the first connecting arm 232 and the second connecting arm 233 is closer to the connection position between the second connecting arm 233 and the fourth connecting arm 236 than the end where the second connecting arm 233 connects to the connecting seat 22. With this configuration, the distance from the connection position between the second connecting arm 233 and the first connecting arm 232 to the connection position between the second connecting arm 233 and the connecting seat 22 is longer, and the gripper 10 is farther from the first connecting arm 232. Therefore, when the gripper 10 rotates around the connection position between the first connecting arm 232 and the first drive mechanism 231, the gripping range of the gripper 10 is larger.

[0196] In another embodiment, referring to Figures 5 and 6, the support arm assembly 23 is basically the same as that shown in Figure 3, and also includes a first connecting arm 232, a second connecting arm 233, a third connecting arm 235, a fourth connecting arm 236, a first driving mechanism 231 and a second driving mechanism 234. The main difference lies in the different structures of the first connecting arm 232 and the second connecting arm 233.

[0197] As shown in Figures 5 and 6, the first connecting arm 232 includes a first connecting plate 2321, a second connecting plate 2322, and a plurality of first connecting posts 2323. The first connecting plate 2321 and the second connecting plate 2322 are arranged at intervals relative to each other, and the plurality of first connecting posts 2323 are connected between the first connecting plate 2321 and the second connecting plate 2322, and are also spaced apart. The second connecting arm 233 includes a third connecting plate 2331, a fourth connecting plate 2332, and a plurality of second connecting posts 2333. The third connecting plate 2331 and the fourth connecting plate 2332 are arranged at intervals relative to each other, and the plurality of second connecting posts 2333 are connected between the third connecting plate 2331 and the fourth connecting plate 2332, and are also spaced apart. The first connecting plate 2321 is rotatably connected to the third connecting plate 2331, the second connecting plate 2322 is rotatably connected to the fourth connecting plate 2332, and the fourth connecting arm 236 is rotatably connected to both the third connecting plate 2331 and the fourth connecting plate 2332.

[0198] The first connecting arm 232 can be a one-piece structure, meaning that the first connecting plate 2321, the second connecting plate 2322, and the multiple first connecting posts 2323 are manufactured using a single molding process. This molding process can be stamping, casting, etc., and is not limited to any particular process. Alternatively, the first connecting arm 232 can be a separate structure, where the first connecting plate 2321, the second connecting plate 2322, and the multiple first connecting posts 2323 can be connected and fixed together by welding, bonding, snap-fitting, screwing, riveting, or other methods.

[0199] The thickness of the first connecting plate 2321 and the second connecting plate 2322 can be approximately the same at all points. A plurality of first connecting posts 2323 are used to connect and fix the first connecting plate 2321 and the second connecting plate 2322. The plurality of first connecting posts 2323 can be set at equal intervals or at unequal intervals, without limitation.

[0200] Similarly, the structure of the second connecting arm 233 is similar to that of the first connecting arm 232 mentioned above, and can be referred to for reference only, without further details.

[0201] The connection methods between the first connecting plate 2321 and the third connecting plate 2331, and between the second connecting plate 2322 and the fourth connecting plate 2332, can be snap-fit, screw-fit, riveting, hinge, pivot, shaft-fit, etc., without restriction.

[0202] In one embodiment, the first connecting plate 2321 is connected to the first driving mechanism 231, and the second connecting plate 2322 is rotatably connected to the base 21 and connected to the first connecting arm 232 via the first connecting column 2323. The first driving mechanism 231 drives the first connecting plate 2321 to rotate and simultaneously drives the second connecting plate 2322 to rotate. The first connecting plate 2321 and the second connecting plate 2322 are rotatably connected to the third connecting plate 2331 and the fourth connecting plate 2332 via the first rotating shaft. For example, the first connecting plate 2321 and the second connecting plate 2322 are both fixedly connected to the first rotating shaft, and the third connecting plate 2331 and the fourth connecting plate 2332 are both rotatably connected to the first rotating shaft; or, the first connecting plate 2321 and the second connecting plate 2322 are both rotatably connected to the first rotating shaft, and the third connecting plate 2331 and the fourth connecting plate 2332 are both fixedly connected to the first rotating shaft. This is not limited here. The first connecting plate 2321 and the second connecting plate 2322 are arranged approximately parallel to each other, and the third connecting plate 2331 and the fourth connecting plate 2332 are arranged approximately parallel to each other. The fourth connecting arm 236 is rotatably connected to the third connecting plate 2331 and the fourth connecting plate 2332 via a second rotating shaft. For example, the fourth connecting arm 236 is fixedly connected to the second rotating shaft, and both the third connecting plate 2331 and the fourth connecting plate 2332 are rotatably connected to the second rotating shaft; or, the fourth connecting arm 236 is rotatably connected to the second rotating shaft, and both the third connecting plate 2331 and the fourth connecting plate 2332 are fixedly connected to the second rotating shaft. This is not limited here.

[0203] By configuring the first connecting arm 232, which includes a first connecting plate 2321, a second connecting plate 2322, and multiple first connecting posts 2323, and the second connecting arm 233, which includes a third connecting plate 2331, a fourth connecting plate 2332, and multiple second connecting posts 2333, the first connecting arm 232 and the second connecting arm 233 possess high structural strength, are not easily deformed, can withstand large moments and loads, and have high structural stability. Furthermore, the first connecting plate 2321, the second connecting plate 2322, the third connecting plate 2331, and the fourth connecting plate 2332 can provide some shielding for the connection structure between the connecting arms, resulting in a more aesthetically pleasing appearance.

[0204] In one embodiment, as shown in Figures 3 to 6, the robotic arm 20 further includes an adjusting arm assembly 24. One end of the adjusting arm assembly 24 is connected to the base 21, and the other end is connected to the connecting seat 22. The connecting seat 22 is rotatably connected to the second connecting arm 233. The adjusting arm assembly 24 is used to drive the connecting seat 22 to rotate relative to the second connecting arm 233.

[0205] Optionally, the adjusting arm assembly 24 is used to drive the connecting seat 22 to rotate around the rotational position of the connecting seat 22 and the second connecting arm 233. The rotation axis can be along the X direction or along the Y direction, without restriction.

[0206] The adjusting arm assembly 24 can be fixedly connected to the connecting seat 22, or it can be movably connected to the connecting seat 22, such as through sliding or rotating connections, without limitation. The adjusting arm assembly 24 and the connecting seat 22 can be connected by means of snap-fit, screw-fit, riveting, hinge, pivot, or shaft connection.

[0207] By setting the adjusting arm assembly 24, which drives the connecting seat 22 to rotate relative to the second connecting arm 233, the gripping direction of the gripper 10 can be adjusted, increasing the degree of freedom of movement of the gripper 10 and making the gripper 10 more flexible.

[0208] In one embodiment, as shown in Figures 3 to 6, the adjusting arm assembly 24 includes a third drive mechanism 241, a first adjusting arm 242, a second adjusting arm 243, an adjusting plate 244, and a third adjusting arm 245. The third drive mechanism 241 is disposed on the base 21. One end of the first adjusting arm 242 is connected to the third drive mechanism 241, and the other end of the first adjusting arm 242 is rotatably connected to one end of the second adjusting arm 243. The adjusting plate 244 is rotatably connected to the first connecting arm 232. The end of the second adjusting arm 243 away from the first adjusting arm 242 is rotatably connected to the adjusting plate 244. The two ends of the third adjusting arm 245 are rotatably connected to the adjusting plate 244 and the connecting seat 22, respectively. The three positions where the adjusting plate 244 is rotatably connected to the first connecting arm 232, the second adjusting arm 243, and the third adjusting arm 245 form a triangle.

[0209] The third drive mechanism 241 may include a third motor and a coupling, wherein the third motor is connected to the first adjusting arm 242 via the coupling; alternatively, the third drive mechanism 241 may include a third motor, a fifth gear, and a sixth gear, wherein the fifth gear is connected to the third motor, the sixth gear meshes with the fifth gear, and the sixth gear is rotatably connected to the base 21 and connected to the first adjusting arm 242; alternatively, a combination of a synchronous pulley and a synchronous belt may be used instead of the aforementioned gear combination. All of the above methods are acceptable and no specific limitation is imposed.

[0210] The first adjusting arm 242 and the second adjusting arm 243 can be rotatably connected by means of snap-fit, screw-fit, riveting, hinge, pivot, shaft connection, etc. The connection positions of the adjusting plate 244 with the first connecting arm 232, the second adjusting arm 243 and the third adjusting arm 245 form a triangle. This triangle can be an equilateral triangle or an isosceles triangle, or it can be a triangle with three unequal interior angles, without any restrictions.

[0211] Driven by the third drive mechanism 241, the first adjusting arm 242 rotates, and through the second adjusting arm 243, the adjusting plate 244 rotates around the connection position between the first connecting arm 232 and the adjusting plate 244. Since the connection positions between the adjusting plate 244 and the first connecting arm 232, the second adjusting arm 243 and the third adjusting arm 245 are all fixed, the third adjusting arm 245 will move with the rotation of the adjusting plate 244, thereby causing the connecting seat 22 to rotate relative to the second connecting arm 233.

[0212] In one embodiment, the connection position of the first connecting arm 232 and the second connecting arm 233 is the same as the connection position of the first connecting arm 232 and the adjusting plate 244. They can be connected using the same rotating shaft. For example, the first connecting arm 232 is fixedly connected to the rotating shaft, and both the second connecting arm 233 and the adjusting plate 244 are rotatably connected to the rotating shaft. This arrangement simplifies the structure.

[0213] By setting the adjusting arm assembly 24 to include a third drive mechanism 241, a first adjusting arm 242, a second adjusting arm 243, an adjusting plate 244, and a third adjusting arm 245, the third drive mechanism 241 drives the first adjusting arm 242 to rotate, and then the second adjusting arm 243 drives the adjusting plate 244 to rotate around the connection position between the first connecting arm 232 and the adjusting plate 244, and the third adjusting arm 245 drives the connecting seat 22 to rotate relative to the second connecting arm 233, the gripping direction of the gripper 10 can be adjusted, increasing the degree of freedom of movement of the gripper 10 and making the gripper 10 more flexible.

[0214] In another embodiment, as shown in FIG10, it is basically the same as the embodiment shown in FIG3. The support arm assembly 23 also includes a first connecting arm 232, a second connecting arm 233, a third connecting arm 235, a fourth connecting arm 236, a first driving mechanism 231, a second driving mechanism 234, and an adjusting arm assembly 24. The main difference is that the structure of the adjusting arm assembly 24 is different.

[0215] One end of the adjusting arm assembly 24 is fixedly connected to the base 21, and the other end is rotatably connected to the connecting seat 22. The adjusting arm assembly 24 includes a first adjusting arm 242, a second adjusting arm 243, an adjusting plate 244, and a third adjusting arm 245. One end of the first adjusting arm 242 is fixedly connected to the base 21, and the other end of the first adjusting arm 242 is rotatably connected to one end of the second adjusting arm 243. The adjusting plate 244 is rotatably connected to the first connecting arm 232. The end of the second adjusting arm 243 away from the first adjusting arm 242 is rotatably connected to the adjusting plate 244. The two ends of the third adjusting arm 245 are rotatably connected to the adjusting plate 244 and the connecting seat 22, respectively. The three positions where the adjusting plate 244 is rotatably connected to the first connecting arm 232, the second adjusting arm 243, and the third adjusting arm 245 form a triangle.

[0216] The connection methods between each adjusting arm and between each adjusting arm and the adjusting plate 244 are the same as described above and will not be repeated here.

[0217] With this configuration, when the first drive mechanism 231 drives the first connecting arm 232 to rotate the second connecting arm 233, and the second drive mechanism 234 drives the second connecting arm 233 to rotate around the connection position between the second connecting arm 233 and the fourth connecting arm 236, the relative position of the gripper 10 to the base 21 changes, and the adjustment arms of the adjustment arm assembly 24 can rotate relative to each other, which enhances the structural stability of the robotic arm 20 and simplifies the driving method of the structure.

[0218] In one embodiment, as shown in FIG10, the first connecting arm 232 is rotatably connected to the adjusting plate 244 to rotate about the first rotation axis L1, the third adjusting arm 245 is rotatably connected to the adjusting plate 244 to rotate about the second rotation axis L2, the second connecting arm 233 is rotatably connected to the connecting seat 22 to rotate about the third rotation axis L3, and the third adjusting arm 245 is rotatably connected to the connecting seat 22 to rotate about the fourth rotation axis L4; the first rotation axis L1, the second rotation axis L2, the third rotation axis L3, and the fourth rotation axis L4 are all parallel to each other, and the distance between the first rotation axis L1 and the second rotation axis L2 is equal to the distance between the third rotation axis L3 and the fourth rotation axis L4, and the distance between the first rotation axis L1 and the third rotation axis L3 is equal to the distance between the second rotation axis L2 and the fourth rotation axis L4.

[0219] Understandably, the first rotation axis L1 passes through the connection point between the first connecting arm 232 and the adjusting plate 244, so that both the adjusting plate 244 and the first connecting arm 232 can rotate around the first rotation axis L1. The rotation axes between each adjusting arm, each connecting arm, and the adjusting plate 244 are similar to the first rotation axis L1, and are for reference only, without further explanation. Optionally, the adjusting arms, each connecting arm, and the adjusting plate 244 can be rotatably connected by hinges, bushings, shafts, screws, nuts, etc., and there are no specific restrictions.

[0220] Optionally, the first rotation axis L1, the second rotation axis L2, the third rotation axis L3, and the fourth rotation axis L4, as well as the fifth to ninth rotation axes L9 (described later), are all parallel to each other. Optionally, when the robot arm 100 is placed on a horizontal plane, the first to ninth rotation axes L1 are all parallel to the horizontal plane.

[0221] Understandably, the distance between the first rotation axis L1 and the second rotation axis L2 is equal to the distance between the third rotation axis L3 and the fourth rotation axis L4, and the distance between the first rotation axis L1 and the third rotation axis L3 is equal to the distance between the second rotation axis L2 and the fourth rotation axis L4. With this arrangement, the projections of the first rotation axis L1, the second rotation axis L2, the third rotation axis L3, and the fourth rotation axis L4, when projected along the extension direction, are sequentially connected and form a parallelogram. Specifically, in the orthographic projection along the extension direction, the first rotation axis L1 and the second rotation axis L2, the third rotation axis L3, and the fourth rotation axis L4 form one set of equal sides, and the first rotation axis L1 and the third rotation axis L3, the second rotation axis L2, and the fourth rotation axis L4 form another set of equal sides, with opposite sides in both sets being equal.

[0222] With this configuration, when the first drive mechanism 231 drives the first connecting arm 232 to rotate the second connecting arm 233, and the second drive mechanism 234 drives the second connecting arm 233 to rotate around the connection position between the second connecting arm 233 and the fourth connecting arm 236, so that when the position of the gripper 10 relative to the base 21 changes, the projections of the rotation axes between the second connecting arm 233, the third adjusting arm 245, the connecting seat 22, and the adjusting plate 244 always form a parallelogram, working together to ensure the stability of the gripper 10 in space.

[0223] And / or, the first adjusting arm 242 is rotatably connected to the second adjusting arm 243 to rotate about the fifth rotation axis L5, the first driving mechanism 231 drives the first connecting arm 232 to rotate about the sixth rotation axis L6, and the second adjusting arm 243 is rotatably connected to the adjusting plate 244 to rotate about the seventh rotation axis L7; the first rotation axis L1, the fifth rotation axis L5, the sixth rotation axis L6 and the seventh rotation axis L7 are all parallel to each other, and the distance between the first rotation axis L1 and the sixth rotation axis L6 is equal to the distance between the fifth rotation axis L5 and the seventh rotation axis L7, and the distance between the first rotation axis L1 and the seventh rotation axis L7 is equal to the distance between the fifth rotation axis L5 and the sixth rotation axis L6.

[0224] Similarly, the projections of the first rotation axis L1, the fifth rotation axis L5, the sixth rotation axis L6, and the seventh rotation axis L7 along their extension directions are connected sequentially to form a parallelogram. The specific method can be referred to the aforementioned first rotation axis L1, second rotation axis L2, third rotation axis L3, and fourth rotation axis L4, and will not be repeated here.

[0225] Optionally, when using the robotic arm 20 in the embodiments of Figures 3 and 5, the first adjusting arm 242 can rotate under the drive of the third driving mechanism 241, and its rotation axis coincides with the sixth rotation axis L6. At this time, the parallelogram structure formed by the first rotation axis L1, the fifth rotation axis L5, the sixth rotation axis L6, and the seventh rotation axis L7 in the orthographic projection along their extension direction can work together to drive the connecting seat 22 to rotate relative to the second connecting arm 233, thereby adjusting the gripping direction of the gripper 10 so that the gripper 10 can perform pitching motion and prevent the gripper 10 from erratically moving when adjusting the direction.

[0226] When the robotic arm 20 in the embodiment of Figure 10 is used, since one end of the first adjusting arm 242 is fixed relative to the base 21, one side of the parallelogram structure formed by the first rotation axis L1, the fifth rotation axis L5, the sixth rotation axis L6, and the seventh rotation axis L7 in the orthographic projection along their extension direction is relatively fixed (i.e., the line connecting the fifth rotation axis L5 and the sixth rotation axis L6). When the first driving mechanism 231 drives the first connecting arm 232 to drive the second connecting arm 233 to rotate, and the second driving mechanism 234 drives the second connecting arm 233 to rotate around the connection position between the second connecting arm 233 and the fourth connecting arm 236, the line connecting the fifth rotation axis L5 and the sixth rotation axis L6 and the line connecting the fifth rotation axis L5 and the seventh rotation axis L7 in the orthographic projection along the extension direction can rotate relative to each other, ensuring that the robotic arm 20 can rotate smoothly, avoiding jamming, enhancing the structural stability of the robotic arm 20, and simplifying the driving method of the structure.

[0227] And / or, the output shaft of the second drive mechanism 234 coincides with the output shaft of the first drive mechanism 231, the second drive mechanism 234 drives the third connecting arm 235 to rotate around the sixth rotation axis L6, the rotation axis of the first connecting arm 232 and the second connecting arm 233 rotatably connects to coincide with the first rotation axis L1, the third connecting arm 235 and the fourth connecting arm 236 rotatably connect to rotate around the eighth rotation axis L8, the fourth connecting arm 236 and the second connecting arm 233 rotatably connect to rotate around the ninth rotation axis L9; the first rotation axis L1, the sixth rotation axis L6, the eighth rotation axis L8 and the ninth rotation axis L9 are all parallel to each other, and the distance between the first rotation axis L1 and the sixth rotation axis L6 is equal to the distance between the eighth rotation axis L8 and the ninth rotation axis L9, and the distance between the first rotation axis L1 and the ninth rotation axis L9 is equal to the distance between the sixth rotation axis L6 and the eighth rotation axis L8.

[0228] Optionally, the sixth rotation axis L6 passes through the connection position between the first connecting arm 232 and the first drive mechanism 231, and the connection position between the third connecting arm 235 and the second drive mechanism 234. The projections of the first rotation axis L1, the sixth rotation axis L6, the eighth rotation axis L8, and the ninth rotation axis L9 along their extension directions are sequentially connected to form a parallelogram. The specific method is the same as described above for the first rotation axis L1, the second rotation axis L2, the third rotation axis L3, and the fourth rotation axis L4, and will not be repeated here.

[0229] With this configuration, when the second drive mechanism 234 drives the second connecting arm 233 to rotate around the connection position between the second connecting arm 233 and the fourth connecting arm 236, the parallelogram structure formed by the rotation axis of the gripper 10 ensures that each connecting arm always works in coordination when the position of the gripper 10 relative to the base 21 changes, thereby ensuring the stability of the movement of the gripper 10.

[0230] Optionally, the rotation axes of the support arm assembly 23 and the adjusting arm assembly 24 of the robotic arm 100 can be configured to satisfy any combination of one or more of the three parallelogram structures described above. In a specific embodiment, as shown in FIG10, the first rotation axis L1 to the ninth rotation axis L9 are all parallel to each other, and the distance between the first rotation axis L1 and the second rotation axis L2 is equal to the distance between the third rotation axis L3 and the fourth rotation axis L4, the distance between the first rotation axis L1 and the third rotation axis L3 is equal to the distance between the second rotation axis L2 and the fourth rotation axis L4, the distance between the first rotation axis L1 and the sixth rotation axis L6 is equal to the distance between the fifth rotation axis L5 and the seventh rotation axis L7, the distance between the first rotation axis L1 and the seventh rotation axis L7 is equal to the distance between the fifth rotation axis L5 and the sixth rotation axis L6, the distance between the first rotation axis L1 and the sixth rotation axis L6 is equal to the distance between the eighth rotation axis L8 and the ninth rotation axis L9, and the distance between the first rotation axis L1 and the ninth rotation axis L9 is equal to the distance between the sixth rotation axis L6 and the eighth rotation axis L8. Optionally, the different robotic arms 100 in the embodiments of this application all meet the above requirements.

[0231] In one embodiment, as shown in Figures 1 and 3, the gripper 10 further includes a first mating member 16, which is connected to the transmission rod 12. The robot 100 also includes a gripper drive assembly 30, one end of which is connected to the base 21, and the other end is in a transmission engagement with the first mating member 16. The gripper drive assembly 30 is used to drive the first mating member 16 to move so that the transmission rod 12 moves along its own axial direction.

[0232] Optionally, the gripper drive assembly 30 and the first mating member 16 can form a gear and rack pair for transmission. The first mating member 16 can be a rack or a gear, without limitation. Alternatively, the gripper drive assembly 30 and the first mating member 16 can form a lead screw and nut pair for transmission. Or, the gripper drive assembly 30 and the first mating member 16 can form any other feasible transmission and mating structure, without limitation.

[0233] The robotic arm 100 also includes a gripper drive assembly 30, which is in transmission engagement with the first mating part 16 of the gripper 10. The gripper drive assembly 30 can be used to transmit power so that the first mating part 16 drives the transmission rod 12 to move, and the transmission method is simple and efficient.

[0234] In one embodiment, as shown in Figures 3 to 6, the gripper drive assembly 30 includes a fourth drive mechanism 31, a belt drive mechanism 32, and a second mating member 33. The fourth drive mechanism 31 is disposed on the base 21. The second mating member 33 is rotatably connected to one end of the second connecting arm 233 near the connecting seat 22, and the second mating member 33 is in a transmission engagement with the first mating member 16. The belt drive mechanism 32 is engaged with the fourth drive mechanism 31 and the second mating member 33.

[0235] Optionally, the fourth drive mechanism 31 is disposed on the side plate 212. The fourth drive mechanism 31 includes a fourth motor, a seventh gear, and an eighth gear. The seventh gear is connected to the fourth motor, the eighth gear meshes with the seventh gear, and the eighth gear is connected to the belt drive mechanism 32. It is understood that the fourth drive mechanism 31 may not have a seventh gear and an eighth gear, and the fourth motor may be directly connected to the belt drive mechanism 32 through a coupling. This is not a limitation.

[0236] The belt drive mechanism 32 is connected to the fourth drive mechanism 31 and the second mating part 33 and drives the second mating part 33 to rotate or move, transmitting power to make the first mating part 16 drive the transmission rod 12 to move. The connection between the belt drive mechanism 32, the fourth drive mechanism 31 and the second mating part 33 can be any feasible transmission connection structure, and the embodiments of this application are not limited.

[0237] The gripper drive assembly 30 includes a fourth drive mechanism 31, a belt drive mechanism 32, and a second mating member 33. The belt drive mechanism 32 is connected to the fourth drive mechanism 31 and the second mating member 33. The second mating member 33 is used to transmit power so that the first mating member 16 drives the transmission rod 12 to move. The transmission method is simple and efficient.

[0238] In one embodiment, as shown in Figures 3 to 6, the belt drive mechanism 32 includes a first synchronous pulley 321, a second synchronous pulley 322, a third synchronous pulley 323, a first synchronous belt 324, and a second synchronous belt 325. The first synchronous pulley 321 is connected to the fourth drive mechanism 31. The first synchronous pulley 321 and the second synchronous pulley 322 are connected through the first synchronous belt 324. The second synchronous pulley 322 and the third synchronous pulley 323 are connected through the second synchronous belt 325. The second synchronous pulley 322 is rotatably connected to the first connecting arm 232, and the third synchronous pulley 323 is engaged with the second mating member 33.

[0239] The belt drive mechanism 32 can also be any other feasible belt drive mechanism 32, without limitation. The belt drive mechanism 32 transmits power through the friction generated when the first synchronous pulley 321, the second synchronous pulley 322, and the third synchronous pulley 323 are tensioned with the first synchronous belt 324 and the second synchronous belt 325. The transmission structure is simple and the operation is smooth.

[0240] In one embodiment, the first mating component 16 is a rack, and the second mating component 33 is a gear. The rack meshes with the gear, and the rack is connected to the end of the transmission rod 12 opposite to the movable seat 13. The rack and transmission rod 12 can be an integral structure or a separate structure. The rack and transmission rod 12 can be connected and fixed by welding, bonding, snap-fitting, screwing, riveting, etc., without limitation. This configuration can convert the rotational motion of the gear into the reciprocating linear motion of the rack. The first mating component 16 and the second mating component 33 work together to drive the transmission rod 12 to move in a straight line, resulting in high transmission efficiency.

[0241] In one embodiment, the connection positions of the first connecting arm 232 and the second synchronous pulley 322, the connection positions of the first connecting arm 232 and the second connecting arm 233, and the connection position of the first connecting arm 232 and the adjusting plate 244 are all the same, and can be connected using the same rotating shaft. For example, the first connecting arm 232 is fixedly connected to the rotating shaft, and the second connecting arm 233, the adjusting plate 244, and the second synchronous pulley 322 are all rotatably connected to the rotating shaft. This arrangement simplifies the structure.

[0242] In one embodiment, the connection position of the second connecting arm 233 and the connecting seat 22 is the same as the connection position of the second connecting arm 233 and the second mating member 33. The connection can be achieved using the same rotating shaft. For example, both the second connecting arm 233 and the connecting seat 22 are rotatably connected to this rotating shaft, and the second mating member 33 (gear) and the third synchronous pulley 323 are fixedly connected to this rotating shaft. This arrangement simplifies the structure.

[0243] In one embodiment, the first drive mechanism 231, the second drive mechanism 234, the third drive mechanism 241, and the fourth drive mechanism 31 are evenly distributed on two opposing side plates 212 of the base 21. This arrangement results in higher structural stability.

[0244] In one embodiment, as shown in FIG10, the robotic arm 100 further includes a rotation drive 41 and a rotating disk 42. The base 21 is fixedly connected to the rotating disk 42, and the rotation drive 41 is connected to the rotating disk 42 and can drive the rotating disk 42 to rotate.

[0245] The rotation drive component 41 can be a motor, cylinder, or other similar device, without limitation. Optionally, the rotation drive component 41 can drive the rotating disk 42 to rotate via a transmission mechanism (such as a gear rack or gear set), thereby driving the base 21 and the support arm assembly 23, adjusting arm assembly 24, and gripper 10 connected thereon to rotate synchronously.

[0246] With this configuration, the robotic arm 100 or gripper 10 can grasp targets around it, expanding the operable range.

[0247] Please refer to Figures 1 to 10. This application embodiment also provides an experimental device, including the gripper 10 in this application embodiment, or the robotic arm 100 in this application embodiment.

[0248] The experimental equipment may also include other feasible devices, and this application embodiment does not impose any limitations. The experimental equipment performs automated experiments, where the material is transferred by the robotic arm 100 or other motion mechanisms driving the gripper 10 to grasp and move the target object. The experimental equipment can stably grasp the target object, and the gripper 10 has a compact structure, occupying little space, which also allows the experimental equipment to be designed with a compact structure and small footprint.

[0249] Optionally, the experimental equipment may also include a ground rail translation mechanism (not shown), with a manipulator 100 disposed on the ground rail translation mechanism and capable of sliding relative to the ground rail translation mechanism; or, a gripper 10 disposed on the ground rail translation mechanism and capable of sliding relative to the ground rail translation mechanism.

[0250] Optionally, the ground rail translation mechanism includes a guide rail that extends along the X and / or Y directions. The robot arm 100 or gripper 10 can be slidably connected to the guide rail for movement along the X and / or Y directions.

[0251] This configuration enables the robot arm 100 or gripper 10 to move horizontally, expanding the operable range of the robot arm 100 or gripper 10.

[0252] In the description of the embodiments of this application, it should be noted that the orientation or positional relationship of the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and other indicators are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and are not intended to 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 application.

[0253] The above-disclosed embodiments are merely preferred embodiments of this application and should not be construed as limiting the scope of this application. Those skilled in the art will understand that all or part of the processes for implementing the above embodiments and equivalent variations made in accordance with the claims of this application are still within the scope of this application.

Claims

1. A gripper characterized by, include: Fixed base; The transmission rod is movably connected to the fixed base; The movable seat is connected to the transmission rod and is capable of moving relative to the fixed seat along the axial direction of the transmission rod; Multiple transmission structures are movably connected to both the fixed seat and the movable seat, and the multiple transmission structures are spaced apart along the circumference of the transmission rod; Multiple fingers are connected one-to-one with multiple of the aforementioned transmission structures; The transmission rod moves to drive the movable seat to move along the axial direction of the transmission rod, the movable seat drives multiple transmission structures to move synchronously, and the multiple transmission structures drive multiple fingers to move synchronously in the radial direction of the transmission rod.

2. The jaw of claim 1, wherein The fixed base includes a first base body and a plurality of first connecting parts. The plurality of first connecting parts are connected to the first base body. The transmission rod passes through the first base body and is movably connected to the first base body. The plurality of first connecting parts are spaced apart along the circumference of the transmission rod. The plurality of transmission structures are rotatably connected to the plurality of first connecting parts one by one.

3. The jaw of claim 1, wherein The movable seat includes a second seat body and a plurality of second connecting parts. The plurality of second connecting parts are connected to the second seat body and protrude outward from the second seat body along the radial direction of the transmission rod. The transmission rod is connected to the second seat body. The plurality of second connecting parts are spaced apart along the circumferential direction of the transmission rod. The plurality of transmission structures are movably connected to the plurality of second connecting parts in a one-to-one correspondence.

4. The jaw of claim 1, wherein One end of the transmission rod is fixedly or slidably connected to the movable seat, and the transmission rod can move relative to the fixed seat along its own axial direction to drive the movable seat to move; or, the transmission rod is connected to the movable seat in a transmission engagement, and the transmission rod can rotate about its own axis to make the movable seat move along the axial direction of the transmission rod.

5. The jaw of claim 1, wherein The gripper also includes a gripper drive component, which is disposed on the fixed base and is in transmission cooperation with the transmission rod. The gripper drive component is used to drive the transmission rod to move.

6. The jaw of claim 5, wherein The gripper drive is a motor, the transmission rod is a lead screw, the gripper drive is connected to the transmission rod, the transmission rod is connected to the movable seat through a nut, and the gripper drive drives the transmission rod to rotate so that the movable seat moves along the axial direction of the transmission rod; or, the gripper drive is a motor, the gripper drive is connected to the transmission rod through a gear and rack pair, and the gripper drive drives the transmission rod to move along its own axial direction to move the movable seat.

7. The jaw of claim 1, wherein The gripper further includes a first mating member, which is disposed on the transmission rod. The first mating member is used to engage with a second mating member for transmission, and the second mating member is used to transmit power so that the first mating member drives the transmission rod to move.

8. The jaw of claim 1, wherein The transmission rod is slidably connected to the fixed seat and the movable seat along the axial direction of the transmission rod. The gripper also includes an elastic element, one end of which elastically abuts against the transmission rod, and the other end of which elastically abuts against the movable seat.

9. The jaw of claim 1, wherein The transmission rod is a splined shaft, and the gripper further includes a first spline nut and a second spline nut. The first spline nut and the second spline nut are spaced apart along the axial direction of the transmission rod, and are both sleeved on the transmission rod and movably connected to the transmission rod. The first spline nut is connected and fixed to the fixed seat, and the second spline nut is connected and fixed to the movable seat.

10. The jaw of claim 9, wherein, Both the first spline nut and the second spline nut are slidably connected to the transmission rod along the axial direction of the transmission rod; the gripper also includes a gripper drive, which is connected to the fixed base and to one end of the transmission rod, and is used to drive the transmission rod to move along its own axial direction.

11. The jaw of claim 10, wherein, The transmission rod is also capable of rotating about its own axis relative to the gripper drive component; the gripper drive component is a motor, and the transmission rod is rotatably connected to the output end of the gripper drive component through a transition bearing.

12. The jaw of claim 9, wherein, The gripper further includes a locking member, a limiting member, and an elastic member. The locking member is disposed at the end of the transmission rod and located on the side of the movable seat facing away from the fixed seat. The limiting member is disposed on the transmission rod and located between the first spline nut and the second spline nut. One end of the elastic member elastically abuts against the limiting member, and the other end elastically abuts against the movable seat.

13. The jaw of claim 11, wherein, The gripper also includes a rotating mechanism connected to the fixed base and capable of driving the fixed base to rotate about the axis of the transmission rod.

14. The jaw of claim 13, wherein, Both the first spline nut and the second spline nut are fixed relative to the transmission rod in the circumferential direction; the rotating mechanism includes a rotating drive, a first rotating gear and a second rotating gear, the rotating drive is connected to the first rotating gear, the second rotating gear is connected to the fixed base, the first rotating gear meshes with the second rotating gear, and the rotating drive drives the first rotating gear to rotate and drive the second rotating gear to rotate, so as to drive the fixed base and the transmission rod to rotate synchronously.

15. The jaw of claim 14, wherein, The gripper also includes a mounting base and a pressure plate. The gripper drive and the rotary drive are both disposed on the mounting base. The fixed base is rotatably connected to the mounting base via a rotary bearing. The pressure plate is disposed on the fixed base and is used to limit the rotary bearing in the axial direction of the transmission rod.

16. The jaw of any one of claims 1 to 15, wherein, The transmission structure includes a first connecting rod and a transmission mechanism. One end of the first connecting rod is rotatably connected to the fixed seat, and the other end is rotatably connected to the transmission mechanism. The transmission mechanism is movably connected to the movable seat, and the finger is connected to the transmission mechanism.

17. The jaw of claim 16, wherein, The transmission mechanism includes a second connecting rod, a first sliding part, and a second sliding part. One end of the second connecting rod is rotatably connected to the end of the first connecting rod away from the fixed seat. The first sliding part is disposed on the second connecting rod, and the second sliding part is disposed on the movable seat. The first sliding part and the second sliding part are slidably connected in the radial direction of the transmission rod. The finger is connected to the end of the second connecting rod away from the first connecting rod.

18. The jaw of claim 17, wherein, The second link includes a first segment and a second segment. One end of the first segment is rotatably connected to the end of the first link away from the fixed seat. One end of the second segment is fixedly connected to the end of the first segment away from the first link. The first segment and the second segment have an included angle. The first sliding part is disposed on the second segment. The finger is connected to the end of the second segment away from the first segment.

19. The jaw of claim 16, wherein, The transmission mechanism includes a third link, a fourth link, and a fifth link. One end of the third link is rotatably connected to the end of the first link away from the fixed seat. The other end of the third link is rotatably connected to one end of the fourth link. The third link is also rotatably connected to the movable seat. The end of the fourth link away from the third link is connected to the finger. The two ends of the fifth link are rotatably connected to the fourth link and the movable seat, respectively.

20. The jaw of claim 19, wherein, The third link includes a third segment and a fourth segment. One end of the third segment is rotatably connected to the end of the first link away from the fixed base, and the other end is connected to the fourth segment. One end of the fourth segment near the third segment is rotatably connected to the movable base, and the other end is rotatably connected to the fourth link. The third segment and the fourth segment have an included angle, and the third segment extends from the fourth segment toward the direction closer to the transmission rod. The first link extends from the fixed base toward the direction closer to the transmission rod, and the fourth link extends from the fourth segment toward the direction closer to the transmission rod.

21. A robot, characterized in that It includes a robotic arm and a gripper as described in any one of claims 1 to 20, wherein the gripper's mounting base is connected to the robotic arm.

22. The robot of claim 21, wherein, The robotic arm includes: Base; The connecting seat is connected to the fixed seat; The support arm assembly is connected to the base at one end and to the connecting seat at the other end. The support arm assembly is used to drive the connecting seat to move in space.

23. The robot of claim 22, wherein, The support arm assembly includes a first drive mechanism, a first connecting arm, and a second connecting arm. The first drive mechanism is disposed on the base. One end of the first connecting arm is connected to the first drive mechanism, and the other end is rotatably connected to the second connecting arm. One end of the second connecting arm is connected to the connecting seat.

24. The robot of claim 23, wherein, The support arm assembly further includes a second drive mechanism, a third connecting arm, and a fourth connecting arm. The second drive mechanism is disposed on the base. One end of the third connecting arm is connected to the second drive mechanism, and the other end is rotatably connected to one end of the fourth connecting arm. The other end of the fourth connecting arm is rotatably connected to the second connecting arm, and the connection position between the fourth connecting arm and the second connecting arm is spaced apart from the connection position between the first connecting arm and the second connecting arm.

25. The robot of claim 24, wherein, The fourth connecting arm and the connecting seat are rotatably connected to the two opposite ends of the second connecting arm along the length direction, and the first connecting arm is rotatably connected to the position between the two ends of the second connecting arm.

26. The robotic arm according to claim 24, characterized in that, The first connecting arm includes a first connecting plate, a second connecting plate, and a plurality of first connecting posts. The first connecting plate and the second connecting plate are arranged at intervals relative to each other, and the plurality of first connecting posts are connected between the first connecting plate and the second connecting plate, and the plurality of first connecting posts are arranged at intervals. The second connecting arm includes a third connecting plate, a fourth connecting plate, and a plurality of second connecting posts. The third connecting plate and the fourth connecting plate are arranged at intervals relative to each other, and the plurality of second connecting posts are connected between the third connecting plate and the fourth connecting plate, and the plurality of second connecting posts are arranged at intervals. The first connecting plate is rotatably connected to the third connecting plate, the second connecting plate is rotatably connected to the fourth connecting plate, and the fourth connecting arm is rotatably connected to both the third and fourth connecting plates.

27. The robot of claim 24, wherein, The robotic arm also includes an adjusting arm assembly, one end of which is connected to the base and the other end of which is connected to the connecting seat. The connecting seat is rotatably connected to the second connecting arm, and the adjusting arm assembly is used to drive the connecting seat to rotate relative to the second connecting arm.

28. The robot of claim 27, wherein, The adjusting arm assembly includes a third drive mechanism, a first adjusting arm, a second adjusting arm, an adjusting plate, and a third adjusting arm. The third drive mechanism is disposed on the base. One end of the first adjusting arm is connected to the third drive mechanism, and the other end of the first adjusting arm is rotatably connected to one end of the second adjusting arm. The adjusting plate is rotatably connected to the first connecting arm. The end of the second adjusting arm away from the first adjusting arm is rotatably connected to the adjusting plate. The two ends of the third adjusting arm are rotatably connected to the adjusting plate and the connecting seat, respectively. The three positions where the adjusting plate is rotatably connected to the first connecting arm, the second adjusting arm, and the third adjusting arm form a triangle.

29. The robot of claim 27, wherein, One end of the adjusting arm assembly is fixedly connected to the base, and the other end is rotatably connected to the connecting seat; The adjusting arm assembly includes a first adjusting arm, a second adjusting arm, an adjusting plate, and a third adjusting arm. One end of the first adjusting arm is fixedly connected to the base, and the other end of the first adjusting arm is rotatably connected to one end of the second adjusting arm. The adjusting plate is rotatably connected to the first connecting arm. The end of the second adjusting arm away from the first adjusting arm is rotatably connected to the adjusting plate. The two ends of the third adjusting arm are rotatably connected to the adjusting plate and the connecting base, respectively. The three positions where the adjusting plate is rotatably connected to the first connecting arm, the second adjusting arm, and the third adjusting arm form a triangle.

30. The robot of claim 28 or 29, wherein, The first connecting arm is rotatably connected to the adjusting plate about a first rotation axis, the third adjusting arm is rotatably connected to the adjusting plate about a second rotation axis, the second connecting arm is rotatably connected to the connecting seat about a third rotation axis, and the third adjusting arm is rotatably connected to the connecting seat about a fourth rotation axis; the first rotation axis, the second rotation axis, the third rotation axis, and the fourth rotation axis are all parallel to each other, and the distance between the first rotation axis and the second rotation axis is equal to the distance between the third rotation axis and the fourth rotation axis; the distance between the first rotation axis and the third rotation axis is equal to the distance between the second rotation axis and the fourth rotation axis. And / or, the first adjusting arm and the second adjusting arm are rotatably connected about a fifth rotation axis, the first driving mechanism drives the first connecting arm to rotate about a sixth rotation axis, and the second adjusting arm is rotatably connected to the adjusting plate about a seventh rotation axis; the first rotation axis, the fifth rotation axis, the sixth rotation axis, and the seventh rotation axis are all parallel to each other, and the distance between the first rotation axis and the sixth rotation axis is equal to the distance between the fifth rotation axis and the seventh rotation axis; And / or, the rotation axis of the third connecting arm driven by the second driving mechanism coincides with the sixth rotation axis, the rotation axis of the first connecting arm and the second connecting arm rotatably connected coincides with the first rotation axis, the third connecting arm and the fourth connecting arm are rotatably connected around the eighth rotation axis, and the fourth connecting arm and the second connecting arm are rotatably connected around the ninth rotation axis; the first rotation axis, the sixth rotation axis, the eighth rotation axis and the ninth rotation axis are all parallel to each other, and the distance between the first rotation axis and the sixth rotation axis is equal to the distance between the eighth rotation axis and the ninth rotation axis, and the distance between the first rotation axis and the ninth rotation axis is equal to the distance between the sixth rotation axis and the eighth rotation axis.

31. The robot of any of claims 23-30, wherein, The gripper further includes a first mating component, which is connected to the transmission rod; the manipulator further includes a gripper drive assembly, one end of which is connected to the base and the other end of which is in transmission engagement with the first mating component. The gripper drive assembly is used to drive the first mating component to move so that the transmission rod moves along its own axial direction.

32. The robot of claim 31, wherein, The gripper drive assembly includes a fourth drive mechanism, a belt drive mechanism, and a second mating component. The fourth drive mechanism is disposed on the base. The second mating component is rotatably connected to one end of the second connecting arm near the connecting seat, and the second mating component is in transmission engagement with the first mating component. The belt drive mechanism is in cooperation with the fourth drive mechanism and the second mating component.

33. The robot of claim 32, wherein, The belt drive mechanism includes a first synchronous pulley, a second synchronous pulley, a third synchronous pulley, a first synchronous belt, and a second synchronous belt. The first synchronous pulley is connected to the fourth drive mechanism. The first synchronous pulley and the second synchronous pulley are connected through the first synchronous belt. The second synchronous pulley and the third synchronous pulley are connected through the second synchronous belt. The second synchronous pulley is rotatably connected to the first connecting arm. The third synchronous pulley is engaged with the second mating component. The first mating component is a rack, and the second mating component is a gear, wherein the rack meshes with the gear.

34. The robot of any one of claims 21 to 33, wherein, The robotic arm also includes a rotation drive and a rotating disk. The base is fixedly connected to the rotating disk, and the rotation drive is connected to the rotating disk and can drive the rotating disk to rotate.

35. An experimental apparatus comprising: Includes the gripper as described in any one of claims 1 to 20, or includes the robotic arm as described in any one of claims 21 to 34.

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