Manipulator and robot
By designing rotatable and movable gripping and transmission units, the structure of the robot arm is simplified, and parallel gripping and enveloping gripping functions are realized. This solves the problem of complex structure in existing robot arms and improves operational efficiency.
Patent Information
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- ASTRIBOT CO LTD
- Filing Date
- 2025-12-30
- Publication Date
- 2026-07-30
AI Technical Summary
Existing robotic arms have complex structures, resulting in inconvenience and low efficiency in use.
A robotic arm was designed, comprising at least two gripping units and a transmission unit. Through the rotatable and movable structure of the gripping units, parallel gripping and enveloping gripping functions are achieved, simplifying the structure of the robotic arm.
It simplifies the structure of the robotic arm and provides dual functions of parallel gripping and envelope gripping, thereby improving operational efficiency and adaptability.
Smart Images
Figure CN2025147641_30072026_PF_FP_ABST
Abstract
Description
robotic arms and robots
[0001] Cross-references to related applications
[0002] This application claims priority to Chinese patent application No. 2025101249062, filed on January 24, 2025, the entire contents of which are incorporated herein by reference. Technical Field
[0003] This application relates to the field of robotics or mechanical actuators, and more specifically, to a robotic arm and a robot. Background Technology
[0004] A robotic arm is an automated operating device that can mimic certain movements and functions of a human hand to grasp, move objects, or operate tools according to a fixed program. Robotic arms can replace heavy human labor to achieve mechanization and automation of production, and can operate in hazardous environments to protect personal safety. Therefore, they are widely used in machinery manufacturing, metallurgy, electronics, light industry, and nuclear energy sectors.
[0005] Robotic arms are currently the most frequently used end effectors, generally possessing clamping or enveloping functions. However, the structures of commonly used robotic arms are relatively complex. Summary of the Invention
[0006] This application addresses the shortcomings of existing methods by proposing a robotic arm and robot to solve the technical problem of complex robotic arm structures in related technologies.
[0007] In a first aspect, embodiments of this application provide a robotic arm for use with a robot, comprising:
[0008] At least two clamping units are provided. Each clamping unit includes a frame member, a first clamping member, a mating member, and a second clamping member. The first end of the frame member is rotatably connected to the first clamping member. The mating member is disposed at the second end of the frame member. The mating member is relatively movable on the second clamping member along the extending direction of the second clamping member. The second clamping member is rotatably disposed relative to the second end of the frame member. The second clamping member is rotatably connected to the first clamping member.
[0009] The transmission unit is connected to the frame of the clamping unit and is used to make the robot arm in a first clamping state where the second clamping members of at least two clamping units are parallel to and close to the target object; or, to make the robot arm in a second clamping state where the second clamping members and the first clamping members of at least two clamping units are enveloped and clamped around the target object; or to make the robot arm in a second clamping state where the second clamping members of at least two clamping units and a portion of the transmission unit are enveloped and clamped around the target object.
[0010] Optionally, the clamping unit further includes a guide portion disposed on the second clamping member;
[0011] The mating part is pivotally connected to the frame part, and the mating part is slidably engaged with the guide part, which is used to limit the mating part to move along the extension direction of the guide part.
[0012] Optionally, the second clamping member has a first clamping portion away from the first clamping member and a second clamping portion close to the first clamping member, and the first clamping member has a third clamping portion; the transmission unit includes at least a base;
[0013] In the first clamping state, the first clamping parts of at least two clamping units cooperate to clamp the target object in parallel.
[0014] In the second clamping state, the second clamping parts of at least two clamping units cooperate with the third clamping part, or the second clamping parts of at least two clamping units cooperate with the base body to envelop and clamp the target object.
[0015] Optionally, the frame components include:
[0016] The first segment has two ends pivotally connected to the transmission unit, and the first end of the first segment is pivotally connected to the first clamping member.
[0017] The second segment has its first end fixedly connected to the second end of the first segment, and the second segment is set at an angle to the first segment;
[0018] The third segment has its first end fixedly connected to the second end of the second segment, and the third segment is inclined to the axis of the second segment; the mating part is pivotally connected to the second end of the third segment.
[0019] Alternatively, the third segment may extend to the side furthest from the first segment.
[0020] Optionally, the first segment, the second segment, and the third segment enclose an accommodating space;
[0021] In the first clamping state, the mating part is close to the first end of the second clamping part, and the axes of the first clamping part and the second clamping part are collinear;
[0022] In the second clamping state, the mating part is close to the second end of the second clamping member, and the first clamping member and the second clamping member swing to partially penetrate into the receiving space.
[0023] Optionally, the clamping unit further includes a reset member connected to at least one of the first clamping member and the second clamping member to restore the first clamping member and the second clamping member to collinearity.
[0024] Optionally, the clamping unit further includes a limiting member connected to at least one of the first clamping member and the second clamping member to limit the swing of the first clamping member and the second clamping member toward the side away from the receiving space.
[0025] Optionally, in the second clamping state, the connection between the first clamping member and the second clamping member abuts against the frame member and / or the mating member abuts against the end of the guide portion away from the first clamping member.
[0026] Secondly, embodiments of this application provide a robot, including a robotic arm and a robotic hand as described above, the robotic hand being mounted at the end effector of the robotic arm.
[0027] The beneficial technical effects of the technical solutions provided in this application include:
[0028] The embodiments of this application, by setting the first clamping member to be rotatable, the second clamping member to be movable and rotatable, and the first clamping member and the second clamping member to be rotatable relative to each other, not only enable the robot to have two functions: parallel clamping and enveloping clamping, but also simplify the structure of the robot, making the structure of the robot simpler.
[0029] In this embodiment, the first clamping member and the second clamping member of the clamping unit are rotatably connected. The first clamping member is rotatably connected to the first end of the frame member. The second clamping member is configured to be relatively movable relative to the frame member and rotatable relative to the second end of the frame member via a mating member.
[0030] The transmission unit and the clamping unit are connected by a transmission mechanism. Driven by the transmission unit, at least two clamping units can move closer to or further away from each other, thereby putting the robot in a first clamping state or a second clamping state.
[0031] When the robotic arm is in the first gripping state, the second gripping members of at least two gripping units approach each other in parallel and cooperate to achieve the function of parallel gripping of the target object. When at least two gripping units approach each other so that the rotation points of the first and second gripping members or their vicinity abut against the target object, the robotic arm switches to the second gripping state. The first gripping member of the gripping unit rotates relative to the frame member, and the second gripping member moves and rotates relative to the frame member. The first and second gripping members rotate relative to each other to form a semi-encircling shape. The second gripping member abuts against the target object from the outside (e.g., the side of the target object away from the transmission unit). Through the cooperation of the second gripping member and the first gripping member, or through the second gripping member pressing the target object against a part of the structure of the transmission unit, the robotic arm achieves the function of enveloping and gripping the target object (at this time, the robotic arm is in the second gripping state).
[0032] Additional aspects and advantages of this application will be set forth in part in the description which follows, and will become apparent from the description or may be learned by practice of this application. Attached Figure Description
[0033] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:
[0034] Figure 1 is a schematic diagram of the structure of a robotic arm in the first clamping state according to an embodiment of this application;
[0035] Figure 2 is a partial enlarged structural diagram of the robotic arm in Figure 1;
[0036] Figure 3 is a cross-sectional structural diagram of a robotic arm in a first clamping state according to an embodiment of this application;
[0037] Figure 4 is a schematic diagram of the structure of a robot arm in the second clamping state when the target object is being clamped by the second clamping member and the first clamping member according to an embodiment of this application;
[0038] Figure 5 is a partial enlarged structural diagram of the robotic arm in Figure 4;
[0039] Figure 6 is a cross-sectional structural schematic diagram of a robot arm in a second clamping state when the target object is being enveloped and clamped by the second clamping member and the first clamping member, according to an embodiment of this application.
[0040] Figure 7 is a schematic diagram of the structure of a robot arm in the second clamping state when the target object is clamped by the seat of the second clamping member and the transmission unit according to an embodiment of this application;
[0041] Figure 8 is a cross-sectional structural schematic diagram of a robot arm in a second clamping state, in which the target object is clamped by the seat of the second clamping member and the transmission unit, according to an embodiment of this application. Detailed Implementation
[0042] The embodiments of this application are described below with reference to the accompanying drawings. It should be understood that the embodiments described below with reference to the accompanying drawings are exemplary descriptions for explaining the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions of the embodiments of this application.
[0043] Those skilled in the art will understand that, unless specifically stated otherwise, the terms "described" and "the" as used herein may also include plural forms. It should be further understood that the term "comprising" as used in the specification of this application means the presence of the stated features, integers, operations, and / or components, but does not exclude other features, information, data, steps, operations, elements, components, and / or combinations thereof supported by the art. The term "and / or" as used herein refers to at least one of the items defined by the term; for example, "A and / or B" can be implemented as "A," or as "B," or as "A and B."
[0044] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.
[0045] The robotic arm and robot provided in this application are intended to solve the technical problem of the complex structure of robotic arms in related technologies.
[0046] The technical solution of this application and how it solves the above-mentioned technical problems are described in detail below with specific embodiments. It should be noted that the following embodiments can be referenced, borrowed, or combined with each other, and the same terms, similar features, and similar implementation steps in different embodiments will not be described again.
[0047] This application provides a robotic arm 100, the structural schematic diagram of which is shown in Figures 1 to 8. The robotic arm 100 is used for robots and includes at least two gripping units 10 and a transmission unit 20.
[0048] The clamping unit 10 includes a frame member 11, a first clamping member 12, a mating member 13, and a second clamping member 14. The first end of the frame member 11 is rotatably connected to the first clamping member 12. The mating member 13 is disposed at the second end of the frame member 11. The mating member 13 is relatively movable on the second clamping member 14 along the extending direction of the second clamping member 14. The second clamping member 14 is rotatably disposed relative to the second end of the frame member 11. The second clamping member 14 is rotatably connected to the first clamping member 12.
[0049] The transmission unit 20 is connected to the frame member 11 of the clamping unit 10, so that the robot 100 is in a first clamping state where the second clamping member 14 of each of the at least two clamping units 10 is parallel and close to the target object 200; or, the robot 100 is in a second clamping state where the second clamping member 14 and the first clamping member 12 of each of the at least two clamping units 10 are enveloped and clamped around the target object 200; or the robot 100 is in a second clamping state where the second clamping member 14 of each of the at least two clamping units 10 and a portion of the structure of the transmission unit 20 are enveloped and clamped around the target object 200.
[0050] In this embodiment of the application, by arranging the first clamping member 12 to be rotatable, the second clamping member 14 to be movable and rotatable, and the first clamping member 12 and the second clamping member 14 to be rotatable relative to each other, the robot arm 100 can not only have two functions of parallel clamping and enveloping clamping, but also simplify the structure of the robot arm 100, making the structure of the robot arm 100 simpler.
[0051] In this embodiment, the first clamping member 12 and the second clamping member 14 of the clamping unit 10 are rotatably connected. The first clamping member 12 is rotatably connected to the first end of the frame member 11. The second clamping member 14 is configured to be relatively movable relative to the frame member 11 and rotatable relative to the second end of the frame member 11 via the mating member 13.
[0052] The transmission unit 20 is connected to the frame 11 of the clamping unit 10. Driven by the transmission unit 20, at least two clamping units 10 can move closer or further apart, thereby putting the robot arm 100 into a first clamping state or a second clamping state.
[0053] When the robotic arm 100 is in the first clamping state, the second clamping members 14 of each of the at least two clamping units 10 approach each other in parallel and cooperate with each other to achieve the function of parallel clamping of the target object 200.
[0054] When at least two gripping units 10 approach each other so that the rotation point of the first gripper 12 and the second gripper 14 or its vicinity abuts against the target object, the robot 100 switches to the second gripping state. The first gripper 12 of the gripping unit 10 rotates relative to the frame member 11, and the second gripper 14 moves and rotates relative to the frame member 11. The first gripper 12 and the second gripper 14 rotate relative to each other to form a semi-encircling shape. The second gripper 14 abuts against the target object 200 from the outside (e.g., the side of the target object 200 away from the transmission unit 20). The target object 200 is abutted against a part of the structure of the transmission unit 20 by the cooperation of the second gripper 14 with the first gripper 12 or by the second gripper 14. This realizes the function of the robot 100 enveloping the target object 200 and gripping the target object 200 (at this time, the robot 100 is in the second gripping state).
[0055] Of course, in this embodiment of the application, the robotic arm 100 also has at least two gripping units 10 that are far apart from each other to release the target object 200 in a released state.
[0056] In this embodiment, when the robot arm 100 switches to the second gripping state, the mating member 13 moves along the extension direction of the second gripping member 14 from the first end (the end closer to the first gripping member 12) to the second end (the end farther from the first gripping member 12), thereby increasing the distance between the first end of the second gripping member 14 and the mating member 13, and decreasing the distance between the second end of the second gripping member 14 and the mating member 13. This reduces the interference (e.g., collision) of the second end of the second gripping member 14 to the target object 200 or other second gripping members 14.
[0057] Optionally, as shown in Figures 1, 3, 4, and 6 to 8, in this embodiment of the application, the number of clamping units 10 is two, and the two clamping units 10 are symmetrically arranged. The two clamping units 10 are close to each other to achieve parallel clamping or enveloping clamping of the target object 200.
[0058] Of course, in other optional embodiments of this application, three or more clamping units 10 may be provided as needed.
[0059] Optionally, as shown in Figures 1, 2, 4 and 5, in this embodiment of the application, the clamping unit 10 further includes a guide portion 15 disposed on the second clamping member 14; the mating member 13 is pivotally connected to the frame member 11, the mating member 13 is slidably engaged with the guide portion 15, and the guide portion 15 is used to limit the mating member 13 to move along the extension direction of the guide portion 15.
[0060] In this embodiment, the guide portion 15 is disposed on the second clamping member 14. The guide portion 15 is slidably engaged with the mating member 13, limiting the mating member 13 to move along the extending direction of the guide portion 15, so that the second clamping member 14 can move relative to the mating member 13 and the frame member 11 along the extending direction of the guide portion 15. The mating member 13 is pivotally connected to the frame member 11, so that the second clamping member 14 disposed on the frame member 11 via the mating member 13 can rotate relative to the frame member 11.
[0061] Optionally, as shown in Figures 1, 2, 4, and 5, in this embodiment of the application, the guide portion 15 includes a groove in the shape of an elongated hole, the extension direction of which is parallel to the extension direction of the second clamping member 14. The mating member 13 includes a slider, which is pivotally connected to the frame member 11, and the slider slides through the elongated hole of the groove and engages with the groove.
[0062] In this embodiment, the slide extends in a direction parallel to the extension direction of the second clamping member 14, ensuring that the slider moves along the extension direction of the second clamping member 14.
[0063] Of course, in other optional embodiments of this application, the extending direction of the slide groove can be set at an angle to the extending direction of the second clamping member 14, depending on actual needs. The slide groove extends in a direction at an angle to the extending direction of the second clamping member 14, so that the slider moves in a direction at an angle to the extending direction of the second clamping member 14. It should be noted that the embodiments of this application do not limit the angle between the extending direction of the slide groove and the extending direction of the second clamping member 14, as long as it can ensure that the slider slides back and forth approximately between the first end and the second end of the second clamping member 14.
[0064] In this embodiment, since a groove is provided on the second clamping member 14, when the robot 100 switches to the second clamping state, the slider moves along the groove from the first end to the second end of the second clamping member 14, increasing the distance between the first end of the second clamping member 14 and the mating member 13, while decreasing the distance between the second end of the second clamping member 14 and the mating member 13. This allows the second clamping member 14 to swing into the accommodating space 114 to a greater extent. When the second ends of the second clamping members 14 of at least two clamping units 10 approach each other, the second ends of the second clamping members 14 are less likely to come into contact. Compared with the related technology in which the second clamping member and the third rod segment cannot move relative to each other, this embodiment of the application sets the second clamping member 14 to be movably set relative to the third rod segment 113 of the frame member 11, so that the robot 100 can enclose a smaller target object 200 in the second clamping state (at least the size of the target object 200 in the vertical direction of Figures 4 and 6 can be smaller).
[0065] Of course, in other optional embodiments of this application, the following configuration can be made according to actual needs: the mating member 13 is fixedly mounted on the frame member 11, and the mating member 13 and the second clamping member 14 are rotatably mounted relative to each other, that is, the second clamping member 14 can rotate and move simultaneously relative to the fixed mating member 13.
[0066] Optionally, in some optional embodiments of this application, as shown in Figures 2 and 5, the second clamping member 14 has a first clamping portion 141 away from the first clamping member 12 and a second clamping portion 142 close to the first clamping member 12, and the first clamping member 12 has a third clamping portion 121. In the first clamping state, the first clamping portions 141 of at least two clamping units 10 cooperate to clamp the target object 200 in parallel. In the second clamping state, the second clamping portions 142 of at least two clamping units 10 cooperate with the third clamping portions 121 to envelop and clamp the target object 200.
[0067] In this embodiment, when the robotic arm 100 switches to the first clamping state, the first clamping portions 141 of at least two clamping units 10 approach each other in parallel. When the robotic arm 100 is in the first clamping state, the parallel first clamping portions 141 of at least two clamping units 10 each abut against the target object 200 to clamp the target object 200 in parallel, thereby realizing the parallel clamping function of the robotic arm 100.
[0068] When the robotic arm 100 switches to the second gripping state, the second gripping part 142 and the third gripping part 121 of at least two gripping units 10 approach each other and then come into contact with the surface of the target object 200, so that the second gripping member 14 is subjected to force to move and rotate relative to the frame member 11, and the first gripping member 12 is subjected to force to rotate relative to the frame member 11. The second gripping member 14 and the first gripping member 12 are arranged at an angle, forming a semi-enclosed shape.
[0069] When the robotic arm 100 is in the second clamping state, the second clamping part 142 of the semi-enclosed second clamping member 14 and the third clamping part 121 of the first clamping member 12 of the at least two clamping units 10 abut against the target object 200 to enclose the target object 200 and realize the enclosing clamping function of the robotic arm 100.
[0070] Alternatively, in some other optional embodiments of this application, as shown in Figures 7 and 8, the transmission unit 20 includes a seat 23. In the second clamping state, the second clamping portions 142 of at least two clamping units 10 cooperate with the seat 23 to envelop and clamp the target object 200.
[0071] At this time, when the robot 100 is in the second clamping state, the second clamping part 142 of the second clamping member 14 of each of the at least two clamping units 10 abuts against the target object 200 from the outside, and the seat 23 of the transmission unit 20 abuts against the target object 200 from the inside (for example, the side of the seat 23 closer to the target object 200). The second clamping member 14 and the seat 23 envelop and clamp the target object 200, thereby realizing the enveloping clamping function of the robot 100.
[0072] Optionally, as shown in Figures 4 and 6 to 8, in this embodiment, the size of the target object 200 (which includes at least the size of the target object 200 along the left-right direction in Figures 7 and 8) that is enveloped and clamped by the second clamping member 14 and the base 23 is larger than the size of the target object 200 that is enveloped and clamped by the second clamping member 14 and the first clamping member 12 (which includes at least the size of the target object 200 along the left-right direction in Figures 4 and 6). This embodiment uses the second clamping portion 142 of at least two clamping units 10 to envelop and clamp the target object 200 by cooperating with the base 23, enabling the robot arm 100 to envelop and clamp larger objects. Of course, in other optional embodiments of this application, depending on actual needs, in the second clamping state, the second clamping parts 142 of at least two clamping units 10 cooperate with the first transmission rod 21 of the transmission unit 20, or the second clamping parts 142 of at least two clamping units 10 cooperate with at least two of the first clamping member 12, the seat 23 and the first transmission rod 21 to envelop and clamp the target object 200.
[0073] Optionally, as shown in Figures 1 and 2, in this embodiment of the application, the first clamping part 141 has a flat clamping surface. The corresponding clamping surfaces of the first clamping parts 141 of any two clamping units 10 remain parallel or maintain a certain relative angle.
[0074] Optionally, as shown in Figures 2 and 5, in this embodiment of the application, the first clamping part 141 and the second clamping part 142 partially overlap. Of course, in other optional embodiments of the application, the first clamping part 141 and the second clamping part 142 may not overlap, depending on actual needs.
[0075] Optionally, as shown in Figures 1 and 3, in this embodiment of the application, taking a target object 200 with a rectangular or near-rectangular cross-section on a cross-section perpendicular to the extension direction of the target object 200 as an example, the description is given of at least two gripping units 10 of the robot 100 gripping the target object 200 in parallel (the robot 100 is in the first gripping state).
[0076] Optionally, as shown in Figures 4, 6 to 8, in this embodiment of the application, a target object 200 with a circular cross-sectional shape (e.g., a cylindrical object) on a cross-section perpendicular to the extension direction of the target object 200 is used as an example to illustrate the enveloping gripping of the target object 200 by the robotic arm 100 (the robotic arm 100 is in a second gripping state).
[0077] Optionally, as shown in Figures 2 and 5, in this embodiment of the application, the guide portion 15 is disposed on the side of the second clamping member 14 opposite to the first clamping portion 141 and the second clamping portion 142. Along the extending direction of the second clamping member 14, the guide portion 15 is located between the first clamping portion 141 and the second clamping portion 142.
[0078] Optionally, in this embodiment of the application, the orthographic projection of the guide portion 15 on the second clamping member 14 overlaps with at least one of the first clamping portion 141 and the second clamping portion 142.
[0079] Specifically, the orthographic projection of the guide portion 15 on the second clamping member 14 may overlap with the portion of the first clamping portion 141 near the second clamping portion 142, or the orthographic projection of the guide portion 15 on the second clamping member 14 may overlap with the portion of the second clamping portion 142 near the first clamping portion 141, or the orthographic projection of the guide portion 15 on the second clamping member 14 may simultaneously overlap with both the portion of the first clamping portion 141 near the second clamping portion 142 and the portion of the second clamping portion 142 near the first clamping portion 141.
[0080] Optionally, as shown in Figures 1, 2, 4 and 5, in this embodiment of the application, the groove is disposed between the first end and the second end of the second clamping member 14 and does not include the portion of the first clamping part 141 located at the second end of the second clamping member 14.
[0081] Optionally, as shown in Figures 1 to 6, in this embodiment of the application, the frame member 11 includes: a first rod segment 111, a second rod segment 112, and a third rod segment 113. Both ends of the first rod segment 111 are pivotally connected to the transmission unit 20, and the first end of the first rod segment 111 is pivotally connected to the first clamping member 12.
[0082] The first end of the second segment 112 is fixedly connected to the second end of the first segment 111, and the second segment 112 is set at an angle to the first segment 111. The first end of the third segment 113 is fixedly connected to the second end of the second segment 112, and the third segment 113 is inclined to the axis of the second segment 112. The mating part 13 is pivotally connected to the second end of the third segment 113.
[0083] In this embodiment of the application, both ends of the first rod segment 111 are pivotally connected to the transmission unit 20. Driven by the transmission unit 20, the first rod segment 111 moves in a direction parallel to the extension direction of the first rod segment 111.
[0084] The first segment 111, the second segment 112, and the third segment 113 are fixedly connected in sequence. The transmission unit 20 drives the first segment 111, the second segment 112, and the third segment 113 to move in a direction parallel to the extension direction of the first segment 111, thereby driving the first clamping member 12, the mating member 13, and the second clamping member 14 to translate in a direction parallel to the extension direction of the first segment 111.
[0085] In this embodiment, the third link segment 113 is inclined relative to the second link segment 112, which can avoid the second clamping member 14 when the robot arm 100 switches to the second clamping state and is in the second clamping state, so as to avoid hindering the rotation and movement of the second clamping member 14 and ensure that the second clamping member 14 can rotate and move smoothly.
[0086] Optionally, as shown in Figures 1, 4 and 5, in this embodiment of the application, the second segment 112 is perpendicular to the first segment 111.
[0087] Optionally, as shown in Figures 1 and 4, in this embodiment of the application, the first end of the first clamping member 12 is pivotally connected to the transmission unit 20.
[0088] Optionally, the pivot points between the first clamping member 12 and the first rod segment 111, between the first end of the first rod segment 111 and the transmission unit 20, and between the first clamping member 12 and the transmission unit 20 coincide. Optionally, the first clamping member 12, the first rod segment 111, and the transmission unit 20 (specifically the first transmission rod 21) are rotatably arranged around the same axis of rotation.
[0089] Optionally, as shown in Figures 1 and 4, in this embodiment of the application, the fixed connection point between the second rod segment 112 and the first rod segment 111 is pivotally connected to the transmission unit 20 (specifically the second transmission rod 22).
[0090] Optionally, as shown in Figures 1 and 4, in this embodiment of the application, the second link segment 112 extends away from the transmission unit 20 relative to the first link segment 111.
[0091] Optionally, as shown in Figures 1, 4, and 5, in this embodiment of the application, the third segment 113 extends away from the first segment 111 relative to the second segment 112. The third segment 113 is inclined away from the axis of the second segment 112. The third segment 113 and the first segment 111 are located on the same side of the second segment 112.
[0092] Optionally, as shown in FIG5, in this embodiment of the application, the vertical distance between the pivot connection point (point a in FIG5) between the mating member 13 and the third rod segment 113 (specifically, the second end of the third rod segment 113) and the first rod segment 111 is greater than the vertical distance between the fixed connection point (point c in FIG5) between the second rod segment 112 and the third rod segment 113 (specifically, the first end of the third rod segment 113) and the first rod segment 111. That is, the distance between pivot connection point a and the pivot connection point (point b in FIG5) between the first clamping member 12 and the first rod segment 111 is greater than the distance between the fixed connection point c and the pivot connection point b.
[0093] In this embodiment of the application, as shown in Figure 5, the force-bearing points of the robotic arm 100 enveloping the target object 200 include: pivot connection point a and pivot connection point b. When the centroid G of the target object 200 is located between pivot connection point a and pivot connection point b, the robotic arm 100 can envelop and clamp the target object 200. Since the distance between pivot connection point a and pivot connection point b is relatively large, the robotic arm 100 can envelop a larger target object 200.
[0094] Optionally, as shown in Figures 4, 6 to 8, in this embodiment of the application, the third rod segment 113 is fixedly connected to the second rod segment 112, and is bent relative to the second rod segment 112 in a direction closer to the other clamping units 10 and the target object 200. When the robotic arm 100 envelops and grips the target object 200, the second gripper 14 rotates and moves relative to the end of the third link 113 away from the second link 112. The second gripping part 142 of the second gripper 14 abuts against the target object 200 from the outside (e.g., above the side of the target object 200 as shown in Figures 4, 6 to 8). The first gripper 12 rotates relative to the first end of the first link 111. The third gripping part 121 of the first gripper 12 abuts against the target object 200 from the inside (e.g., below the side of the target object 200 as shown in Figures 4 and 6) or the base 23 abuts against the target object 200 from the inside (e.g., below the target object 200 as shown in Figures 7 and 8). The enveloping gripping of the target object 200 is achieved by the cooperation of the second gripping part 142 of the second gripper 14 and the third gripping part 121 of the first gripper 12 or by the cooperation of the second gripping part 142 of the second gripper 14 and the base 23.
[0095] Depending on the size of the target object 200, the swing angle of the first transmission rod 21 and the second transmission rod 22 of the transmission unit 20 can be adjusted, thereby adjusting the distance between at least two clamping units 10.
[0096] The transmission unit 20 drives at least two clamping units 10 to move away from each other, increasing the distance between the at least two clamping units 10. Since the second clamping part 142 clamps the target object 200 from the upper side as shown in Figures 4, 6 to 8 and the third clamping part 121 clamps the target object 200 from the lower side as shown in Figures 4 and 6, or the second clamping part 142 clamps the target object 200 from the upper side as shown in Figures 4, 6 to 8 and the seat 23 clamps the target object from below as shown in Figures 7 and 8, even if the target object 200 is large enough to contact or abut against the seat 23 of the transmission unit 20, the robot arm 100 can still stably envelop and clamp the target object 200, making the target object 200 that the robot arm 100 can envelop larger.
[0097] Optionally, as shown in Figures 1, 3, 4, and 6, in this embodiment of the application, the first rod segment 111, the second rod segment 112, and the third rod segment 113 form a receiving space 114. As shown in Figures 1 and 3, in the first clamping state, the mating member 13 is close to the first end of the second clamping member 14, and the axes of the first clamping member 12 and the second clamping member 14 are collinear. As shown in Figures 4, 6 to 8, in the second clamping state, the mating member 13 is close to the second end of the second clamping member 14, and the first clamping member 12 and the second clamping member 14 swing to partially penetrate into the receiving space 114.
[0098] In this embodiment, the accommodating space 114 is used to accommodate and avoid the bending of the first clamping member 12 and the second clamping member 14.
[0099] Optionally, as shown in Figures 1, 3, 4, and 6, in this embodiment of the application, each clamping unit 10 has: an initial position where the mating member 13 is close to the first end of the second clamping member 14, and the axes of the first clamping member 12 and the second clamping member 14 are collinear (as shown in Figures 1 and 3); an envelope position where the mating member 13 is close to the second end of the second clamping member 14, and a portion of the first clamping member 12 and at least a portion of the second clamping member 14 swing to an envelope position within the receiving space 114 (as shown in Figures 4, 6 to 8); and an intermediate position between the initial position and the envelope position. At any given time, the clamping unit 10 is in any of the initial position, the envelope position, and the intermediate position.
[0100] Optionally, in the embodiments of this application, as shown in Figures 1 and 3, if the clamping unit 10 is in the initial position and at least two clamping units 10 are brought close to each other, the target object 200 can be clamped in parallel by the first clamping part 141 of the at least two clamping units 10 (at this time, the first clamping part 141 abuts against the surface of the target object 200), so that the robot arm 100 is in the first clamping state.
[0101] That is, when the robot arm 100 is in the first clamping state, the mating parts 13 of each clamping unit 10 are close to the first end of the second clamping member 14, and the axes of the first clamping member 12 and the second clamping member 14 are collinear.
[0102] As shown in Figures 4 and 6, if the clamping unit 10 is in the enveloping position and at least two clamping units 10 are brought close to each other, the target object 200 can be enveloped and clamped by the second clamping part 142 and the third clamping part 121 of the at least two clamping units 10 (at this time, the second clamping part 142 and the third clamping part 121 respectively abut against the surface of the target object 200), or the target object 200 can be enveloped and clamped by the second clamping part 142 and the base 23 of the at least two clamping units 10 (at this time, the second clamping part 142 and the base 23 respectively abut against the surface of the target object 200), so that the robot arm 100 is in the second clamping state.
[0103] That is, when the robotic arm 100 is in the second clamping state, the mating parts 13 of each clamping unit 10 are close to the second end of the second clamping member 14, and the first clamping member 12 and the second clamping member 14 swing to partially penetrate into the receiving space 114.
[0104] Optionally, as shown in Figures 4 and 5, in this embodiment of the application, in the second clamping state, the connection between the first clamping member 12 and the second clamping member 14 abuts against the frame member 11 (e.g., the second rod segment 112). The mating member 13 is located between the two ends of the guide portion 15.
[0105] In this embodiment, the frame member 11 is used to install and support the first clamping member 12, the mating member 13, and the second clamping member 14, and to carry the target object 200. When the robot arm 100 is in the second clamping state, the second clamping part 142 abuts against the target object 200, the third clamping part 121 or the base 23 abuts against the target object 200, and the connection between the first clamping member 12 and the second clamping member 14 and the second rod segment 112 abuts against each other, thereby achieving stable clamping of the target object 200.
[0106] Of course, in other optional embodiments of this application, it can also be configured as follows, depending on actual needs: In the second clamping state, the mating member 13 abuts against the end of the guide portion 15 away from the first clamping member 12 (i.e., the second end), and there is a gap between the connection between the first clamping member 12 and the second clamping member 14 and the frame member 11. At this time, when the robot arm 100 is in the second clamping state, the mating member 13 abuts against the second end of the guide portion 15, clamping the second clamping member 14 to provide a clamping force for clamping the target object 200. This clamping force is much greater than the reset force provided by the reset member 16. Under the action of this clamping force, the second clamping part 142 abuts against the target object 200, and the third clamping part 121 or the seat 23 abuts against the target object 200, which can stably envelop and clamp the target object 200.
[0107] Of course, in other optional embodiments of this application, it can also be configured as follows, depending on actual needs: In the second clamping state, the connection between the first clamping member 12 and the second clamping member 14 abuts against the frame member 11 (e.g., the second rod segment 112), and the mating member 13 abuts against the end of the guide portion 15 away from the first clamping member 12 (i.e., the second end). At this time, when the robot arm 100 is in the second clamping state, the mating member 13 abuts against the second end of the guide portion 15, locking the second clamping member 14 to provide clamping force for clamping the target object 200. At the same time, the connection between the first clamping member 12 and the second clamping member 14 abuts against the second rod segment 112. Through the abutment between the second clamping part 142 and the target object 200, the abutment between the third clamping part 121 or the seat 23 and the target object 200, and the abutment between the connection between the first clamping member 12 and the second clamping member 14 and the second rod segment 112, stable clamping of the target object 200 is achieved.
[0108] Optionally, as shown in Figures 3 and 6, in this embodiment of the application, the clamping unit 10 further includes a reset member 16, which is connected to at least one of the first clamping member 12 and the second clamping member 14 to restore the first clamping member 12 and the second clamping member 14 to collinearity. The reset member 16 is configured to apply a force to the first clamping member 12 or the second clamping member 14 to open the first clamping member 12 and the second clamping member 14 in a direction opposite to the frame member 11.
[0109] In this embodiment, the reset member 16 acts on at least one of the first clamping member 12 and the second clamping member 14 to restore the first clamping member 12 and the second clamping member 14 to the point where their axes are collinear, thus achieving a reset. When the robot arm 100 is not working, the reset member 16 can be used to restore the clamping unit 10 to its initial position.
[0110] Optionally, as shown in Figures 3 and 6, in this embodiment, the reset member 16 includes an elastic member disposed at the connection between the first clamping member 12 and the second clamping member 14. The elastic member applies a force to the first clamping member 12 and the second clamping member 14 in the opposite direction to the swinging direction into the receiving space 114.
[0111] Optionally, in the embodiments of this application, the elastic element includes, but is not limited to, springs or sheet springs. Springs include, but are not limited to, torsion springs.
[0112] Optionally, in this embodiment, when the axes of the first clamping member 12 and the second clamping member 14 are collinear, the elastic member is in its original state (at this time, the elastic member is in a natural state without preload or with preload). Thus, when the first clamping member 12 and the second clamping member 14 swing into the receiving space 114 under the pressure of the target object 200, the elastic member deforms and stores energy. When the target object 200 disappears, the elastic member releases the energy and returns to its original state, thereby causing the first clamping member 12 and the second clamping member 14 to return to being collinear.
[0113] Of course, in other optional embodiments of this application, the reset member 16 may be disposed at the connection between the first clamping member 12 and the frame member 11, depending on actual needs.
[0114] Optionally, as shown in Figures 1 and 4, in this embodiment of the application, the first clamping member 12 includes, but is not limited to, a rod. The second clamping member 14 includes, but is not limited to, a rod.
[0115] Optionally, as shown in Figures 1, 3, 4, and 6, in this embodiment, the clamping unit 10 further includes a limiting member 17. The limiting member 17 is connected to at least one of the first clamping member 12 and the second clamping member 14 to limit the swinging of the first clamping member 12 and the second clamping member 14 away from the receiving space 114. The limiting member 17 is used to prevent the first clamping member 12 and the second clamping member 14 from opening beyond a predetermined opening angle in the direction opposite to the frame member 11. The predetermined opening angle can be 180 degrees, at which point the first clamping member 12 and the second clamping member 14 tend to remain collinear on the axis.
[0116] In this embodiment, by setting a limiting member 17, the first clamping member 12 and the second clamping member 14 are prevented from swinging away from the receiving space 114 (i.e., the side where the target object 200 is located). Thus, when the robot arm 100 clamps the target object 200 parallel to it via the first clamping part 141, the first clamping member 12 and the second clamping member 14 will not swing away from the receiving space 114, causing the second end of the second clamping member 14 to open outwards, resulting in unstable clamping of the target object 200 or even causing the target object 200 to fall off. Therefore, the target object 200 can be clamped more stably in parallel. The limiting member 17 prevents the first clamping member 12 and the second clamping member 14 from swinging away from the receiving space 114, ensuring that the clamping unit 10 switches between the initial position, the intermediate position, and the envelope position.
[0117] Optionally, in the embodiments of this application, the limiting member 17 includes, but is not limited to, a baffle or a protrusion.
[0118] Optionally, a baffle or protrusion may be provided at the second end of the first clamping member 12 (i.e., the end facing the second clamping member 14) and located on the side of the first clamping member 12 facing the receiving space 114. When the axes of the first clamping member 12 and the second clamping member 14 are collinear, the baffle or protrusion is in contact with the outer wall of the second clamping member 14. When the second clamping member 14 has a tendency to swing away from the receiving space 114, the baffle or protrusion abuts against the outer wall of the second clamping member 14 to prevent the second clamping member 14 from swinging away from the receiving space 114.
[0119] Of course, in other optional embodiments of this application, the baffle or protrusion can be provided at the first end of the second clamping member 14 (i.e., the end facing the first clamping member 12) and located on the side of the second clamping member 14 facing the receiving space 114, so that when the axes of the first clamping member 12 and the second clamping member 14 are collinear, the baffle or protrusion fits against the outer wall of the first clamping member 12; or, the baffle or protrusion can be provided at the pivot connection between the first clamping member 12 and the frame member 11, or at the pivot connection between the first clamping member 12 and the transmission unit 20; or, the baffle or protrusion can be provided at at least two locations of the second clamping member 14, the first clamping member 12, the frame member 11 and the transmission unit 20, as long as it can restrict the first clamping member 12 and the second clamping member 14 from swinging away from the receiving space 114.
[0120] Optionally, as shown in Figures 1, 3, 4 and 6, in this embodiment of the application, the transmission unit 20 further includes a first transmission rod 21 and a second transmission rod 22, which are parallel and rotatably mounted on the base 23.
[0121] The first transmission rod 21 is pivotally connected to the first end of the first rod segment 111, and the second transmission rod 22 is pivotally connected to the second end of the first rod segment 111. The line connecting the first and second shafts of rotation of the first transmission rod 21 and the second transmission rod 22 relative to the base 23 is parallel to the extension direction of the first rod segment 111, and the length of this line is equal to the length of the first rod segment 111. That is, the first transmission rod 21, the first rod segment 111, the second transmission rod 22, and the portion of the base 23 corresponding to this line form a parallelogram.
[0122] In this way, the first transmission rod 21 and the second transmission rod 22 rotate relative to the seat 23, which can synchronously drive the first rod segment 111 to move along the extension direction of the first rod segment 111. This enables the transmission unit 20 to drive the first rod segment 111 to translate, thereby causing the frame member 11, the first clamping member 12, the mating member 13 and the second clamping member 14 to translate, and thus causing the clamping units 10 to move closer or further apart from each other.
[0123] Optionally, in this embodiment of the application, the robotic arm 100 further includes a power unit (not shown in the figure), which is used to drive the transmission unit 20, so that the transmission unit 20 drives the frame member 11 to move in a translational manner, thereby driving the first clamping member 12 and the second clamping member 14 to move.
[0124] Optionally, in this embodiment, the power unit can directly drive at least one of the first transmission rod 21 and the second transmission rod 22 to rotate, so that both the first transmission rod 21 and the second transmission rod 22 rotate relative to the seat 23.
[0125] Of course, in other optional embodiments of this application, the transmission unit 20 may also include a transmission assembly 24 (as shown in Figures 3 and 6) as needed. The power unit is driven by the transmission assembly 24, and the transmission assembly 24 is connected to at least one of the first transmission rod 21 and the second transmission rod 22, driving the first transmission rod 21 and the second transmission rod 22 to rotate relative to the seat 23. Optionally, the transmission assembly 24 may include, but is not limited to, structures such as ball screws or worm gears.
[0126] Based on the same inventive concept, this application provides a robot comprising: a robotic arm and a robotic hand 100 as described above, the robotic hand 100 being mounted at the end effector of the robotic arm.
[0127] In this embodiment, the robotic arm 100 serves as an end effector, mounted at the end of the robotic arm. The robot can utilize the robotic arm and robotic arm 100 to perform tasks such as grasping, moving objects, or manipulating tools.
[0128] It should be noted that since the robot provided in this application embodiment includes the manipulator provided in this application embodiment, the robot provided in this application embodiment also has the above-mentioned beneficial effects of the manipulator provided in this application embodiment, which will not be repeated here.
[0129] Optionally, the robotic arm may include one or more joints for moving the robotic hand along one or more degrees of freedom. For example, the robotic hand can grip goods, and the robotic arm can move the gripped goods from one location to another. As another example, the robotic hand can grip tools such as pliers, and the movement of the robotic arm can be used to modify the physical world using the gripped tools.
[0130] By applying the embodiments of this application, at least the following beneficial effects can be achieved:
[0131] The embodiments of this application, by setting the first clamping member to be rotatable, the second clamping member to be movable and rotatable, and the first clamping member and the second clamping member to be rotatable relative to each other, not only enable the robot to have two functions: parallel clamping and enveloping clamping, but also simplify the structure of the robot, making the structure of the robot simpler.
[0132] In the description of this application, the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate directions or positional relationships based on the exemplary directions or positional relationships shown in the accompanying drawings. They are used to facilitate the description or simplification of the embodiments of this application and are not intended to indicate or imply that the device or component referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.
[0133] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.
[0134] In the description of this specification, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.
[0135] The above description is only a partial implementation of this application. It should be noted that for those skilled in the art, other similar implementation methods based on the technical concept of this application, without departing from the technical concept of this application, also fall within the protection scope of the embodiments of this application.
Claims
1. A robotic arm, characterized in that, For use in robots, including: At least two clamping units, each clamping unit comprising a frame member, a first clamping member, a mating member, and a second clamping member, wherein a first end of the frame member is rotatably connected to the first clamping member, the mating member is disposed at a second end of the frame member, the mating member is movably disposed on the second clamping member along the extending direction of the second clamping member, the second clamping member is rotatably disposed relative to a second end of the frame member, and the second clamping member is rotatably connected to the first clamping member; A transmission unit, which is connected to the frame of the clamping unit, is used to make the robot arm in a first clamping state where the second clamping member of each of the at least two clamping units is parallel to and close to the target object; or, to make the robot arm in a second clamping state where the second clamping member and the first clamping member of each of the at least two clamping units enclose and clamp the target object; or to make the robot arm in a second clamping state where the second clamping member of the at least two clamping units and a portion of the transmission unit enclose and clamp the target object.
2. The robotic arm according to claim 1, characterized in that, The clamping unit further includes a guide portion disposed on the second clamping member; The mating member is pivotally connected to the frame member, and the mating member is slidably engaged with the guide portion, the guide portion being used to limit the mating member to move along the extension direction of the guide portion.
3. The robotic arm according to claim 1, characterized in that, The second clamping member has a first clamping portion away from the first clamping member and a second clamping portion near the first clamping member, and the first clamping member has a third clamping portion; the transmission unit includes at least a base; In the first clamping state, the first clamping parts of the at least two clamping units cooperate to clamp the target object in parallel; In the second clamping state, the second clamping part of the at least two clamping units cooperates with the third clamping part, or the second clamping part of the at least two clamping units cooperates with the seat body to envelop and clamp the target object.
4. The robotic arm according to any one of claims 1 to 3, characterized in that, The frame components include: The first rod segment has two ends pivotally connected to the transmission unit, and the first end of the first rod segment is pivotally connected to the first clamping member. The second pole segment has its first end fixedly connected to the second end of the first pole segment, and the second pole segment is set at an angle to the first pole segment; The third segment has its first end fixedly connected to the second end of the second segment, and the third segment is inclined to the axis of the second segment; the mating component is pivotally connected to the second end of the third segment.
5. The robotic arm according to claim 4, characterized in that, The third segment extends away from the first segment.
6. The robotic arm according to claim 4, characterized in that, The first pole segment, the second pole segment, and the third pole segment enclose a receiving space; In the first clamping state, the mating member is close to the first end of the second clamping member, and the axes of the first clamping member and the second clamping member are collinear; In the second clamping state, the mating member is close to the second end of the second clamping member, and the first clamping member and the second clamping member swing to partially penetrate into the receiving space.
7. The robotic arm according to claim 6, characterized in that, The clamping unit further includes a reset member, which is connected to at least one of the first clamping member and the second clamping member to restore the first clamping member and the second clamping member to collinearity.
8. The robotic arm according to any one of claims 5 to 7, characterized in that, The clamping unit further includes a limiting member connected to at least one of the first clamping member and the second clamping member to limit the swing of the first clamping member and the second clamping member away from the receiving space.
9. The robotic arm according to claim 2, characterized in that, In the second clamping state, the connection between the first clamping member and the second clamping member abuts against the frame member and / or the mating member abuts against the end of the guide portion away from the first clamping member.
10. A robot, characterized in that, It includes a robotic arm and a robotic hand as described in any one of claims 1 to 9, wherein the robotic hand is mounted at the end effector of the robotic arm.