CN113427505A - Clamping device and robot - Google Patents
Clamping device and robot Download PDFInfo
- Publication number
- CN113427505A CN113427505A CN202110799251.0A CN202110799251A CN113427505A CN 113427505 A CN113427505 A CN 113427505A CN 202110799251 A CN202110799251 A CN 202110799251A CN 113427505 A CN113427505 A CN 113427505A
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- clamping plate
- mounting seat
- plate
- auxiliary clamping
- screw rod
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The embodiment of the invention provides a clamping device and a robot, comprising: the mounting seat is fixedly connected with a first main clamping plate and a second main clamping plate, and is movably connected with a first auxiliary clamping plate and a second auxiliary clamping plate which are clamped by matching with the first main clamping plate and the second main clamping plate; the driving device comprises a driving source, a driving device mounting seat and a screw rod, the screw rod is rotatably and axially immovably mounted on the mounting seat, the driving source is mounted on the driving device mounting seat and drives a nut in the driving device mounting seat to realize the movement of the driving device mounting seat through the threaded fit with the screw rod, and the driving device mounting seat is in driving connection with the second auxiliary clamping plate; the first auxiliary clamping plate is in threaded driving connection with the screw rod; the first and second sub-gripping plates have different resistance values; a first restriction bit and a second restriction bit. Through the arrangement, the manufacturing cost is reduced, the equipment is light, and clamping in different directions is realized.
Description
Technical Field
The invention relates to the field of robots, in particular to a clamping device and a robot.
Background
In the production practice, clamping is a common operation, but the existing clamping device simply moves the object to another position, the clamping position of the clamping device relative to the object to be clamped is fixed, and the clamping position cannot be changed or reversed in the moving process. Especially when pressing from both sides when getting the device and being applied to the wallboard installation, adopt single clamp to get the device and can't realize the wallboard installation, see fig. 1, the left side is wallboard stack state, need become the wall body on right side with its installation, need press from both sides the side of getting the wallboard in the machine installation, then the transform is got the position of pressing from both sides, press from both sides the front of getting the wallboard and assemble, otherwise can't assemble between the two adjacent wallboards, in order to realize above-mentioned clamp action, prior art adopts two clamps to get the robot and presss from both sides and get, the manufacturing and the use cost of equipment have inevitably increased like this.
Secondly, the existing clamping device needs to realize a plurality of clamping actions and needs to be driven by a corresponding number of driving devices, which undoubtedly increases the number of the driving devices, increases the cost and increases the weight of the equipment.
Disclosure of Invention
The invention aims to provide a clamping device and a robot, which can reduce the manufacturing cost, lighten the equipment and realize clamping in different directions.
A first aspect of an embodiment of the present invention provides a driving apparatus, including a mounting base, where the mounting base is fixedly connected with a first main clamping plate and a second main clamping plate, and is movably connected with a first auxiliary clamping plate and a second auxiliary clamping plate that are clamped by matching with the first main clamping plate and the second main clamping plate;
the driving device comprises a driving source, a driving device mounting seat and a screw rod, the screw rod is rotatably and axially immovably mounted on the mounting seat, the driving source is mounted on the driving device mounting seat and drives a nut in the driving device mounting seat and in threaded fit with the screw rod to realize the movement of the driving device mounting seat, and the driving device mounting seat is in driving connection with the second auxiliary clamping plate; the first auxiliary clamping plate is in threaded driving connection with the screw rod;
the first and second sub-gripping plates have different resistance values;
a first restriction bit and a second restriction bit.
According to the clamping device provided by the embodiment of the invention, the driving device comprises a single screw rod, the driving device is in driving connection with two loads, the first auxiliary clamping plate and the second auxiliary clamping plate, one auxiliary clamping plate is in driving connection with the driving device, the driving device drives the auxiliary clamping plate with smaller resistance to move based on the resistance of the first auxiliary clamping plate and the second auxiliary clamping plate, and the auxiliary clamping plate with larger resistance is driven to move after reaching the corresponding limit position.
In one possible implementation, the second pair of gripping plates includes a link and a second pair of gripping plate arms; one end of the connecting rod is rotatably connected to the driving device mounting seat; the other end of the connecting rod is rotatably connected to the second auxiliary clamping plate arm, and the end part of the second auxiliary clamping plate arm is rotatably connected to the mounting seat.
In a possible implementation manner, a first guide rail which is connected with the driving device mounting seat in a sliding mode is arranged on the mounting seat.
In one possible implementation manner, the first auxiliary clamping plate comprises a screw rod connecting seat, and the screw rod connecting seat is rotatably connected with the first auxiliary clamping plate arm; the mounting seat is provided with a second guide rail connected with two ends of the screw rod connecting seat; the mounting seat further comprises two sliding blocks which are arranged in a staggered mode and used for guiding the first auxiliary clamping plate arm, a tension spring is arranged between the first auxiliary clamping plate arm and the upper end of the mounting seat, and when the first auxiliary clamping plate arm extends out of a preset position, the first auxiliary clamping plate arm deflects under the action of the tension spring.
In a possible implementation manner, the first auxiliary clamping plate comprises a screw rod connecting seat, a connecting arm and a first auxiliary clamping plate arm rotationally connected with the connecting arm, the screw rod is in driving connection with the first auxiliary clamping plate arm through the screw rod connecting seat, and the connecting arm and the mounting seat are fixedly or integrally arranged.
In a possible implementation manner, the first main clamping plate, the first auxiliary clamping plate, the second main clamping plate and the second auxiliary clamping plate further comprise plate surfaces, and at least one of the plate surfaces is provided with a friction block.
In a possible implementation manner, the first limiting position and the second limiting position are limiting positions of movement of the first auxiliary clamping plate or the second auxiliary clamping plate, a limiting component arranged on the screw rod, or a limiting component arranged outside the screw rod.
In a possible implementation manner, the first main clamping board, the first auxiliary clamping board, the second main clamping board and the second auxiliary clamping board further comprise a board surface, and a position adjusting structure is arranged at least one joint of the board surface and the first main clamping board, the first auxiliary clamping board, the second main clamping board and the second auxiliary clamping board for adjusting the clamping distance.
In a possible implementation manner, the position adjusting structure includes that at least one joint of the board surface and at least one of the first main clamping board, the first sub-clamping board, the second main clamping board and the second sub-clamping board is provided with at least one first positioning portion and at least one first stressed portion, the side edge of the board surface is provided with at least one second positioning portion and at least one second stressed portion, and at least one of the first positioning portion and the first stressed portion is fastened to the second positioning portion and the second stressed portion on the board surface through a fixing member.
According to a second aspect of the embodiments of the present invention, there is provided a robot including any one of the gripping devices described above.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a schematic view of the installation of a prior art partition panel;
fig. 2 is a schematic view of a clamping device according to an embodiment of the present invention;
FIG. 3A illustrates a first driving device in a first resistive state according to an embodiment of the present invention;
FIG. 3B is a driving device in a second resistance state according to a first embodiment of the present invention;
fig. 4 is a schematic view of a gripping device according to a second embodiment of the present invention;
FIG. 5 is a view illustrating a panel mounting structure according to an embodiment of the present invention;
icon: 10-a gripping device; 100-a mounting seat; 101-a first track; 103-a tension spring; 104-a first slider; 105-a second slider; 200-a first main clamping plate; 210-a first secondary entrapment plate; 211-screw rod connection base; 212-a first secondary gripper plate arm; 213-a linker arm; 300-a second main clamping plate; 310-a second secondary entrapment plate; 311-connecting rod; 312-a second secondary grasping plate arm; 3121-a first force-bearing aperture; 3122-first directional aperture; 3131 — a second force-bearing aperture; 3132-a second directional hole; 400-a drive device; 401-a drive source; 402-drive mount; 403-a screw mandrel; 500-first limit bits; 501-a limiting member; 510-a second restriction bit; 201,214,301,313-Board of plate
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal", "vertical" and the like do not imply that the components are required to be absolutely horizontal or pendant, but rather may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
The term "robot" refers to a device that can perform an operation instead of a human being, and may be referred to as a robot, and examples of the robot include "AGV transport cart", "robot arm", "robot leg", and the like.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example one
Referring to fig. 2, an embodiment of the present invention provides a gripping device 10, and the gripping device 10 can reduce the manufacturing cost and the weight of the equipment, and achieve gripping in different directions.
In the embodiment of the invention, the gripping device 10 includes a mounting base 100, a first main gripping plate 200 and a second main gripping plate 300 are fixedly connected to the mounting base 100, and a first auxiliary gripping plate 210 and a second auxiliary gripping plate 310 are movably connected to the mounting base 100.
In fig. 2, it can be seen that the first main clamping plate 200 and the first auxiliary clamping plate 210 are used for side clamping, the second main clamping plate 300 and the second auxiliary clamping plate 310 form upper and lower clamping, and the two clamping plates are arranged at 90 °, it should be noted that the present invention can also be arranged as follows: the first main clamping plate 200 and the first auxiliary clamping plate 210, the second main clamping plate 300 and the second auxiliary clamping plate 310 are both used for lateral clamping, and the clamping angles of the two clamping plates can be set based on the shape of the wall plate or the clamped object, such as the section of the clamped object is triangular, pentagonal or other shapes.
The driving device 400 includes a driving source 401, a driving device mounting seat 402 and a screw rod 403, the screw rod 403 is rotatably and non-axially movably mounted on the mounting seat 100, for example, a protrusion or a groove is axially provided at an end of the screw rod 403 for fitting with the groove or the protrusion on the mounting seat, or other driving sources can be mounted on the driving device mounting seat 402 as long as the screw rod 403 is rotatably and non-axially movably mounted on the mounting seat 100, the driving source 401 is mounted on the driving device mounting seat 402 and realizes the movement of the driving device mounting seat 402 by driving a nut in the driving device mounting seat 402 in threaded fit with the screw rod 403, the driving device mounting seat 402 is drivingly connected with the second auxiliary clamping plate 310, and the first auxiliary clamping plate 210 is drivingly connected with the screw rod 403 in threaded manner.
It should be noted that the driving source 401 is preferably an electric motor, but may be other power sources such as an internal combustion engine, a pneumatic or hydraulic driving device, as long as it can achieve the rotation of the driving nut around the screw axis; the nut mentioned above means that it is internally provided with an internal thread which is screw-engaged with the screw 403, and the outside thereof may be provided based on a transmission means, for example, the outer circumference is provided with a toothed portion, and the driving source drives the toothed portion of the outer circumference of the nut through a gear so that the nut is driven to rotate axially around the screw 403.
In the embodiment of fig. 2, the driving device mounting base 402 is connected to the screw 403 through a nut, when the screw is kept still, the driving source 401 drives the nut to rotate, and the driving device mounting base 402 moves along the axial direction of the screw, so as to drive the second sub-clamping plate 310 to perform corresponding actions; the first auxiliary clamping plate 210 is also connected with the screw rod 403 through threads, and when the screw rod 403 rotates, the first auxiliary clamping plate is driven to move axially along the screw rod; it can be understood that the first auxiliary clamping plate and the second auxiliary clamping plate may not be driven by the above-mentioned movement, for example, a worm gear is used for transmission, the first auxiliary clamping plate 210 is provided with a worm gear, and is installed in cooperation with the screw rod 403, when the screw rod rotates, the worm gear is driven to rotate, so as to drive the first auxiliary clamping plate 210 to rotate; the second auxiliary clamping plate 310 may also adopt a similar driving manner, that is, the driving device mounting seat 402 is a circle using the axis of the screw rod 403 as the center of circle, the outer circumference of the driving device mounting seat is provided with helical teeth along the axial direction of the screw rod, the second auxiliary clamping plate 310 is provided with a worm gear, when the driving source 401 drives the nut to rotate, the friction force between the nut and the screw rod 403 is adjusted, so that the nut and the screw rod are relatively static, at this time, the driving device mounting seat 402 rotates to drive the worm gear on the second auxiliary clamping plate 310 to rotate, so as to drive the second auxiliary clamping plate 310 to rotate, thereby clamping the article.
The first sub-gripping plate 210 and the second sub-gripping plate 310 have different resistance values, which include resistance values for realizing that the first sub-gripping plate 210 or the second sub-gripping plate 310 completes its predetermined action or task, such as a force during gripping, and resistance values generated during operation of the operating member itself for realizing gripping or carrying of a heavy object, such as a friction force, it should be noted that the first resistance value and the second resistance value may also refer to a resistance moment, and here, the resistance values may also be understood as a moment or a force required by the driving device 400 to drive the first sub-gripping plate 210 and the second sub-gripping plate.
The driving device further comprises a first limiting position and a second limiting position, the design mode of the positions is flexible, the specific working principle of the limiting positions is explained below, and referring to fig. 3A and 3B, when the screw rod is static, and the driving device mounting base 402 is driven by the driving source 401 to do linear motion, the driving device mounting base drives the second auxiliary clamping plate 310 to do corresponding motion; when the screw 403 rotates, the driving device drives the first sub-clamping plate 210 to move correspondingly, and the following conditions are considered:
(1) when the resistance of the first sub-entrapment plate 210 is greater than the resistance of the second sub-entrapment plate 310.
Referring to fig. 3A, when the driving device is driven, the mechanism with smaller resistance in the first sub-clamping plate 210 and the second sub-clamping plate 310 is driven to move correspondingly, that is, the driving device mounting seat 402 is driven by the driving source 401 to move along the axial direction of the screw rod, and the second sub-clamping plate 310 performs corresponding movement, such as clamping or unclamping, which defines the movement in this period as unclamping. When the driving device mounting base 402 moves rightwards to the first limiting position 500, the driving device mounting base 402 cannot move axially, when the driving source 401 continues to drive, the screw 403 rotates to drive the first auxiliary clamping plate 210 to perform corresponding actions, such as clamping or releasing, at this time, the action of the first auxiliary clamping plate 210 can be defined as clamping, and the state of the second auxiliary clamping plate 310 is maintained; when the driving source 401 drives reversely, because the resistance of the second auxiliary clamping plate 310 is small, the driving device mounting base 402 continues to move leftward, the second auxiliary clamping plate 310 performs the clamping action, and after reaching the second limit position 510, the driving base cannot continue to move leftward, and when the driving source 401 continues to drive, the screw rod 403 rotates to drive the first auxiliary clamping plate 210 to perform the releasing action, and the state of the second auxiliary clamping plate 310 is maintained.
(2) When the resistance of the first sub-entrapment plate 210 is less than the resistance of the second sub-entrapment plate 310.
Referring to fig. 3B, at this time, when the driving device is driven, the mechanism with smaller resistance between the first sub-clamping plate 210 and the second sub-clamping plate 310 is first driven to perform corresponding movement, that is, the screw rod 403 rotates, at this time, the screw rod 403 drives the first sub-clamping plate 210 to perform corresponding action, such as clamping or releasing, the movement in this period is defined as releasing, when the second sub-clamping plate 210 moves rightwards to the first limit position 500, at this time, the screw rod 403 cannot rotate, at this time, when the driving source 401 continues to rotate, the driving source drives the driving device mounting seat 402 to perform movement, thereby driving the second sub-clamping plate 310 to perform corresponding movement, such as clamping or releasing, at this time, the action of the second sub-clamping plate 310 can be defined as clamping, and the state of the first sub-clamping plate 210 is maintained; when the driving source 401 drives in the reverse direction, because the resistance of the first sub-clamping plate 210 is small, the screw 403 drives the first sub-clamping plate 210 to perform a clamping action, when the first sub-clamping plate 210 reaches the second limiting position 510, the first sub-clamping plate 210 cannot move due to the action of the second limiting position 510, the screw 403 stops rotating, and when the driving source 401 continues to drive, the state of the first sub-clamping plate 210 is maintained, and the second sub-clamping plate 310 performs a releasing action.
The above explanation is made for the principle of the limiting position, the limiting position may be provided on the screw rod as shown by the limiting part 501 in fig. 3A and 3B, may be provided outside the screw rod, may be a separately provided part, or may be a part of the equipment, and for the limiting position, it is essential that when the first sub-clamping plate or the second sub-clamping plate moves to a predetermined position, the effect of changing the resistance force to generate the power switching is generated, and the force reacting to the driving device may be increased according to the clamping force at the time of clamping as shown by the dotted line in fig. 3A and 3B at the time of designing.
Referring to fig. 2, the second auxiliary clamping plate 310 includes a connecting rod 311 and a second auxiliary clamping plate arm 312, one end of the connecting rod 311 is rotatably connected to the mounting base 402 of the driving device, the other end of the connecting rod 311 is rotatably connected to the second auxiliary clamping plate arm 312, the end of the second auxiliary clamping plate arm 312 is rotatably connected to the mounting base 100, the second auxiliary clamping arm 312 is curved, the driving device 400 moves along the axial direction of the screw rod 403 to drive the connecting rod 311, and the connecting rod 311 drives the second auxiliary clamping plate arm 312 to rotate around the end of the second auxiliary clamping plate arm and the rotation axis of the mounting base 100, so as to clamp and release the article.
The first auxiliary clamping plate 210 comprises a screw rod connecting seat 211, a screw thread matched with the screw rod is arranged on the screw rod connecting seat 211, the first auxiliary clamping plate can move along the axial direction of the screw rod under the drive of the screw rod 403, a connecting arm 213 and a first auxiliary clamping plate arm 212 rotatably connected with the connecting arm 213 are fixedly connected to the mounting seat 100, the connecting arm can be divided according to functions and not divided based on a single component, the screw rod connecting seat 211 is rotatably arranged on the first auxiliary clamping plate arm 212, and when the screw rod connecting seat 211 does linear motion under the drive of the screw rod, the first auxiliary clamping plate arm 212 is driven to rotate around the rotating axes of the connecting arm 213 and the first auxiliary clamping plate arm 212, so that clamping and releasing of articles are realized; when the first secondary gripper plate arm 212 is fully opened, it does not interfere with the installation of the item.
Example two
The present invention further provides an embodiment, referring to fig. 4, which is similar to the first embodiment in operation principle, but different in structure, in this embodiment, the mounting base 100 has a first rail 101 for guiding the driving device mounting base 402, so that the driving movement is more controllable and smooth, the guide rail may be a strip-shaped hole as shown in fig. 4, or may be a groove or a protruding structure, as long as it can guide the driving device mounting base 402.
The first auxiliary clamping plate 210 comprises a screw rod connecting seat 211, the screw rod connecting seat 211 is rotatably connected with a first auxiliary clamping plate arm 212, a second guide rail 102 connected with two ends of the screw rod connecting seat 211 is arranged on the mounting seat 100, a tension spring 103 is further arranged between the first auxiliary clamping plate arm 212 and the mounting seat 100, and the mounting seat further comprises two sliding blocks which are arranged in a staggered mode and are respectively a first sliding block 104 and a second sliding block 105; when the first auxiliary clamping plate arm 212 moves to a specified position in the loosening direction, deflection occurs under the action of the tension spring 103, so that the first auxiliary clamping plate arm 212 does not affect the installation of clamped articles, and the staggered distance between the first slide block 104 and the second slide block 105 can be adjusted based on practical application conditions. Compared with the first embodiment, the connecting arm 213 is omitted, and the arrangement mode enables the clamping device to be more compact and compact.
In the two embodiments, the first main clamping plate 200 and the first auxiliary clamping plate 210, and the second main clamping plate 300 and the second auxiliary clamping plate 310 further include the plate surfaces 201,214,301 and 313, at least one of the plate surfaces is provided with a friction block for firmly clamping an article, and preventing the article from accidentally sliding down, the friction block may be made of PU rubber, rubber and other materials with elasticity and large friction force.
At least one of the first main clamping plate 200, the first sub-clamping plate 210, the second main clamping plate 300 and the second sub-clamping plate 310 has a position adjusting mechanism to meet the requirements of carrying and installing different specifications of articles. The position adjusting mechanism can be a continuous adjusting mechanism and a discontinuous adjusting mechanism, the continuous adjusting mechanism, such as the plate surface 214 of the first auxiliary clamping plate 210 and the first auxiliary clamping plate arm 212 can be connected by a lead screw, specifically, a lead screw is vertically arranged behind the plate surface 214 and is connected with the first auxiliary clamping plate arm 212 in a rotatable and immovable manner, and the lead screw is connected with the first auxiliary clamping plate arm 212 by a thread, so that the clamping distance between the first main clamping plate 200 and the first auxiliary clamping plate 210 can be adjusted by rotating the lead screw, of course, a connecting rod can be vertically arranged behind the plate surface 214 and is provided with a chute, and a bolt passes through the chute to fix the plate surface on the first auxiliary clamping plate arm 212,
the adjusting mechanism can also be a discontinuous adjusting mechanism, as shown in fig. 5, different clamping distances can be realized by respectively fixing the front and the side of the board surface 313, specifically, the end of the second auxiliary clamping board arm 312 connected with the board surface 313 is provided with at least one first force-bearing hole 3121 and at least one first orientation hole 3122; the side surface of the panel 313 is provided with at least one second stressed hole 3131 and at least one second oriented hole 3132; at least one of the first force-receiving holes 3121 and at least one of the second force-receiving holes 3131 are fixed by a fixing member to mainly support a clamping force or gravity to the article, and at least one of the first directional holes 3122 and at least one of the second directional holes 3132 are fixed by a fixing member to orient the plate surfaces, the fixing member being a pin, a bolt, or the like
Preferably, there are one first force-bearing hole 3121, one first directional hole 3122, one second force-bearing hole 3131, and three or four second directional holes 3132;
preferably, the first force-bearing hole 3121 and the second force-bearing hole 3131 have larger hole diameters, and the first directional hole 3122 and the second directional hole 3132 have smaller hole diameters, so as to prevent more openings from being formed in the component and reduce the strength of the component.
It is understood that the position adjustment mechanism is exemplified by the first sub-clamping plate 210 and the second sub-clamping plate 310, which can be used for the other three clamping plates.
Taking the first embodiment as an example, the preferred movement mode of the invention is as follows: the resistance of the first sub-gripping plate 210 is greater than the resistance of the second sub-gripping plate 310, referring to fig. 2, when the second main gripping plate 300 and the second sub-gripping plate 310 grip the article, when the driving device 400 continues to drive the driving device mounting seat 402 to move leftward, the gripping force of the second main gripping plate 300 and the second sub-gripping plate 310 on the article increases, when the gripping force is greater than the resistance of the first sub-gripping plate 210, the screw rod rotates in the first direction under the action of the driving source 401, so that the first sub-gripping plate 210 is opened, when the screw rod is opened to a predetermined position, the first sub-gripping plate 210 does not affect the mounting of the article, the driving source stops driving, the mounting of the article is performed next, after the mounting is completed, the driving source 401 reverses, because the resistance of the second sub-gripping plate is small, when the driving unit 401 continues to drive, the driving device mounting seat 402 moves rightward, the connecting rod 311 is pulled, the pull rod 311 drives the second pair of clamping plate arms 312 to rotate around the rotation axes of the end parts of the second pair of clamping plate arms and the mounting base 100, the second pair of clamping plates 310 are opened, and at the moment, the first pair of clamping plates keep an open state because the screw rod does not rotate; when the driving device mounting base 402 moves to the limiting part 501, the gripping operation of the article is performed at this time, the driving device mounting base 402 cannot move to the right along the axial direction of the screw rod continuously due to the limitation of the limiting part 501, when the resistance is greater than the resistance of the first auxiliary gripping plate 210, the driving source continues to drive, the screw rod rotates in the direction opposite to the first direction at this time, the first auxiliary gripping plate 210 contracts to grip the article, and the second auxiliary gripping plate 310 keeps the open state at this time due to the fact that the driving device mounting base 402 does not rotate in position; when the first auxiliary clamping plate finishes clamping the articles, the articles leave the article stack; then the driving source 401 rotates in the opposite direction, because the resistance of the second sub-gripping plate is smaller than that of the first sub-gripping plate 210, when the driving source 401 rotates in the opposite direction, the first main gripping plate 200 and the first sub-gripping plate 210 maintain a gripping state, the driving device mounting base 402 moves towards the left direction along the axial direction of the screw rod, the second sub-gripping plate 310 contracts, and the gripping and mounting of the article are sequentially realized through the above steps in a circulating manner.
The invention also provides a robot which comprises the clamping device.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (12)
1. A gripping apparatus, comprising:
the mounting seat is fixedly connected with a first main clamping plate and a second main clamping plate, and is movably connected with a first auxiliary clamping plate and a second auxiliary clamping plate which are clamped by matching with the first main clamping plate and the second main clamping plate;
the driving device comprises a driving source, a driving device mounting seat and a screw rod, the screw rod is rotatably and axially immovably mounted on the mounting seat, the driving source is mounted on the driving device mounting seat and drives a nut in the driving device mounting seat and in threaded fit with the screw rod to realize the movement of the driving device mounting seat, and the driving device mounting seat is in driving connection with the second auxiliary clamping plate; the first auxiliary clamping plate is in threaded driving connection with the screw rod;
the first and second sub-gripping plates have different resistance values;
a first restriction bit and a second restriction bit.
2. The grasping device according to claim 1, the second pair of grasping plates including a link and a second pair of grasping plate arms; one end of the connecting rod is rotatably connected to the driving device mounting seat; the other end of the connecting rod is rotatably connected to the second auxiliary clamping plate arm, and the end part of the second auxiliary clamping plate arm is rotatably connected to the mounting seat.
3. The grasper device of claim 2, said mount having a first rail slidably coupled to said drive mount.
4. The grasping apparatus according to any one of claims 1 to 3, the first sub grasping plate including a lead screw connecting base rotatably connected to the first sub grasping plate arm; the mounting seat is provided with a second guide rail connected with two ends of the screw rod connecting seat; the mounting seat further comprises two sliding blocks which are arranged in a staggered mode and used for guiding the first auxiliary clamping plate arm, a tension spring is arranged between the first auxiliary clamping plate arm and the upper end of the mounting seat, and when the first auxiliary clamping plate arm extends out of a preset position, the first auxiliary clamping plate arm deflects under the action of the tension spring.
5. The clamping device as claimed in any one of claims 1 to 3, wherein the first auxiliary clamping plate comprises a screw rod connecting seat, a connecting arm and a first auxiliary clamping plate arm rotatably connected with the connecting arm, the screw rod is in driving connection with the first auxiliary clamping plate arm through the screw rod connecting seat, and the connecting arm is fixed with or integrally arranged with the mounting seat.
6. The gripping device of any one of claims 1-3, wherein the first main gripping plate, the first sub gripping plate, the second main gripping plate, and the second sub gripping plate further comprise plate surfaces, at least one of the plate surfaces being provided with a friction block.
7. The gripping device according to any one of claims 1 to 3, wherein the first and second limiting positions are limiting positions of movement of the first or second pair of gripping plates, a limiting member provided on the screw, or a limiting member provided outside the screw.
8. The clamping device as claimed in any one of claims 1 to 3, wherein the first main clamping plate, the first auxiliary clamping plate, the second main clamping plate and the second auxiliary clamping plate further comprise plate surfaces, and a position adjusting structure is arranged at a joint of the plate surfaces and at least one of the first main clamping plate, the first auxiliary clamping plate, the second main clamping plate and the second auxiliary clamping plate to adjust the clamping distance.
9. The clamping device as claimed in claim 8, wherein the position adjusting structure comprises at least one first positioning portion and at least one first force-receiving portion provided at a joint of the board surface and at least one of the first main clamping plate, the first sub-clamping plate, the second main clamping plate and the second sub-clamping plate, at least one second positioning portion and at least one second force-receiving portion provided at a side of the board surface, and at least one of the first positioning portion and the first force-receiving portion is fastened to the second positioning portion and the second force-receiving portion of the board surface by fasteners.
10. The grasping apparatus according to claim 9, the first force receiving portion being one, the first orientation portion being one, the second force receiving portion being one, the second orientation portion being three or four.
11. The grasper device of any of claims 9-10, wherein the first and second force-bearing portions are larger in size and the first and second orientation portions are smaller in size.
12. A robot comprising the grasping apparatus according to any one of claims 2 to 11.
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| CN202110799251.0A CN113427505B (en) | 2021-07-15 | 2021-07-15 | Clamping device and robot |
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| CN113427505B (en) | 2022-06-24 |
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