CN114800596B

CN114800596B - Clamp and robot hand

Info

Publication number: CN114800596B
Application number: CN202210405118.7A
Authority: CN
Inventors: 朱伟; 何凯; 方海涛; 纪园
Original assignee: Shenzhen Institute of Advanced Technology of CAS
Current assignee: Shenzhen Institute of Advanced Technology of CAS
Priority date: 2022-04-18
Filing date: 2022-04-18
Publication date: 2023-04-11
Anticipated expiration: 2042-04-18
Also published as: CN114800596A

Abstract

The invention relates to the technical field of clamping devices, and provides a clamp and a manipulator. The fixture comprises a base, a rotary driving piece, a rotary transmission piece, a first guide gear and two first clamping pieces which are oppositely arranged, wherein the rotary transmission piece is arranged on an output shaft of the rotary driving piece, and is provided with a limiting groove; the elastic transmission part is installed on the first guide gear, and the elastic end of the elastic transmission part is elastically embedded into the limiting groove. Wherein, in two first holder relative motion processes, the clamping-force to the object constantly increases, the effort that the rotating drive spare was exerted in elastic drive spare also constantly increases, when this effort is more than or equal to and predetermines the power value, elastic drive spare's elasticity end elasticity breaks away from the spacing groove and keeps supporting and press the rotating drive spare, at this moment, the effort invariant that the rotating drive spare was exerted in elastic drive spare equals this and predetermines the power value, realize the constant force centre gripping, the uncontrollable technical problem of clamping-force of having solved current anchor clamps.

Description

Clamp and robot hand

Technical Field

The invention relates to the technical field of clamping devices, in particular to a clamp and a manipulator.

Background

A robot gripper is a robot part that can perform a function similar to a human hand, and is one of important actuators for holding a workpiece or a tool. The gripping jaws can be divided into various types according to the shape of a workpiece held by the robot, and the gripping jaws can be mainly divided into three types, namely, conveying, machining and measuring. The clamping jaw for carrying, also called mechanical clamp, includes two to five unequal clamping fingers and a plurality of deformation fingers. The clamping jaw for processing comprises a magnetic chuck, a special claw of a welding gun and the like. The measuring jaws are additional devices with measuring heads or sensors for measuring and checking.

When the existing robot clamping jaw clamps an object, the clamping force of the existing robot clamping jaw is uncontrollable, and the clamped object is easily damaged due to overlarge clamping force.

Disclosure of Invention

The invention aims to provide a clamp and a robot hand, and aims to solve the technical problem that the clamping force of a clamping jaw of the existing robot is uncontrollable.

In a first aspect, the present application provides a clamp comprising:

a base;

a rotary drive mounted to the base;

the rotary transmission piece is arranged on an output shaft of the rotary driving piece, and is provided with a limiting groove;

the first guide gear is rotatably arranged on the base and provided with an elastic transmission piece, an elastic end of the elastic transmission piece is elastically embedded into the limiting groove, and the elastic end is separated from the limiting groove and keeps abutting against the rotary transmission piece when the acting force applied to the elastic end by the rotary transmission piece is greater than or equal to a preset force value;

two first holders that set up relatively, first holder is connected with first direction rack, first direction rack with first leading gear meshes mutually, thereby first leading gear is rotatory can drive two first holder moves or motion dorsad mutually.

In one embodiment, the first guide gear has a receiving hole in the middle thereof, the rotary transmission member is located in the receiving hole, the limiting groove is located on the side surface of the rotary transmission member, the elastic transmission member is arranged along the radial direction of the first guide gear, the elastic transmission member is mounted on the side wall of the receiving hole, and the elastic end is elastically embedded into the limiting groove located on the side surface of the rotary transmission member.

In one embodiment, the number of the limiting grooves is more than two.

In one embodiment, two or more limiting grooves are distributed at intervals along the circumferential direction of the rotating transmission member.

In one embodiment, the first guide gear is provided with more than two elastic transmission members.

In one embodiment, the number of the elastic transmission members is less than or equal to the number of the limiting grooves.

In one embodiment, the surface of the rotating transmission member is provided with a plurality of gear teeth distributed along the circumferential direction of the rotating transmission member, and a tooth groove formed between two adjacent gear teeth is the limiting groove.

In one embodiment, the first clamping member is slidably mounted to the base.

In one embodiment, the rotary driving member is mounted on a first side surface of the base, a first guide rail is mounted on a second side surface of the base, and the first clamping member is slidably mounted on the first guide rail.

In one embodiment, the number of the first guide rails is two.

In one embodiment, two first guide rails are sequentially distributed at intervals along the second direction.

In one embodiment, the first guide gear is located between two of the first guide rails.

In one embodiment, the first clamping member is in sliding fit with both of the first rails.

In one embodiment, the fixture further comprises a second guide gear and two second clamping members arranged oppositely, the second guide gear is rotatably mounted on the base, the elastic transmission member is mounted on the second guide gear, the second clamping member is connected with a second guide rack, and the second guide rack is meshed with the second guide gear, so that the second guide gear can drive the two second clamping members to move towards or away from each other through rotation.

In one embodiment, two of the first clamping members are spaced apart along a first direction, and two of the second clamping members are spaced apart along a second direction, the first direction and the second direction being different.

In one embodiment, the first guide gear and the second guide gear are distributed at intervals along a third direction, and are coaxially arranged, and the third direction is perpendicular to a plane where the first direction and the second direction are located.

In one embodiment, the second clamp is slidably mounted to the base.

In one embodiment, a second guide rail is mounted on the side of the base, and the second clamping piece is slidably mounted on the second guide rail.

In one embodiment, the number of the second guide rails is two.

In one embodiment, the second guide gear is located between two of the second guide rails.

In one embodiment, the second clamping member is in sliding fit with both of the second rails.

In one embodiment, two second guide rails are sequentially distributed at intervals along the first direction.

In one embodiment, the first clamping piece comprises a mounting portion and a rolling portion, the mounting portion is used for being connected with the first guide rack, the rolling portion is rotatably mounted on the mounting portion, and the rolling portion is used for being in rolling contact with an object to be clamped.

In one embodiment, the number of the rolling parts is more than two, and the more than two rolling parts are sequentially distributed at intervals along the direction perpendicular to the movement direction of the first clamping piece.

In a second aspect, the present application provides a robot hand comprising a robot arm and a gripper as described in any one of the above, the base being mounted to a distal end of the robot arm.

The fixture and the manipulator provided by the invention have the beneficial effects that: the first guide gear realizes the force transmission through the elastic transmission part and the rotary transmission part, when the rotary driving part drives the rotary transmission part to rotate, the first guide gear synchronously rotates and drives the two first clamping parts to move oppositely through the first guide rack so as to clamp an object or move backwards so as to loosen the object; wherein, in two first holders in the motion process in opposite directions, the clamping-force to the object constantly increases, the effort that the rotating transmission piece was exerted in elastic transmission piece also constantly increases, when until this effort is greater than or equal to and predetermines the power value, elastic transmission piece's elasticity end elasticity breaks away from the spacing groove and keeps supporting and press the rotating transmission piece, then, the effort constancy that the rotating transmission piece was exerted in elastic transmission piece equals this and predetermines the power value, if this effort reduces, then elasticity end can elasticity imbed the spacing inslot, if this effort increases, then elasticity end can elasticity break away from the spacing groove, therefore, two first holders no longer continue the relative motion, and keep invariable clamping-force, realize constant force centre gripping and overload protection, the uncontrollable technical problem of clamping-force of current robot clamping jaw has been solved, thereby the security of centre gripping object has been improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

FIG. 1 is a schematic structural diagram of a clamp according to an embodiment of the present invention;

FIG. 2 isbase:Sub>A cross-sectional view of the clamp of FIG. 1 taken along line A-A;

FIG. 3 is an enlarged view of a portion A of FIG. 2;

FIG. 4 is an exploded view of the clamp of FIG. 1;

FIG. 5 is a further perspective view of the clamp of FIG. 1;

FIG. 6 is a schematic view of the attachment of the mounting portion of the clamp and the adapter of FIG. 1.

Wherein, in the figures, the various reference numbers:

x, a first direction; y, a second direction; z, a third direction;

100. a base; 101. a through hole;

210. a rotary drive member; 211. an output shaft; 220. rotating the transmission member; 221. a limiting groove; 222. gear teeth;

310. a first guide gear; 311. a receiving hole; 312. mounting holes; 320. an elastic transmission member; 321. an elastic end; 330. a second guide gear;

410. a first clamping member; 411. an installation part; 412. a rolling section; 413. a vertical plate; 414. a transverse plate; 415. an installation space; 416. a jack; 420. a first guide rack; 430. a second clamping member; 440. a second guide rack; 450. a transfer rack; 451. a first bar member; 452. a second bar member; 453. a third bar member; 454. a fourth bar member;

510. a first guide rail; 520. a second guide rail.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

Reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in one embodiment" or "in some embodiments" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are merely for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

The jig and the robot in the embodiment of the present invention will now be described.

Referring to fig. 1 to 3, the clamping apparatus includes a base 100, a rotary driving element 210, a rotary transmission element 220, a first guide gear 310 and two first clamping elements 410 disposed oppositely.

The base 100 serves as a support in the jig. The base 100 may be selected as a substrate, which is advantageous in reducing the volume and simplifying the structure. Rotary drive 210 may be selected from a motor, a rotary cylinder, or a rotary cylinder. The rotary driver 210 is mounted to the base 100. The rotating transmission member 220 is mounted on the output shaft 211 of the rotating driving member 210, so that the rotating driving member 210 can drive the rotating transmission member 220 to rotate. The rotating transmission member 220 is provided with a limiting groove 221.

Referring to fig. 3, the first guide gear 310 is rotatably mounted on the base 100, the first guide gear 310 is mounted with an elastic transmission member 320, an elastic end 321 of the elastic transmission member 320 is elastically embedded in the limiting groove 221, and the elastic end 321 is separated from the limiting groove 221 and kept pressed against the rotating transmission member 220 when an acting force applied to the elastic end 321 by the rotating transmission member 220 is greater than or equal to a predetermined force value.

Specifically, the elastic end 321 of the elastic transmission member 320 is elastically inserted into the limiting groove 221 by its own elastic force, so that the elastic transmission member 320 and the rotating transmission member 220 form a connection relationship, and the first guide gear 310 can rotate synchronously with the rotating transmission member 220. When the acting force applied to the elastic end 321 by the rotating transmission element 220 is greater than or equal to the predetermined force value, the elastic end 321 retracts against the elastic force applied by the elastic transmission element 320, and disengages from the limiting groove 221, but keeps pressing against the rotating transmission element 220. In other words, since the elastic end 321 is disengaged from the stopper groove 221, the first guide gear 310 and the rotating transmission member 220 are released from the transmission relationship, and the first guide gear 310 does not rotate in synchronization with the rotating transmission member 220. Meanwhile, the elastic end 321 is kept pressed against the rotating transmission element 220, the acting force applied by the rotating transmission element 220 on the elastic end 321 is equal to a preset force value, and the preset force value and the elastic force applied by the elastic end 321 reach a force balance. Regarding the balance of the forces, it is explained that if the acting force applied by the rotating transmission member 220 is smaller than the preset force value, the elastic end 321 is elastically inserted into the limiting groove 221 by its own elastic force; if the acting force applied by the rotating transmission member 220 is greater than the predetermined force value, the elastic end 321 overcomes its own elastic force under the action of the acting force to elastically retract and separate from the limiting groove 221, so that when the elastic end 321 is kept pressed against the rotating transmission member 220, the acting force applied by the rotating transmission member 220 on the elastic end 321 is equal to the predetermined force value.

Optionally, the elastic transmission member 320 is a structure with elastic characteristics, such as a spring pin, a spring plate, an elastic material column or a memory alloy member, and can be elastically embedded into the limiting groove 221 under the action of its own elastic force, and can elastically retract and keep abutting against the rotary transmission member 220 when receiving an acting force applied by the rotary transmission member 220, which is greater than or equal to its own elastic force, so as to achieve the balance of forces.

Specifically, the elastic transmission member 320 is detachably mounted to the first guide gear 310. The staff adjusts the preset force value by replacing different types, different materials, different structures, different specifications and models and different quantities of elastic transmission members 320.

It is understood that in other embodiments, the elastic transmission member 320 is non-detachably mounted to the first guide gear 310.

Specifically, referring to fig. 3, the first guide gear 310 has a mounting hole 312, the elastic transmission member 320 is mounted in the mounting hole 312, and the elastic end 321 of the elastic transmission member 320 extends out of the mounting hole 312.

Optionally, the mounting hole 312 is a threaded hole, and the elastic transmission member 320 is screwed into the mounting hole 312 for easy detachment. In addition, the elastic transmission member 320 is threadedly coupled to the first guide gear 310, which also facilitates precisely controlling the extension amount of the elastic transmission member 320 outside the mounting hole 312, i.e., the contractibility amount of the elastic end 321, thereby adjusting the preset force value.

For example, when the length of the elastic transmission member 320, such as a spring pin, a spring plate, an elastic material column or a memory alloy member, outside the mounting hole 312 is increased, and the length of the elastic end 321 capable of being embedded into the limiting groove 221 is increased, the acting force applied to the elastic end 321 by the rotary transmission member 220 needs to be correspondingly increased to enable the elastic end 321 to generate greater elastic retraction to be disengaged from the limiting groove 221, that is, the preset force value is increased.

Specifically, the preset force value is 10N-1000N.

For example, the preset force value may be selected to be 10N, 20N, 50N, 100N, 200N, 500N, 800N, or 1000N.

The first clamping member 410 is connected with a first guide rack 420, and the first guide rack 420 is engaged with the first guide gear 310, so that the first guide gear 310 can rotate to drive the two first clamping members 410 to move towards or away from each other. The first guide gear 310 is matched with the first guide rack 420, so that the rotary motion of the first guide gear 310 is converted into the linear motion of the first clamping member 410, and then the two first clamping members 410 move towards each other to clamp an object or move away from each other to loosen the object.

For example, referring to fig. 1, the rotary driving element 210 drives the rotary transmission element 220 to rotate clockwise, and the two first clamping elements 410 move towards each other, so as to clamp the object. The rotary driving member 210 drives the rotary transmission member 220 to rotate counterclockwise, and the two first clamping members 410 move back to back, so as to loosen the object.

In the process of the two first clamping members 410 moving towards each other, the clamping force on the object between the two first clamping members 410 is continuously increased, correspondingly, the acting force applied to the elastic transmission member 320 by the rotating transmission member 220 is also continuously increased, until the acting force is greater than or equal to the preset force value, the elastic end 321 of the elastic transmission member 320 elastically breaks away from the limiting groove 221 and keeps pressing against the rotating transmission member 220, at this time, the acting force applied to the elastic transmission member 320 by the rotating transmission member 220 is constantly equal to the preset force value, the two first clamping members 410 do not continue to move towards each other, and the object is clamped by the constant clamping force, so that constant-force clamping and overload protection are realized, and the safety of the clamped object is improved.

Specifically, the rotational axis of the first guide gear 310 and the rotational axis of the rotary drive member 220 are the same.

In this embodiment, the first guide gear 310 is rotatably mounted to the base 100 through a swivel bearing.

In some embodiments, referring to fig. 1 and 4, the first guide gear 310 has a receiving hole 311 in the middle, the rotary transmission member 220 is located in the receiving hole 311, the limiting groove 221 is located on the side of the rotary transmission member 220, the elastic transmission member 320 is arranged along the radial direction of the first guide gear 310, the elastic transmission member 320 is installed on the side wall of the receiving hole 311, and the elastic end 321 is elastically embedded in the limiting groove 221 located on the side of the rotary transmission member 220. When the elastic end 321 is inserted into the limiting groove 221, the first guide gear 310 and the rotating transmission member 220 rotate synchronously.

In this embodiment, the rotating transmission member 220 is located in the receiving hole 311 of the first guide gear 310, so that the size of the jig in the Z direction can be reduced, and the volume of the jig can be further reduced.

Specifically, a side of the first guide gear 310 away from the rotary driving element 210 is flush with a side of the rotary transmission element 220 away from the rotary driving element 210. In other words, as shown in fig. 2, the first guide gear 310 and the rotary transmission member 220 are flush in the positive direction of the Z-axis.

It is understood that in other embodiments, the first guide gear 310 is located on one side of the rotary drive member 220. For example, the first guide gear 310 is located on a side of the rotary transmission member 220 close to the rotary driving member 210, or on a side of the rotary transmission member 220 away from the rotary driving member 210. At this time, an elastic transmission member 320 is installed on a side surface of the first guide gear 310 close to the rotary transmission member 220, and a limit groove 221 for the elastic transmission member 320 to be elastically inserted is formed on a side surface of the rotary transmission member 220 close to the first guide gear 310, and similarly, the first guide gear 310 can transmit force to the rotary transmission member 220 through the elastic transmission member 320.

It should be noted that the number of the limiting grooves 221 is not limited.

For example, the number of the limiting groove 221 may be one, and after the elastic transmission member 320 is elastically separated from the limiting groove 221, the elastic transmission member 220 may be inserted into the limiting groove 221 after rotating clockwise or counterclockwise for a whole number of rotations, so that the first guiding gear 310 and the rotating transmission member 220 can rotate synchronously again.

For example, referring to fig. 4, the number of the limiting grooves 221 may be two or more. The elastic transmission member 320 can be elastically inserted into one of the limiting grooves 221, and after being separated from the limiting groove 221, the elastic transmission member can be inserted into any one of the limiting grooves 221, so that the first guide gear 310 and the rotating transmission member 220 rotate synchronously again.

Optionally, two or more limiting grooves 221 are distributed at intervals along the circumferential direction of the rotating transmission member 220. For example, referring to fig. 4, the two or more limiting grooves 221 are located on the sidewall of the rotating transmission member 220 and are distributed at intervals along the circumferential direction of the rotating transmission member 220. It is understood that in other examples, two or more limiting grooves 221 may be located on a side surface of the rotary driving element 220 close to the rotary driving element 210, or on a side surface of the rotary driving element 220 away from the rotary driving element 210.

Optionally, the first guide gear 310 is mounted with two or more elastic transmission members 320. The two or more elastic transmission members 320 may be spaced apart from each other along the circumference of the first guide gear 310, or even distributed uniformly. For example, as shown in fig. 4, the first guide gear 310 is mounted with two elastic transmission members 320. The two elastic transmission members 320 may be distributed on the same diameter of the first guide gear 310, which is beneficial to the first guide gear 310 to bear force uniformly.

It is understood that in other embodiments, the number of the elastic transmission members 320 installed on the first guide gear 310 may be one, three or more than three. Meanwhile, the first guide gear 310 can adjust a preset force value by adjusting the installation number of the elastic transmission members 320, thereby flexibly adjusting the maximum clamping force between the two first clamping members 410.

Specifically, the number of the elastic transmission members 320 is less than or equal to the number of the limiting grooves 221. For example, as shown in fig. 4, the number of the limiting grooves 221 is about fifty, and the number of the elastic transmission members 320 corresponding to the first guide gear 310 is two.

Specifically, referring to fig. 4 and 5, the surface of the rotating transmission member 220 is provided with a plurality of gear teeth 222 distributed along the circumferential direction thereof, and the tooth space formed between two adjacent gear teeth 222 is a limiting groove 221. The gear teeth 222 are machined on the surface of the rotating transmission member 220, so that the process is mature, and the manufacturing cost is reduced.

In addition, the worker can adjust the force applied by the rotary transmission member 220 to the first guide gear 310 by adjusting the pressure angle of the gear teeth 222, thereby adjusting the preset force value.

Optionally, the rotary drive 220 is a spur gear, a helical gear, or a face-toothed disk.

In some embodiments, referring to fig. 1 and 4, the first clamping member 410 includes a mounting portion 411 and a rolling portion 412. The mounting portion 411 is used for being connected with the first guide rack 420, the rolling portion 412 is rotatably mounted on the mounting portion 411, and the rolling portion 412 is used for being in rolling contact with the clamped object. When the object to be clamped is not parallel or attached to the rolling part 412, the object can rotate relative to the rolling part 412 in the clamping and moving process, and fine adjustment of the object is achieved, so that the object and the rolling part 412 are parallel or attached to each other, operability of the clamp is greatly improved, and operation difficulty of the clamp is reduced.

Alternatively, the number of the rolling parts 412 is two or more, and the two or more rolling parts 412 are sequentially spaced apart in a direction perpendicular to the moving direction of the first clamping member 410, thereby increasing the contact area with the object.

Alternatively, the rolling part 412 is a needle roller, a roller, or a ball.

Specifically, the rolling part 412 is detachably mounted to the mounting part 411, facilitating replacement of the rolling part 412.

In an embodiment, referring to fig. 6, the mounting portion 411 includes a vertical plate 413 and two horizontal plates 414, one ends of the two horizontal plates 414 are respectively connected to the upper and lower ends of the vertical plate 413 and located on the same side of the vertical plate 413, and the vertical plate 413 and the two horizontal plates 414 enclose a mounting space 415 for accommodating the rolling portion 412. The two horizontal plates 414 are provided with insertion holes 416 for the rolling parts 412 to be inserted, and the positions of the insertion holes 416 of the two horizontal plates 414 correspond to each other. Thus, the upper and lower ends of the rolling part 412 are inserted into the insertion hole 416, so that the installation is convenient, and three sides of the installation space 415 are open, so that the rolling part 412 is in rolling contact with the clamped object.

In some embodiments, referring to fig. 4 and 5, the first clamping member 410 is slidably mounted on the base 100. The base 100 can slidably support the first clamping member 410.

Referring to fig. 4, the rotary driving member 210 is mounted to a first side surface of the base 100, a first guide rail 510 is mounted to a second side surface of the base 100, and the first clamping member 410 is slidably mounted to the first guide rail 510. In other words, the rotary driving member 210 and the first clamping member 410 are respectively located at different sides of the base 100, and the installation space 415 of the base 100 is fully utilized, which is beneficial to reducing the volume of the whole clamp.

Alternatively, the number of the first guide rails 510 is two. In this embodiment, the first clamping member 410 is slidably engaged with both of the first guide rails 510.

It is understood that in other embodiments, one of first clamping members 410 is slidably engaged with one of first rails 510 and the other of first clamping members 410 is slidably engaged with the other of first rails 510.

Referring to fig. 5, the two first clamping members 410 are spaced apart from each other along a first direction X, each first guide rail 510 extends along the first direction X, and the two first guide rails 510 are sequentially spaced apart from each other along a second direction Y, so that the two first clamping members 410 can move in the first direction X in opposite directions or in opposite directions.

Wherein the first guide gear 310 is located between the two first guide rails 510. The first clamping member 410 is slidably engaged with the first guide rail 510, so as to be capable of being in transmission connection with the first guide gear 310 located between the two first guide rails 510 through the first guide rack 420.

In some embodiments, referring to fig. 6, the first clamping member 410 is slidably engaged with the first guiding rail 510 through the adapting frame 450 and connected to the first guiding rack 420.

For example, referring to fig. 5 and 6, the adaptor bracket 450 includes a first rod 451 and two second rods 452. The first clamping member 410, for example, the mounting portion 411, is mounted in the middle of the first rod 451, two ends of the first rod 451 are respectively connected to the second rods 452, the two second rods 452 are respectively in one-to-one sliding fit with the two first guide rails 510, and one of the second rods 452 is connected to the first guide rack 420. The first bar 451 is perpendicular to the second bar 452.

Optionally, the adaptor bracket 450 further includes a third bar 453 and a fourth bar 454, one end of the third bar 453 being connected to an end of one of the second bars 452, i.e., an end away from the first bar 451, and the other end of the third bar 453 extending in a direction parallel to the first bar 451 and toward the other second bar 452. The fourth bar 454 is connected to the other end of the third bar 453 and is disposed parallel to the second bar 452, and the fourth bar 454 is used to mount the first guide rack 420.

The fourth rod 454 and the second rod 452 are staggered, so that the fourth rod 454 can extend in the first direction X, which is convenient for the installation of the first guide rack 420 and the installation of the large-sized first guide rack 420, and meets the requirement of the large-stroke movement of the clamp.

When the clamp is idle, the two first clamping pieces 410 move towards each other, and the adapter frame 450 connected with the two first clamping pieces 410 is folded and contacted with each other. Specifically, the end of the second rod 452 of one adapter frame 450 directly contacts the end of the second rod 452 of the other adapter frame 450, so that the volume is minimized when the adapter frame is received.

In some embodiments, referring to fig. 1, 2 and 4, the clamp further includes a second guide gear 330 and two second clamping members 430 disposed opposite to each other. The second guide gear 330 is rotatably installed on the base 100, the elastic transmission member 320 is installed on the second guide gear 330, the second clamping member 430 is connected with a second guide rack 440, and the second guide rack 440 is engaged with the second guide gear 330, so that the second guide gear 330 can rotate to drive the two second clamping members 430 to move towards or away from each other.

Specifically, the two first clamping members 410 are spaced apart along a first direction X, and the two second clamping members 430 are spaced apart along a second direction Y, where the first direction X and the second direction Y are different.

For example, the first direction X and the second direction Y are perpendicular.

Specifically, the first guide gear 310 and the second guide gear 330 are distributed at intervals along a third direction Z, and are coaxially disposed, and the third direction Z is perpendicular to a plane in which the first direction X and the second direction Y are located.

In this embodiment, the second clamping member 430 is slidably mounted on the base 100. The second rail 520 is installed at a side of the base 100, and the second clamping member 430 is slidably installed at the second rail 520. The number of the second guide rails 520 is two. The second guide gear 330 is located between the two second guide rails 520. The second clamping member 430 is slidably engaged with both of the second rails 520. The two second guide rails 520 are sequentially spaced apart along the first direction X.

The second guide rail 520 is installed at the side of the base 100, and the installation space of the base 100 is fully utilized, which is beneficial to reducing the size of the clamp.

Alternatively, the first and

second clamping members

410 and 430 have the same structure, which is advantageous in simplifying the kinds of parts and manufacturing costs. For example, the second clamp 430 also includes a mounting portion 411 and a rolling portion 412.

Similarly, the second clamping member 430 is slidably engaged with the second rail 520 via the adapter bracket 450. The first guide gear 310 and the second guide gear 330 have the same structure.

It should be noted that, according to the related art known to the inventor, the robot gripper has the following problems:

firstly, the weight is large; when clamping large-size and light-weight objects, large-size grippers have to be selected, the corresponding weight is increased, and the problem is that the size of the whole set of robot is increased to meet the corresponding load, so that insufficient space and resource waste are easily caused.

Secondly, the flexibility is poor; in the related art, once the robot gripper is clamped, the position of an object cannot be adjusted, and the object is easily twisted or shifted during clamping, so that the precision requirement of the robot gripper needs to be improved, and the center of gravity of the robot gripper is ensured to be consistent with the position of the center of gravity of the object, and then the clamping operation is started.

Thirdly, the cost is high; the related art force-controlled electric gripper tightening method requires a force sensor to control the displacement of the gripper to avoid gripping the damaged object.

The clamp provided by the embodiment can solve the problems of the robot claw.

In one embodiment, referring to fig. 1, 2 and 4, the base 100 is a substrate, the middle of the substrate has a through hole 101, and the first guide gear 310 and the second guide gear 330 are disposed above and below and on the top surface of the substrate. The rotary driving member 210 is mounted at the bottom of the substrate, and an output shaft 211 of the rotary driving member 210 passes through the through hole 101 and then is fixedly connected to the rotary transmission member 220. The rotary transmission member 220 is located in the receiving holes 311 of the first and second guide gears 310 and 330, the top surface of the rotary transmission member 220 is flush with the top surface of the first guide gear 310, and the bottom surface of the rotary transmission member 220 is flush with the bottom surface of the second guide gear 330. The two first guide rails 510 are located on the top surface of the substrate and located on two sides of the first guide gear 310, the two second guide rails 520 are located on two opposite side portions of the substrate, the two oppositely-arranged first clamping members 410 are in sliding fit with the first guide rails 510 through the adapter frame 450 and are connected with the first guide rack 420, the two oppositely-arranged second clamping members 430 are also in sliding fit with the second guide rails 520 through the adapter frame 450 and are connected with the second guide rack 440, and the adapter frame 450 connected with the first clamping members 410 is located above the adapter frame 450 connected with the second clamping members 430. Thus, the jig makes full use of the mounting space 415 of the substrate, and has a small overall size and a light structure. When the rotary driving member 210 rotates counterclockwise, the rotary driving member 220 is driven to rotate counterclockwise, and the first guide gear 310 and the second guide gear 330 rotate counterclockwise along with the rotary driving member 220 through the elastic driving member 320. The first guide rack 420 drives the two first clamping members 410 to move toward each other, and the second guide rack 440 drives the two second clamping members 430 to move toward each other, i.e., to fold toward the center of the rotary transmission member 220, thereby completing the clamping operation. Similarly, when the rotary driving element 210 rotates clockwise, the two first clamping members 410 move back to back, and the two second clamping members 430 move back to back, i.e. spread all around, to complete the loosening action.

The first holding member 410 is controlled by the first guiding gear 310 to move, and the second holding member 430 is controlled by the second guiding gear 330 to move, i.e. independently controlled, so that the clamp can grab objects with any length-width ratio. When a regular rectangular object is gripped, the displacement amounts of the first clamping member 410 and the second clamping member 430 to the center of the rotating transmission member 220 are always the same, so that the purpose of self-adaptive centering can be achieved, that is, the center of gravity of the gripped object is pushed to be on the same vertical line with the center of gravity of the gripper in the gripping process. If the first clamping member 410 or the second clamping member 430 is at a certain angle with the edge of the clamped object, i.e. the object is not attached to or parallel to the rolling part 412, the object and the rolling part 412 will rotate relatively during the clamping process, so as to achieve fine adjustment, and the positions of the object and the rolling part 412 are kept consistent under the condition of not damaging the object, thereby greatly increasing the controllability of the clamp and reducing the operation difficulty of the clamp.

In the clamping process, the elastic transmission member 320 is embedded into the limit groove 221 of the rotary transmission member 220 to realize transmission, along with the counterclockwise rotation of the rotary driving member 210, the interaction force between the rotary transmission member 220 and the elastic end 321 of the elastic transmission member 320 is continuously increased, when the interaction force reaches a preset force value, the elastic end 321 is separated from the limit groove 221, and the first guide gear 310 or the second guide gear 330 no longer rotates synchronously with the rotary transmission member 220, so that the purpose of constant-force clamping is achieved.

When the clamp needs to clamp an object with a larger volume, a worker only needs to increase the sizes of the first guide rail 510 and the first guide rack 420, or increase the sizes of the second guide rail 520 and the second guide rack 440, and does not need to increase the sizes of other components, the preset force value can be flexibly adjusted by adjusting the pressure angle of the gear teeth 222 of the rotating transmission member 220, the material, the type, the number or the specification of the elastic transmission member 320, the initial length of the elastic transmission member 320 in the limiting groove 221, and other parameters, so that the use requirements of different scenes are met.

Therefore, the clamp provided by the embodiment has the advantages of self-adaptive centering; constant force maintaining and overload protection can be realized; the position of the clamped object can be finely adjusted through the rolling part 412; the stroke of the first clamping member 410 and the second clamping member 430 can be flexibly increased without obviously changing the self weight.

Any of the clamps provided in the above embodiments may be used in a robot or other processing equipment.

For example, the present application also provides a manipulator. The robot comprises a robot arm and a chuck as described in any of the above, and a susceptor 100 is mounted to the end of the robot arm. The robot can achieve constant-force clamping and overload protection through the two first clamping pieces 410.

Alternatively, the rotary drive member 210 is located in the interior space of the robot arm, and the first clamp member 410 is located on the side of the base 100 away from the robot arm.

The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A clamp, comprising:

a base;

a rotary drive mounted to the base;

the first guide gear is rotatably arranged on the base, an elastic transmission part is arranged on the first guide gear, an elastic end of the elastic transmission part is elastically embedded into the limiting groove, and the elastic end is separated from the limiting groove and keeps abutting against the rotary transmission part when the acting force applied to the elastic end by the rotary transmission part is greater than or equal to a preset force value;

two first holders that set up relatively, first holder is connected with first direction rack, first direction rack with first guide gear meshes mutually, thereby first guide gear is rotatory can drive two first holder moves in opposite directions or motion dorsad.

2. The clamp of claim 1, wherein: the middle part of first guiding gear has the accommodation hole, rotatory driving medium is located in the accommodation hole, the spacing groove is located rotatory driving medium's side, the elastic transmission spare is followed first guiding gear's radial arrangement, the elastic transmission spare install in the lateral wall of accommodation hole, elasticity end elasticity embedding is located rotatory driving medium's side the spacing inslot.

3. The clamp of claim 1, wherein: the number of the limiting grooves is more than two, and the more than two limiting grooves are distributed at intervals along the circumferential direction of the rotating transmission part;

the first guide gear is provided with more than two elastic transmission parts; the number of the elastic transmission parts is less than or equal to that of the limiting grooves.

4. The clamp of claim 1, wherein: the surface of the rotating transmission part is provided with a plurality of gear teeth distributed along the circumferential direction of the rotating transmission part, and the tooth grooves formed between every two adjacent gear teeth are the limiting grooves.

5. The clamp of claim 1, wherein: the first clamping piece is slidably mounted on the base; the rotary driving piece is arranged on the first side surface of the base, the second side surface of the base is provided with a first guide rail, and the first clamping piece is arranged on the first guide rail in a sliding manner; the number of the first guide rails is two; the first guide gear is located between the two first guide rails, and the first clamping piece is in sliding fit with the two first guide rails.

6. The clamp of claim 1, wherein: the clamp further comprises a second guide gear and two second clamping pieces which are oppositely arranged, the second guide gear is rotatably arranged on the base, the elastic transmission piece is arranged on the second guide gear, the second clamping piece is connected with a second guide rack, and the second guide rack is meshed with the second guide gear, so that the second guide gear can drive the two second clamping pieces to move oppositely or back to back;

the two first clamping pieces are distributed at intervals along a first direction, the two second clamping pieces are distributed at intervals along a second direction, and the first direction is different from the second direction.

7. The clamp of claim 6, wherein: the first guide gear and the second guide gear are distributed at intervals along a third direction and are coaxially arranged, and the third direction is perpendicular to a plane where the first direction and the second direction are located.

8. The clamp of claim 6, wherein: the second clamping piece is slidably mounted on the base; a second guide rail is arranged on the side part of the base, and the second clamping piece is slidably arranged on the second guide rail; the quantity of second guide rail is two, second leading gear is located two between the second guide rail, the second holder with two the equal sliding fit of second guide rail, two the second guide rail is followed first direction interval distribution in proper order.

9. The clamp of any one of claims 1 to 8, wherein: the first clamping piece comprises an installation part and a rolling part, the installation part is used for being connected with the first guide rack, the rolling part is rotatably installed on the installation part, and the rolling part is used for being in rolling contact with a clamped object;

the number of the rolling parts is more than two, and the rolling parts are sequentially distributed at intervals along the moving direction perpendicular to the first clamping piece.

10. A robot hand, characterized by: comprising a robot arm and a gripper according to any one of claims 1 to 9, said base being mounted at the end of said robot arm.