CN211388846U

CN211388846U - Clamping mechanism, robot and clamping device

Info

Publication number: CN211388846U
Application number: CN201922011010.6U
Authority: CN
Inventors: 安然; 王世全
Original assignee: Feixi Co ltd; Flexiv Robotics Ltd
Current assignee: Feixi Co ltd; Flexiv Robotics Ltd; Shanghai Flexiv Robotics Technology Co Ltd
Priority date: 2019-11-20
Filing date: 2019-11-20
Publication date: 2020-09-01
Anticipated expiration: 2029-11-20

Abstract

The utility model relates to a fixture, including base and two at least connecting rod centre gripping subassemblies, the connecting rod centre gripping subassembly includes holder, first member and second member. The clamping piece comprises a clamping part and a connecting part which are connected; the first end of the first rod piece is rotationally connected with the connecting part, the second end of the first rod piece is rotationally connected with the base, and a connection line between the rotation center of the first end of the first rod piece and the rotation center of the second end of the first rod piece is a first connection line; the first end of the second rod piece is rotatably connected with the connecting part, the second end of the second rod piece is rotatably connected with the base, and a connecting line between the rotation center of the first end of the second rod piece and the rotation center of the second end of the second rod piece is a second connecting line; the length of the first connecting line is constantly different from the length of the second connecting line; or the second rod piece has a first state and a second state which can be switched, wherein in the first state, the length of the second rod piece is kept constant, and in the second state, the second rod piece is bent and deformed, so that the length of the first connecting line is different from that of the second connecting line.

Description

Clamping mechanism, robot and clamping device

Technical Field

The utility model relates to a clamping structure technical field, in particular to fixture, robot and clamping device.

Background

The clamping jaw clamps an object, and the clamping part is driven to move by a finger connecting rod of the clamping jaw, so that the clamping part can be contacted with or separated from the object to be grabbed. The finger connecting rod of traditional clamping jaw generally is the parallelogram setting, is applicable to and snatchs the straight object of surface, but when the object of waiting to snatch is spheroid or other complicated shapes, firm the snatching can not be guaranteed to traditional clamping jaw.

SUMMERY OF THE UTILITY MODEL

According to various embodiments of the present application, a gripping mechanism, a robot and a gripping device are provided.

The technical scheme is as follows:

the utility model provides a fixture, includes base and two at least connecting rod centre gripping subassemblies, at least two the connecting rod centre gripping subassembly centre gripping object of mutually supporting, the connecting rod centre gripping subassembly includes:

the clamping piece comprises a clamping part and a connecting part which are connected;

the first end of the first rod piece is rotationally connected with the connecting part, the second end of the first rod piece is rotationally connected with the base, and a connection line between the rotation center of the first end of the first rod piece and the rotation center of the second end of the first rod piece is a first connection line;

the first end of the second rod piece is rotatably connected with the connecting part, the second end of the second rod piece is rotatably connected with the base, and the connection line of the rotation center of the first end of the second rod piece and the rotation center of the second end of the second rod piece is a second connection line;

the length of the first connecting line is constantly different from the length of the second connecting line; or the second rod piece has a first state and a second state which can be switched, wherein in the first state, the length of the second rod piece is kept constant, and in the second state, the second rod piece is bent and deformed, so that the length of the first connecting line is different from that of the second connecting line.

The utility model provides a robot, includes body and fixture, fixture includes base and two at least connecting rod centre gripping subassemblies, at least two the connecting rod centre gripping subassembly centre gripping object of mutually supporting, the connecting rod centre gripping subassembly includes:

The utility model provides a clamping device, includes mount pad and a plurality of connecting rod centre gripping subassembly, two liang of relative settings of a plurality of connecting rod centre gripping subassemblies just are the array and arrange on the mount pad, two of relative setting the connecting rod centre gripping subassembly centre gripping object of mutually supporting, the connecting rod centre gripping subassembly includes:

the first end of the first rod piece is rotationally connected with the connecting part, the second end of the first rod piece is rotationally connected with the mounting seat, and a connection line between the rotation center of the first end of the first rod piece and the rotation center of the second end of the first rod piece is a first connection line;

the first end of the second rod piece is rotatably connected with the connecting part, the second end of the second rod piece is rotatably connected with the mounting seat, and the connecting line of the rotating center of the first end of the second rod piece and the rotating center of the second end of the second rod piece is a second connecting line;

One or more embodiments are further described below in the figures and the detailed description. Other features, objects, and advantages of the invention will be apparent to one skilled in the art from the description and drawings, and from the claims.

Drawings

FIG. 1 is a perspective view of a clamping mechanism according to one or more embodiments;

FIG. 2 is a schematic view of a first state of a clamping mechanism according to one or more embodiments;

FIG. 3 is a schematic view of the clamping mechanism of FIG. 2 in a second state;

FIG. 4 is a schematic view of a first state of a clamping mechanism according to one or more embodiments;

FIG. 5 is a schematic view of a second state of a clamping mechanism according to one or more embodiments;

FIG. 6 is a schematic plan view of a clamping mechanism according to one or more embodiments;

FIG. 7 is a schematic cross-sectional view taken along line E-E of FIG. 6;

FIG. 8 is a schematic view of a drive assembly of a clamping mechanism according to one or more embodiments;

FIG. 9 is a schematic view of a clamping mechanism according to one or more embodiments;

FIG. 10 is a schematic view of a clamping mechanism according to one or more embodiments;

FIG. 11 is a schematic view of a robot in accordance with one or more embodiments;

fig. 12 is a schematic view of a clamping device according to one or more embodiments.

Description of reference numerals:

02. an object; 04, an object;

10. a base seat is arranged on the base seat,

20. a connecting rod clamping assembly 210, a clamping piece 212, a clamping part 214, a connecting part 216, a contact part 220, a first rod piece 222, a first mounting part 224, a third mounting part 230 and a second rod piece; 232. a second mounting part 234, a fourth mounting part 236, a positioning convex hull 238, a positioning groove 240, a second rod piece 242, a first finger root 244, a second finger root 246, an elastic part 310, a connecting shaft 320, a first bearing 330 and a rotating shaft;

40. the driving assembly 410, a power source 420, a screw rod 430, a nut 440, a first transmission rod 450 and a second transmission rod;

50. a clamping mechanism; 60. a body; 70. and (7) mounting a seat.

For a better understanding of the description and/or illustration of embodiments and/or examples of the inventions disclosed herein, reference may be made to one or more of the drawings. The additional details or examples used to describe the figures should not be considered as limiting the scope of the disclosed invention, the presently described embodiments and/or examples, and any of the best modes of such presently understood invention.

Detailed Description

In order to facilitate understanding of the present invention, the present invention will be described more fully hereinafter with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. The invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.

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

In the present invention, the terms "first", "second", "third" and "fourth" do not denote any particular quantity or order, but are merely used to distinguish names.

Referring to fig. 1, 2 and 3, an embodiment of the present application provides a clamping mechanism 50, which includes a base 10 and at least two connecting rod clamping assemblies 20, and at least two connecting rod clamping assemblies 20 cooperate with each other to clamp an object.

In one embodiment, the rod clamp assembly 20 includes a clamp 210, a first rod 220, and a second rod 230. The clamping member 210 includes a clamping portion 212 and a connecting portion 214 connected to each other. A first end of the first rod 220 is rotatably connected to the connecting portion 214, and a second end of the first rod 220 is rotatably connected to the base 10. A connection line between the rotation center of the first end of the first link 220 and the rotation center of the second end of the first link 220 is a first connection line L1. A first end of the second rod 230 is rotatably connected to the connecting portion 214, and a second end of the second rod 230 is rotatably connected to the base 10. A connection line between the rotation center of the first end of the second rod 230 and the rotation center of the second end of the second rod 230 is a second connection line L2. In this embodiment, the length of the first link L1 is different from the length of the second link L2.

In the clamping mechanism 50, the link clamping assembly 20 rotates to approach or depart from the object 02 to be clamped, and since the length of the first connecting line L1 is constantly different from the length of the second connecting line L2, when the link clamping assembly 20 rotates towards the object 02 to be clamped, the angle of the clamping portion relative to the object 02 to be clamped is gradually changed, so that the clamping portion 212 can hold the object 02 to be clamped (as shown in fig. 3), when the object 02 to be clamped is a sphere or other complex shapes, the object can be firmly clamped, and the applicability and flexibility of the link clamping assembly 20 are improved.

In contrast, the finger links of conventional jaws are parallelogram-shaped, with the portion of the finger link that contacts the object to be grasped remaining at a constant angle. In this embodiment, the rotation center of the first end of the first rod 220, the rotation center of the second end of the second rod 230, and the rotation center of the first end of the second rod 230 are sequentially connected to form a non-parallelogram. Specifically, referring to fig. 2 and 3, when the clamping portion 212 rotates from the first state of fig. 2 to the second state of fig. 3, the clamping portion 212 deflects toward the object 02 to be gripped by a certain angle, so as to securely grip the object 02 to be gripped.

Further, referring to fig. 1, 2 and 3, in this embodiment, a first end of the connecting portion 214 is rotatably connected to a first end of the first rod 220, a second end of the connecting portion 214 is rotatably connected to a first end of the second rod 230, and a second end of the connecting portion 214 is fixedly connected to the clamping portion 212. That is, in the rotating process of the first rod 220, the clamping member 210 and the second rod 230, the line L3 between the rotation center of the second end of the first rod 220 and the rotation center of the second end of the second rod 230 is constant, the connecting portion 214 rotates at a certain angle relative to the line L3, and the clamping portion 212 fixedly connected to the connecting portion 214 rotates at a certain angle, so as to flexibly adapt to the firm gripping of a complex object.

In this embodiment, the length of the first wire is constantly greater than the length of the second wire, the clamping portion 212 is located at a side close to the second rod 230, and the second rod 230 is located at an inner side relative to the first rod 220, wherein the inner side is a side closer to the object to be clamped. When the object 02 to be grasped whose outer surface is not straight (for example, the outer surface is a curved surface or other complex shapes) is grasped, the rod section of the second rod 230 and the clamping portion 212 can be used to grasp the object 02 to be grasped, so that the clamping is firmer and more stable. The length difference between L1 and L2 can be flexibly selected according to the shape of the object to be grabbed. Alternatively, in some embodiments, the second rod on the inside may also be longer than the first rod on the outside, depending on the shape requirements of the object to be grasped.

Referring to fig. 1, the second rod 230 is a straight rod in the embodiment, and in other embodiments, the second rod 230 may also be a bent rod. Referring to fig. 9 and 10, the inner side surface of the second rod has a positioning groove 238 or a positioning convex hull 236. The positioning groove 238 or the positioning convex hull 236 can be used for positioning the belt clamping object, so that the clamping stability is improved.

Referring to fig. 4 and 5, in another embodiment of the present application, the second rod 240 has a first state and a second state that are switchable, and referring to fig. 5, in the first state, the length of the second rod is kept constant. The first state is a state where the second lever 240 is not clamped or the outer surface of the clamped object is flat. Referring to fig. 4, in the second state, the second lever 40 is bent and deformed such that the length of the first wire is different from the length of the second wire. The second state is a state in which the rod section of the second rod member 240 is deformed by being pressed by the object to be clamped. A connection line between the rotation center of the first end of the first link 220 and the rotation center of the second end of the first link 220 is a first connection line; the connection line between the rotation center of the first end of the second rod 240 and the rotation center of the second end of the second rod 240 is a second connection line. In the second state, the second lever 40 is bent and deformed such that the length of the first wire is different from the length of the second wire. When the connecting rod clamping assembly 20 rotates towards the object 02 to be clamped, the angle of the clamping portion relative to the object 02 to be clamped is gradually changed, so that the object 02 to be clamped can be embraced by the clamping portion 212, the object can be firmly grabbed, and the applicability and flexibility of the connecting rod clamping assembly 20 are improved.

It should be noted that although not shown, in other embodiments, the first rod or the second rod may be configured to be adjustable in length, for example, the first rod and/or the second rod may be retractable rods. The length of the first rod piece and/or the second rod piece is adjusted automatically or manually according to needs, so that the length of the first connecting line is different from that of the second connecting line, and the device can be suitable for objects with different shapes and sizes.

When the clamping portion 212 of fig. 4 cooperates with the first end of the second rod 240 to grab the ball, the second rod 240 is bent and deformed, so that the length of the first connecting line is greater than that of the second connecting line, and the angle of the clamping portion 212 with respect to the object 02 to be grabbed is changed, so as to adapt to the firm grabbing of objects with complex shapes such as the ball. In fig. 5, when the object 04 to be grasped whose outer surface is flat is contacted only by the grip portion 212, the length of the second rod 240 is kept constant by the tensile force, and the length of the first link and the length of the second link are the same as the length in the first state, for example, in this case, the length of the first link and the length of the second link may be always kept the same.

Further, referring to fig. 4, when the link clamping assembly 20 is in a state of clamping the object 02, the length of the first link is greater than the length of the second link. The length difference between the first connection line and the second connection line can be flexibly selected according to the shape of the object 02 to be actually grabbed. In this embodiment, when the length of the first connection line is greater than the length of the second connection line when the object is clamped, the clamping portion 212 is located at a side close to the second rod 240, and when the object 02 to be grabbed is grabbed, which has a non-straight outer surface (for example, the outer surface is a curved surface or other complex shape), the rod section of the second rod 240 and the clamping portion 212 may be used to cooperatively grab the object 02 to be grabbed, so that the clamping is firmer and more stable.

Specifically, referring to fig. 4, in an embodiment, the second rod 240 includes a first finger base 242, an elastic portion 246 and a second finger base 244 connected in sequence, the first finger base 242 is rotatably connected to the connecting portion 214, and the second finger base 244 is rotatably connected to the base 10. In the second state, the first finger root 242 and/or the second finger root 244 contact and press the object to be gripped, and the elastic portion 246 is bent and deformed under the reaction force of the object, so that the distance between the two ends of the second rod 240 is shortened, even if the length of the first connecting line is greater than that of the second connecting line, the angle adjustment of the gripping portion 212 in the movement process is realized, and the object 02 to be gripped with the outer surface being non-flat can be gripped securely. Alternatively, the elastic portion 246 is a metal sheet having elasticity. In other embodiments, the elastic portion 246 may be selected to be another member that is not easily deformed by stretching but may be deformed by bending.

Referring to fig. 1, 2 and 4, in one or more embodiments, the clamping member 210 further includes a contact portion 216, and the contact portion 216 is connected to the clamping portion 212 and located on a side of the clamping surface of the clamping portion 212. The connecting portion 214 and the clamping portion 212 can be made of metal materials with good strength, the contact portion 216 can be made of materials different from those of the clamping portion 212, such as rubber and plastic with high friction coefficient, the contact portion 216 is in contact with an object to be grabbed, friction between the contact portion 216 and the object to be grabbed is increased, and clamping stability is improved. In other embodiments, the object can be directly clamped by the clamping part, and the clamping surface of the clamping part is subjected to surface treatment to ensure that the clamping part can firmly grab the object.

Referring to fig. 1 and 4, in one embodiment, the clamping portion 212 is connected to the connecting portion 214 at an obtuse angle. The clamping portion 212 forms an obtuse angle with the

second rod

230 or 240, forming a clamping space. The clamping portion 212 and the connecting portion 214 are integrally formed, and the connecting portion 214 rotates to drive the clamping portion 212 to rotate synchronously. Further, the rotation center of the second end of the first rod 220 and the rotation center of the second end of the

second rod

230 or 240 are vertically arranged in the height direction, a connection line L3 between the rotation center of the second end of the first rod 220 and the rotation center of the second end of the

second rod

230 or 240 is inclined, the rotation center of the second end of the

second rod

230 or 240 is located at the upper end, and the rotation center of the second end of the first rod 220 is located at the lower end.

Referring to fig. 1, 2, 4, 6, and 7, in one or more embodiments, the clamping mechanism 50 further includes a driving assembly 40. The first rod 210 or the

second rod

230 or 240 is driven to rotate by the driving assembly 40, so that the link clamping assembly 20 rotates relative to the base 10. The driving assembly 40 may be installed inside the base 10. For example, the first rod 210 can be used as an active rod, and the driving assembly 40 drives the first rod 210 to rotate, so as to drive the

second rod

230 or 240 to rotate together relative to the base 10, so as to enable the clamping portion 212 to approach or move away from the object to be clamped. Of course, the

second rod

230 or 240 may also be used as an active rod, which is not described in detail herein.

Further, referring to fig. 6 and 7, the connecting rod clamping assembly 20 further includes a connecting shaft 310 and a first bearing 320. The base 10 is provided with a first mounting hole (not labeled), the first bearing 320 is installed in the first mounting hole, the connecting shaft 310 is installed on the first bearing 320 and is in sealing fit with the first bearing 320, the end of the connecting shaft 310 extends out of the first mounting hole, the second end of the first rod member 220 is fixedly connected with the end of the connecting shaft 310, and the connecting shaft 310 is connected with the driving assembly 40. The driving assembly 40 drives the connecting shaft 310 to rotate, and the connecting shaft 310 drives the first rod 220 to rotate synchronously, so as to drive the clamping member 210 and the

second rod

230 or 240 to rotate. Through the sealed cooperation of first bearing 320 and connecting axle 310, avoid inside base 10 is got into through first mounting hole to the outside water of base 10, improve fixture 50's waterproof performance. In this embodiment, the first rod 220 is rotatably connected to the base 10 through the first bearing 320 and the connecting shaft 310, and has good waterproof performance, and can be applied to any of the above embodiments of the clamping mechanism 50, and also applied to other devices requiring waterproof, for example, a clamping jaw of a conventional parallelogram structure, so as to improve the waterproof performance of the clamping jaw of the conventional parallelogram structure.

Specifically, the connecting shaft 310 is in interference fit with an inner ring of the first bearing 320, and an outer ring of the first bearing 320 is in interference fit with the first mounting hole. So that the first bearing 320 and the base 10 and the connecting shaft 310 and the first bearing are in sealing fit. The inner ring of the first bearing 320 is in rotational fit with the outer ring of the first bearing 320 through rolling bodies. When the driving assembly 40 drives the connecting shaft 310 to rotate, the first link 220 can rotate with the connecting shaft 310 relative to the base 10.

In one embodiment, the connecting rod clamping assembly 20 includes two first bearings 320, the connecting shaft 310 is installed on the two first bearings 320, two end portions of the connecting shaft 310 respectively extend out of the two first installation holes, the second end of the first rod 220 includes two first installation portions 222, and the two first installation portions 222 are respectively fixedly connected with the end portions of the connecting shaft 310. The connecting shaft 310 is assembled by two first bearings 320, and after the end parts of the two ends of the connecting shaft 310 extend out of the first bearings 320, the end parts extend out of the base 10 through the first mounting holes and are fixedly connected with the first mounting part 222 of the first rod 220. Referring to fig. 1, two first mounting portions 222 are provided at intervals. The two sides of the base 10 are respectively provided with a first mounting hole, and the two first mounting portions 222 are respectively located at the two sides of the base 10 and are fixedly connected with the end of the connecting shaft 310, so that the first rod 220 rotates along with the rotation of the connecting shaft 310. The first rod 220 is sleeved on the base 10 through the two first mounting portions 222, and the two first mounting portions 222 are respectively fixedly connected with the end portions of the two ends of the connecting shaft 310, so that the installation is stable and the rotation is stable.

Referring to fig. 1 and 2, in one or more embodiments, the link clamping assembly 20 further includes a rotating shaft 330 disposed on an outer wall of the base 10, and the second end of the

second rod

230 or 240 is rotatably connected to the rotating shaft 330. In other embodiments, the

second rod

230 or 240 may be rotatably connected to the hinge seat provided on the outer wall of the base 10, so that the second end of the

second rod

230 or 240 is rotatably connected to the base 10.

Referring to fig. 1, further, the second end of the

second rod

230 or 240 includes two second mounting portions 232, and the two second mounting portions 232 are respectively rotatably connected to the rotating shafts 330 on two sides of the base, so that the mounting is stable and the rotation is stable.

Referring to fig. 1, in one or more embodiments, the first end of the first rod 220 includes two oppositely disposed third mounting portions 224, the first end of the

second rod

230 or 240 includes two oppositely disposed fourth mounting portions 234, the first end of the connecting portion 214 is disposed between the two third mounting portions 224 and is respectively rotatably connected to the two third mounting portions 224, and the second end of the connecting portion 214 is disposed between the two fourth mounting portions 234 and is respectively rotatably connected to the two fourth mounting portions 234. Two third installation portion 224 interval settings form installation space, and two fourth installation portion 234 interval settings form installation space, and the both ends of connecting portion 214 are located two respectively in the installation space, the rotation connection can be realized with third installation portion 224 or fourth installation portion 234 to the tip of connecting portion 214 in shaft hole complex mode.

Referring to fig. 8, in one or more embodiments, the driving assembly 40 includes a power source 410, a lead screw 420, a nut 430, at least two first driving levers 440, and at least two second driving levers 450. The power source 410 is connected with the screw rod 420, the nut 430 is sleeved on the screw rod 420 and can move to and fro along the screw rod 420, one end of the first transmission rod 440 is rotatably connected with the nut 430, the other end of the first transmission rod 440 is rotatably connected with the second transmission rod 450, and the second transmission rod 450 is fixedly connected with the connecting shaft 310. The power source 410 provides a rotating power to the screw rod 420, the power source 410 may be a motor, the screw rod 420 rotates to drive one end of the nut 430 and one end of the first transmission rod 440 to make a reciprocating linear motion, so as to drive the second transmission rod 450 and the connecting shaft 310 to rotate relative to the base 10, and further drive the first rod 220 or the second rod 230 and the second rod 240 fixedly connected to the connecting shaft 310 to rotate, so that the clamping portion 212 is close to or far away from an object to be grabbed. In other embodiments, the driving assembly 40 with other structures may be used to drive the first rod 220 or the second rod 230, and the second rod 240 to rotate, such as a gear transmission, a worm gear transmission, or a hydraulic/pneumatic transmission.

Referring to fig. 1, in an alternative embodiment, the clamping mechanism 50 includes two link clamping assemblies 20 according to any of the above embodiments, and the two link clamping assemblies 20 are disposed oppositely, and two

second rods

230 or 240 are located at the inner side. The two connecting rod clamping assemblies 20 are matched together to clamp an object, and the angle of the clamping part 212 of each connecting rod clamping assembly 20 is variable, so that the clamping device can be suitable for clamping a ball or other objects with complex structures. In other embodiments, the link clamping assemblies 20 may be added according to actual requirements, for example, three, four, or more than four link clamping assemblies 20 are arranged circumferentially, and the clamping portions 212 cooperate with each other to realize the clamping of the object.

Referring to fig. 1 and 11, another embodiment of the present application provides a robot, which includes a body 60 and the clamping mechanism 50 according to any of the embodiments described above. Wherein the body 60 comprises a plurality of robot arms connected in series and a plurality of joint drives for connecting adjacent robot arms. The clamping mechanism 50 comprises a base 10 and at least two connecting rod clamping assemblies 20, the base 10 is connected with the body 60, the at least two connecting rod clamping assemblies 20 are respectively connected with the base 10 in a rotating mode, and the at least two connecting rod clamping assemblies 20 are matched with each other to clamp objects.

The connecting rod clamping assembly 20 includes a clamping member 210, a first rod 220, and a

second rod

230 or 240. The clamping member 210 includes a clamping portion 212 and a connecting portion 214 connected to each other. The first end of the first rod 220 is rotatably connected to the connecting portion 214, the second end of the first rod 220 is rotatably connected to the base 10, and a connection line between a rotation center of the first end of the first rod 220 and a rotation center of the second end of the first rod 220 is a first connection line. A first end of the

second rod

230 or 240 is rotatably connected to the connecting portion 214, a second end of the

second rod

230 or 240 is rotatably connected to the base 10, and a connection line between a rotation center of the first end of the

second rod

230 or 240 and a rotation center of the second end of the

second rod

230 or 240 is a second connection line. The length of the first connecting line is constantly different from the length of the second connecting line. Or, the second rod 240 has a first state and a second state that can be switched, where in the first state, the length of the second rod 240 is kept constant, and in the second state, the second rod 240 is bent and deformed, so that the length of the first connection line is different from the length of the second connection line.

The robot adopts the clamping mechanism 50 described in any of the above embodiments as a clamping mechanism at the tail end to clamp an object, and has the advantages of the clamping mechanism 50 described in the corresponding embodiments, and details are not repeated here.

Fig. 11 is merely an exemplary embodiment of a robot. In other embodiments, the robot may include more or fewer components, for example the robot may also include I/O devices, network access devices, communication buses, processors, memory, actuators, and sensors.

It should be understood that the clamping mechanism 50 provided herein may also be used in other fields besides robots, such as packaging equipment, transportation equipment, etc., and is not limited thereto.

Referring to fig. 12, an embodiment of the present application provides a clamping device, which includes an installation seat 70 and a plurality of connecting rod clamping assemblies 20 according to any of the above embodiments, wherein the plurality of connecting rod clamping assemblies 20 are arranged in pairs in an opposite manner and arranged on the installation seat 70 in an array manner, and two of the connecting rod clamping assemblies 20 arranged in an opposite manner are mutually matched to clamp an object.

second rod

230 or 240 and a rotation center of the second end of the

second rod

The clamping device is characterized in that a plurality of connecting rod clamping assemblies 20 in any one of the above embodiments are arranged on the mounting seat 70 in an array mode, the connecting rod clamping assemblies 20 are arranged in pairs in an opposite mode, the two connecting rod clamping assemblies 20 arranged in the opposite mode are matched with each other to clamp objects, and the simultaneous clamping and loosening operation of the objects on a standardized production line can be achieved.

Referring to fig. 1 to 5, the link clamping assembly 20 approaches or leaves the object 02 to be clamped, and since the length of the first connection line L1 is constantly different from the length of the second connection line L2, when the link clamping assembly 20 rotates towards the object 02 to be clamped, the angle of the clamping portion relative to the object 02 to be clamped is gradually changed, so that the clamping portion 212 can hold the object 02 to be clamped, when the object 02 to be clamped is a sphere or other complex shape, the object can be firmly clamped, and the applicability and flexibility of the clamping device are improved. Alternatively, the second rod 240 has a first state and a second state, which are switchable, and in the first state, the length of the second rod is kept constant. The first state is a state where the second lever 240 is not clamped or the outer surface of the clamped object is flat. Referring to fig. 4, in the second state, the second lever 40 is bent and deformed such that the length of the first wire is different from the length of the second wire. The second state is a state where the outer surface of the object held by the second rod 240 is not flat (e.g., a sphere or other complex shape). In the second state, the second lever 40 is bent and deformed such that the length of the first wire is different from the length of the second wire. When the connecting rod clamping assembly 20 rotates towards the object 02 to be clamped, the angle of the clamping portion relative to the object 02 to be clamped is gradually changed, so that the object 02 to be clamped can be embraced by the clamping portion 212, the object can be firmly grabbed, and the applicability and flexibility of the connecting rod clamping assembly 20 are improved.

In one embodiment, the two link clamping assemblies 20 are driven to rotate by the same driving assembly 40, so as to realize the clamping and releasing operations. In other embodiments, a driving assembly is disposed in the mounting seat 70, and the driving assembly simultaneously drives the plurality of rod clamping assemblies 20 to rotate, so as to achieve synchronous clamping and releasing operations of the plurality of rod clamping assemblies 20. The driving assembly 40 may be constructed as described in the above embodiments, or may be constructed as a mechanism capable of realizing driving in the prior art. The driving assembly 40 drives the first rod 210 or the

second rod

230 or 240 to rotate, so as to rotate the connecting rod clamping assembly 20 relative to the mounting base 10.

In other embodiments, the clamping device uses the connecting rod clamping assembly 20 described in any of the above embodiments to clamp an object, and has the advantages of clamping the connecting rod clamping assembly 20 described in the corresponding embodiments, and details are not repeated here.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. The utility model provides a fixture, includes base and two at least connecting rod centre gripping subassemblies, at least two the connecting rod centre gripping subassembly centre gripping object of mutually supporting, the connecting rod centre gripping subassembly includes:

2. The clamping mechanism of claim 1, wherein a first end of the connecting portion is rotatably connected to a first end of the first rod, a second end of the connecting portion is rotatably connected to a first end of the second rod, and a second end of the connecting portion is fixedly connected to the clamping portion, wherein a length of the first connecting line is constantly greater than a length of the second connecting line; or, the second rod piece is bent and deformed in the second state, so that the length of the first connecting line is larger than that of the second connecting line.

3. The clamping mechanism as claimed in claim 2, wherein the second rod comprises a first finger root portion, an elastic portion and a second finger root portion connected in sequence, the first finger root portion is rotatably connected to the connecting portion, the second finger root portion is rotatably connected to the base, and the elastic portion is bent and deformed in the second state.

4. The clamping mechanism of claim 3, wherein said resilient portion is a metal sheet having resiliency.

5. The clamping mechanism as claimed in any one of claims 1 to 4, wherein the clamping mechanism further comprises a driving assembly, the connecting rod clamping assembly further comprises a connecting shaft and a first bearing, the base is provided with a first mounting hole, the first bearing is mounted in the first mounting hole, the connecting shaft is mounted on the first bearing and is in sealing fit with the first bearing, an end of the connecting shaft extends out of the first mounting hole, a second end of the first rod is fixedly connected with an end of the connecting shaft, the connecting shaft is connected with the driving assembly, and the driving assembly is used for driving the connecting shaft to rotate so as to drive the first rod to rotate.

6. The clamping mechanism as claimed in claim 5, wherein the connecting rod clamping assembly comprises two first bearings, the connecting shaft is mounted on the two first bearings, two first mounting holes respectively extend from two end portions of the connecting shaft, the second end of the first rod piece comprises two first mounting portions, and the two first mounting portions are respectively fixedly connected with two end portions of the connecting shaft.

7. The clamping mechanism of claim 5, wherein the connecting shaft is in interference fit with an inner race of the first bearing, and an outer race of the first bearing is in interference fit with the first mounting hole.

8. The clamping mechanism as recited in claim 5, wherein the driving assembly comprises a power source, a screw rod, a nut, at least two first transmission rods and at least two second transmission rods, the power source is connected with the screw rod, the nut is sleeved on the screw rod and can reciprocate along the screw rod, one end of each first transmission rod is rotatably connected with the nut, the other end of each first transmission rod is rotatably connected with the corresponding second transmission rod, and the corresponding second transmission rod is fixedly connected with the corresponding connecting shaft.

9. The clamping mechanism of claim 5, wherein said link clamping assembly further comprises a shaft disposed on an outer wall of said base, said second end of said second rod being rotatably coupled to said shaft.

10. A clamping mechanism according to claim 1 or 2, wherein the inside surface of the second bar has a locating groove or a locating convex hull.

11. A clamping mechanism according to claim 1 or 2 wherein the second bar is a straight bar or a curved bar.

12. A clamping mechanism according to any one of claims 1 to 4, wherein the clamping member further comprises a contact portion connected to the clamping portion and located on the side of the clamping surface of the clamping portion.

13. A clamping mechanism according to any one of claims 1 to 4 wherein the first bar or the second bar is of adjustable length construction.

14. The clamping mechanism as claimed in any one of claims 1 to 4, wherein the first end of the first rod member includes two oppositely disposed third mounting portions, the first end of the second rod member includes two oppositely disposed fourth mounting portions, the first end of the connecting portion is disposed between and rotatably connected to the two third mounting portions, and the second end of the connecting portion is disposed between and rotatably connected to the two fourth mounting portions.

15. A clamping mechanism according to any one of claims 1 to 4, wherein the clamping mechanism comprises two of said link clamping assemblies, and wherein the two link clamping assemblies are oppositely disposed, and the two second bars are located on the inner side.

16. The utility model provides a robot, its characterized in that includes body and fixture, fixture includes base and two at least connecting rod centre gripping subassemblies, at least two the connecting rod centre gripping subassembly centre gripping object of mutually supporting, the connecting rod centre gripping subassembly includes:

17. The robot of claim 16, wherein a first end of the connecting portion is rotatably connected to a first end of the first rod, a second end of the connecting portion is rotatably connected to a first end of the second rod, and a second end of the connecting portion is fixedly connected to the clamping portion, wherein a length of the first connecting line is constantly greater than a length of the second connecting line; or, the second rod piece is bent and deformed in the second state, so that the length of the first connecting line is larger than that of the second connecting line.

18. The robot of claim 17, wherein the second rod includes a first finger-base portion, an elastic portion and a second finger-base portion connected in sequence, the first finger-base portion is rotatably connected to the connecting portion, the second finger-base portion is rotatably connected to the base, and the elastic portion is bent and deformed in the second state.

19. The utility model provides a clamping device, its characterized in that includes mount pad and a plurality of connecting rod centre gripping subassembly, two liang of relative settings of a plurality of connecting rod centre gripping subassemblies just are the array and arrange on the mount pad, two of relative settings the connecting rod centre gripping subassembly centre gripping object of mutually supporting, the connecting rod centre gripping subassembly includes:

20. The clamping device of claim 19, wherein a first end of said connecting portion is rotatably connected to a first end of said first rod, a second end of said connecting portion is rotatably connected to a first end of said second rod, and a second end of said connecting portion is fixedly connected to said clamping portion, wherein a length of said first wire is constantly greater than a length of said second wire; or, the second rod piece is bent and deformed in the second state, so that the length of the first connecting line is larger than that of the second connecting line.