CN219504791U - Robot, mechanical arm and clamp - Google Patents

Abstract

The utility model provides a robot, a mechanical arm and a clamp. The first clamping piece and the second clamping piece are rotationally connected with the installation body, and the first clamping piece and the second clamping piece are arranged at intervals to form a clamping space. The flexible mechanism is in transmission connection with the first clamping piece and the second clamping piece, and the flexible mechanism can drive the first clamping piece and the second clamping piece to rotate relative to the mounting body along directions close to each other or far away from each other. In the process of clamping the object to be clamped, the flexible mechanism can buffer the driving force between the flexible mechanism and the first clamping piece and the driving force between the flexible mechanism and the second clamping piece so as to realize flexible clamping, ensure that the object to be clamped cannot be damaged due to overlarge clamping force of the first clamping piece and the second clamping piece, and improve the reliability and applicability of the clamp.

Description

Robot, mechanical arm and clamp

Technical Field

The utility model relates to the technical field of robots, in particular to a robot, a mechanical arm and a clamp.

Background

Robot technology is one of the important trends of current technology development, and robots replace manual work to develop various works by means of clamps of the robots. At present, a traditional clamp adopts a mode that a connecting rod mechanism drives a clamping jaw to move to clamp an object to be clamped. However, in the process of clamping the clamp, the object to be clamped is easy to damage due to overlarge clamping force of the clamp.

Disclosure of Invention

Based on this, it is necessary to provide a robot, a mechanical arm and a clamp for solving the problem that the object to be clamped is easily damaged due to the excessive clamping force of the clamp in the clamping process of the conventional clamp.

The technical scheme is as follows:

in a first aspect, there is provided a clamp comprising:

a mounting body;

the first clamping piece and the second clamping piece are rotationally connected with the installation body, and the first clamping piece and the second clamping piece are arranged at intervals to form a clamping space; a kind of electronic device with high-pressure air-conditioning system

The flexible mechanism is in transmission connection with the first clamping piece and the second clamping piece, and the flexible mechanism can drive the first clamping piece and the second clamping piece to rotate relative to the mounting body along directions close to each other or far away from each other.

The technical scheme is further described as follows:

in one embodiment, a first clamping part is arranged on one side, far away from the installation body, of the first clamping part, two second clamping parts are arranged on one side, far away from the installation body, of the second clamping part, the two second clamping parts are arranged at intervals along the width direction of the second clamping part, the first clamping part and the two second clamping parts are arranged at intervals to form a clamping space, and when the clamp clamps a to-be-clamped object, the projection of the first clamping part along the axial direction of the second clamping part is positioned between the two second clamping parts.

In one embodiment, a first connecting portion rotatably connected with the mounting body is arranged on one side, close to the mounting body, of the first clamping piece, the width of the first clamping piece tends to be reduced from the first connecting portion to the first clamping portion and towards the direction, close to the first clamping portion, of the first clamping piece, and the first clamping piece extends towards one side of the second clamping piece;

and/or, a first avoiding groove which is arranged corresponding to the first clamping piece is formed in one side, close to the second clamping part, of the second clamping piece.

In one embodiment, the fixture further comprises a first transmission component, a second transmission component, a third clamping piece and a fourth clamping piece, the third clamping piece and the fourth clamping piece are arranged in the clamping space at intervals, the third clamping piece is matched with the first clamping piece in a moving mode, so that the third clamping piece can reciprocate along the direction close to or far away from the first clamping piece, the fourth clamping piece is matched with the second clamping piece in a moving mode, so that the fourth clamping piece can reciprocate along the direction close to or far away from the second clamping piece, a third clamping portion is rotatably arranged on one side, away from the mounting body, of the first clamping piece, one end of the first transmission component is connected with the third clamping piece in a sliding mode, the other end of the first transmission component is connected with the third clamping portion in a driving mode, and/or one side, away from the mounting body, of the second clamping piece is rotatably provided with a fourth clamping portion, one end of the second transmission component is connected with the fourth clamping portion in a sliding mode, and the other end of the second clamping piece is connected with the fourth transmission component in a sliding mode.

In one embodiment, a fifth clamping part is arranged on one side, far away from the installation body, of the third clamping part, the fifth clamping part extends towards one side, close to the first clamping part, of the third clamping part, a second avoidance groove is formed in the fifth clamping part, the second avoidance groove is formed in the second clamping part in a corresponding mode, at least part of the third clamping part can penetrate through the second avoidance groove, and accordingly the third clamping part and the fifth clamping part are matched to wrap one side of a to-be-clamped object.

In one embodiment, the first clamping member is provided with a first through hole, the third clamping member is provided with a second through hole corresponding to the first through hole, the fixture further comprises a guide member and an elastic telescopic member with a third through hole, the guide member sequentially penetrates through the first through hole, the third through hole and the second through hole, and the elastic telescopic member is in transmission connection with the third clamping member, so that the third clamping member can reciprocate along the axis direction of the guide member.

In one embodiment, a sliding seat is arranged on one side, close to the first clamping piece, of the third clamping piece, a sliding groove extending along the length direction of the third clamping piece is formed in the sliding seat, a sliding column in sliding connection with the sliding groove is arranged at one end of the first transmission assembly, the other end of the first transmission assembly is fixedly connected with the third clamping portion, and the third clamping piece can drive the third clamping portion to rotate relative to the first clamping piece through the first transmission assembly.

In one embodiment, the mounting body is provided with a mounting part, and the first clamping piece and the second clamping piece are arranged at two sides of the mounting part at intervals and are both in rotational connection with the mounting part; the flexible mechanism comprises an air source, a first air bag connected with the first clamping piece in a transmission manner, and a second air bag connected with the second clamping piece in a transmission manner, wherein the first air bag is used for generating elastic deformation when the air source inflates the inner cavity of the first air bag, and the second air bag is used for generating elastic deformation when the air source inflates the inner cavity of the second air bag, so that the first air bag and the second air bag can drive the first clamping piece and the second clamping piece to rotate along the direction of approaching or keeping away from each other relative to the mounting part.

In a second aspect, a mechanical arm is provided, including a mechanical arm body and a clamp, where the clamp is disposed on the mechanical arm body.

In a third aspect, a robot is provided, including a robot body and a mechanical arm, where the mechanical arm is disposed on the robot body.

In the robot, the mechanical arm and the clamp in the above embodiment, when the clamp needs to clamp the object to be clamped, first, the clamp is moved so that the object to be clamped is at least partially located in the clamping space. Then, the flexible mechanism is deformed, so that the flexible mechanism drives the first clamping piece and the second clamping piece to rotate along the relatively approaching direction, and the first clamping piece and the second clamping piece can be matched together to clamp the object to be clamped. When the clamp needs to release the object to be clamped, the flexible mechanism resets, so that the first clamping piece and the second clamping piece synchronously reset, and further the first clamping piece and the second clamping piece rotate along the relatively far direction, and the first clamping part and the second clamping part are separated from the object to be clamped to release the object to be clamped. Compared with a transmitted clamp, the clamp disclosed by the application has the advantages that in the process of clamping the object to be clamped, the flexible mechanism can buffer the driving force between the flexible mechanism and the first clamping piece and between the flexible mechanism and the second clamping piece, so that the object to be clamped is clamped flexibly, the object to be clamped is prevented from being damaged due to overlarge clamping force of the first clamping piece and the second clamping piece, and the reliability and the applicability of the robot, the mechanical arm and the clamp are improved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain the utility model.

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present utility model, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural view of a jig of a first embodiment;

FIG. 2 is a schematic view of the clamp of FIG. 1 from another perspective;

FIG. 3 is a schematic view of the clamp of FIG. 1 from a further perspective;

FIG. 4 is a schematic view of the structure of the clamp in FIG. 1 when clamping an object to be clamped;

FIG. 5 is a schematic view of the structure of a clamp according to a second embodiment;

FIG. 6 is a schematic view of the clamp of FIG. 5 from another perspective;

FIG. 7 is a schematic view of the structure of the clamp in FIG. 5 when clamping an object to be clamped;

FIG. 8 is a schematic view of the clamp of FIG. 7 from another perspective;

FIG. 9 is a cross-sectional view of the clamp of FIG. 8 taken along the direction A-A;

FIG. 10 is a schematic diagram illustrating a structure of the first driving assembly and the third clamping member in FIG. 7;

FIG. 11 is a schematic view of the third clamping member of FIG. 10;

FIG. 12 is a schematic view of the finger body of FIG. 10;

fig. 13 is a schematic view of the finger sub-body in fig. 10.

Reference numerals illustrate:

first embodiment: 10a, clamping; 100a, a mounting body; 110a, a mounting portion; 200a, a first clamping piece; 210a, a first clamping portion; 220a, a first connection portion; 300a, a second clamping member; 310a, a second clamping part; 320a, a second connection portion; 330a, a first avoidance groove; 400a, a flexible mechanism; 410a, a first balloon; 420a, a second balloon; 500a, a to-be-clamped object; 1200a, flexible member.

Second embodiment: 10b, clamping; 100b, mounting a body; 110b, a mounting portion; 200b, a first clamping piece; 220b, a first connection; 230b, a third clamping portion; 300b, a second clamping member; 320b, a second connection portion; 340b, fourth clamping portion; 400b, a flexible mechanism; 410b, a first balloon; 420b, a second balloon; 500b, a to-be-clamped object; 600b, a first transmission assembly; 610b, a finger body; 611b, a strut; 620. a finger auxiliary body; 700b, a second transmission assembly; 800b, a third clamping member; 810b, a fifth clamping portion; 811b, a second avoidance groove; 820b, a slide; 821b, a chute; 900b, fourth clamping member; 910b, a sixth clamping portion; 911b, a third avoidance groove; 1000b, a guide; 1100b, elastic telescoping member; 1200b, flexible member.

Detailed Description

In order that the above objects, features and advantages of the utility model will be readily understood, a more particular description of the utility model will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present utility model. The present utility model may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the utility model, whereby the utility model is not limited to the specific embodiments disclosed below.

In one embodiment, a robot is provided that includes a robot body and a robotic arm disposed on the robot body.

When the robot in the above embodiment needs to deliver, first, the robot body drives the mechanical arm to move, so that the mechanical arm moves to the vicinity of the object 500a to be gripped. Next, the robot arm moves to grip the object 500a to be gripped. Then, after the mechanical arm clamps the object 500a to be clamped, the robot body drives the mechanical arm to move again, so that the object 500a to be clamped moves to the vicinity of the preset position. Finally, the mechanical arm moves again, so that the mechanical arm can move the object 500a to be clamped to a preset position, and further full-automatic distribution is achieved.

The robot can be applied to catering industry, logistics industry or other industries needing to clamp objects, and the object 500a to be clamped can be tableware, express packages or other objects needing to be distributed.

In one embodiment, a robot arm is provided, comprising a robot arm body and a clamp 10a, the clamp 10a being mounted on the robot arm body.

In the above embodiment, when the object 500a to be clamped needs to be clamped, the mechanical arm body drives the clamp 10a to move, so that the clamp 10a moves to a position where the object 500a to be clamped is at least partially located in the clamping space. Next, the gripper 10a works to be able to grip the object 500a to be gripped. Finally, the mechanical arm body drives the clamp 10a to move again, so that the mechanical arm body can drive the object 500a to be clamped to a preset position through the clamp 10a, the effects of automatically clamping and moving the object 500a to be clamped are achieved, and the applicability and reliability of the mechanical arm are improved.

As shown in fig. 1-5, in one embodiment, a clip 10a is provided that includes a mounting body 100a, a first clip 200a, a second clip 300a, and a flexible mechanism 400a. The first clamping piece 200a and the second clamping piece 300a, wherein the first clamping piece 200a and the second clamping piece 300a are rotatably connected with the mounting body 100a, and the first clamping piece 200a and the second clamping piece 300a are arranged at intervals to form a clamping space. The flexible mechanism 400a is in transmission connection with the first clamping piece 200a and the second clamping piece 300a, and the flexible mechanism 400a can drive the first clamping piece 200a and the second clamping piece 300a to rotate relative to the installation body 100a along the directions of approaching or separating from each other.

When the clamp 10a needs to clamp the object 500a, the clamp 10a is moved so that the object 500a is at least partially located in the clamping space. Then, the flexible mechanism 400a is deformed, so that the flexible mechanism 400a drives the first clamping member 200a and the second clamping member 300a to rotate along a relatively approaching direction, and the first clamping member 200a and the second clamping member 300a can cooperate together to clamp the object 500a to be clamped. When the clamp 10a needs to release the object 500a to be clamped, the flexible mechanism 400a is reset, so that the first clamping member 200a and the second clamping member 300a are also synchronously reset, and the first clamping member 200a and the second clamping member 300a rotate in a relatively far direction, so that the first clamping portion 210a and the second clamping portion 310a are both separated from the object 500a to be clamped to release the object 500a to be clamped. Compared with the transmitted clamp 10a, in the process of clamping the object 500a, the flexible mechanism 400a can buffer the driving force between the flexible mechanism 400a and the first clamping piece 200a and the second clamping piece 300a, so that the object 500a is clamped flexibly, damage caused by overlarge clamping force of the first clamping piece 200a and the second clamping piece 300a to the object 500a is avoided, and reliability and applicability of the clamp 10a are improved.

The first clamping member 200a and the second clamping member 300a may be mechanical clamping jaws, flexible clamping jaws, pneumatic clamping jaws or other clamping jaw mechanisms. The number of the first clamping members 200a and the second clamping members 300a can be flexibly adjusted according to the actual use requirement. For example, the number of the first clamping members 200a and the second clamping members 300a is one or two.

As shown in fig. 1 to 3, in one embodiment, a side of the first clamping member 200a away from the mounting body 100a is provided with a first clamping portion 210a, a side of the second clamping member 300a away from the mounting body 100a is provided with two second clamping portions 310a, the two second clamping portions 310a are spaced apart along a width direction (as shown in a direction B in fig. 2) of the second clamping member 300a, the first clamping portion 210a and the two second clamping portions 310a are spaced apart to form a clamping space, and when the clamping device 10a clamps the object 500a to be clamped, a projection of the first clamping portion 210a along an axial direction of the second clamping portion 310a is located between the two second clamping portions 310 a. In this way, the distribution of the clamping force of the first clamping portion 210a and the two clamping portions to the object 500a to be clamped is more uniform, and the contact area between the clamp 10a and the object 500a to be clamped is increased, so that the reliability and stability of the clamp 10a are improved.

The first clamping portion 210a and the second clamping portion 310a may be clamping plates, clamping fingers or other clamping structures. The number and the size of the first clamping portion 210a and the second clamping portion 310a can be adjusted according to the actual use requirement. For example, the number of the first clamping portions 210a and the second clamping portions 310a may be uniform or two.

As shown in fig. 1 and 3, further, a first connection portion 220a rotatably connected to the mounting body 100a is provided on a side of the first clamping member 200a adjacent to the mounting body 100a, a width of the first clamping member 200a tends to decrease from the first connection portion 220a toward the first clamping portion 210a and adjacent to the first clamping portion 210a (as shown in a direction C in fig. 3), and the first clamping member 200a extends toward a side of the second clamping member 300 a. In this way, the distance between the first clamping member 200a and the second clamping member 300a is reduced, so that the first clamping member 200a and the second clamping member 300a can be matched to clamp the object 500a rapidly and reliably, and the reliability and the clamping efficiency of the clamp 10a are improved. In addition, the width of the first clamping member 200a tends to decrease from the first connecting portion 220a toward the first clamping portion 210a and toward the first clamping portion 210a, so that interference between the first clamping member 200a and the object 500a to be clamped during clamping can be avoided, and reliability and applicability of the clamp 10a are improved.

The width of the first clamping member 200a tends to decrease, and may decrease linearly, for example, the sidewall of the first clamping member 200a may be a plane, or may decrease non-linearly, for example, the sidewall of the first clamping member 200a may be an arc surface. In this embodiment, the first clamping member 200a is plate-shaped, an included angle is formed between the first clamping member 200a and the first connecting portion 220a, and the angle value of the included angle can be flexibly adjusted according to the actual use requirement. For example, the included angle between the first clamping member 200a and the first connecting portion 220a may have a value ranging from 30 ° to 60 °, and the included angle between the first clamping member 200a and the first connecting portion 220a may be 40 °, 45 °, 50 °, 55 °, or the like.

As shown in fig. 1, 3 and 4, optionally, the second clamping member 300a is provided with a second connection portion 320a rotatably connected to the mounting body 100a, and the second clamping member 300a is disposed perpendicular to the second connection portion 320 a. In this way, a larger clamping space can be maintained between the second clamping member 300a and the second connecting portion 320a, so that the second clamping member 300a drives the second clamping portion 310a to move below the object 500a to be clamped, thereby improving convenience of the clamp 10 a.

In other embodiments, the second clamping member 300a may extend toward one side of the first clamping member 200a from the second connecting portion 320a toward the second clamping portion 310a and in a direction close to the second clamping portion 310 a.

As shown in fig. 1 and 2, optionally, a first avoidance groove 330a corresponding to the first clamping member 200a is disposed on a side of the second clamping member 300a near the second clamping portion 310 a. In this way, along the axial direction of the second clamping portion 310a, the distance between the first clamping portion 210a and the second clamping portion 310a can be infinitely close, so that the clamp 10a can clamp both the object with the thinner wall thickness and the object with the thicker wall thickness, and the applicability of the clamp 10a is improved.

As shown in fig. 1 to 3, in the first embodiment, the mounting body 100a is provided with a mounting portion 110a, and the first clamping member 200a and the second clamping member 300a are disposed at intervals on both sides of the mounting portion 110a and are both rotatably connected to the mounting portion 110 a. In this way, the first clamping member 200a and the mounting body 100a are arranged at intervals, the second clamping portion and the mounting body 100a are arranged at intervals, and the first clamping member 200a and the second clamping member 300a are arranged at intervals, so that the first clamping portion and the second clamping portion can smoothly and stably rotate, and reliability and stability of the clamp 10a are improved.

The flexible mechanism 400a may be a combination of an air source and an air bag, a combination of a heat source and an artificial muscle, a combination of a power source and an artificial muscle, or other flexible driving mechanisms.

As shown in fig. 1 and 5, in one embodiment, the flexible mechanism 400a includes an air source, a first air bag 410a in driving connection with the first clamping member 200a, and a second air bag 420a in driving connection with the second clamping member 300a, where the first air bag 410a is used for elastically deforming when the air source inflates the inner cavity of the first air bag 410a, and the second air bag 420a is used for elastically deforming when the air source inflates the inner cavity of the second air bag 420a, so that the first air bag 410a and the second air bag 420a can drive the first clamping member 200a and the second clamping member 300a to rotate relative to the mounting portion 110a along directions approaching or separating from each other. In this way, the first air bag 410a can buffer the driving force between the air source and the first clamping member 200a through elastic deformation, and the second air bag 420a can buffer the driving force between the air source and the second clamping member 300a through elastic deformation, so that the clamping force between the first clamping member 200a and the object 500a to be clamped and the clamping force between the second clamping member 300a and the object 500a to be clamped are not too large, the object 500a to be clamped is not damaged, and the reliability and the clamping effect of the clamp 10a are improved. In this embodiment, the air source may be a pneumatic cylinder, a dual-purpose air pump for inflation and air extraction, or other structures capable of air source.

As shown in fig. 1 and 4, in one embodiment, the sides of the first clamping portion 210a and the second clamping portion 310a, which are close to each other, are respectively provided with a flexible member 1200a. In this way, when the fixture 10a clamps the object 500a to be clamped, the flexible member 1200a can elastically deform, so that the profile shape of the flexible member 1200a is matched with the profile shape of the object 500a to be clamped, and meanwhile, the flexible member 1200a can also increase the friction force between the fixture 10a and the object 500a to be clamped, thereby improving the applicability and reliability of the fixture 10 a.

As shown in fig. 5 to 8, in one embodiment, the clamp 10b further includes a first transmission assembly 600b, a second transmission assembly 700b, a third clamping member 800b and a fourth clamping member 900b, where the third clamping member 800b and the fourth clamping member 900b are disposed in the clamping space at intervals, the third clamping member 800b is movably matched with the first clamping member 200b so that the third clamping member 800b can reciprocate in a direction approaching or separating from the first clamping member 200b, the fourth clamping member 900b is movably matched with the second clamping member 300b so that the fourth clamping member 900b can reciprocate in a direction approaching or separating from the second clamping member 300b, one side of the first clamping member 200b, which is separated from the mounting body 100b, is rotatably provided with a third clamping portion 230b, one end of the first transmission assembly 600b is slidably connected with the third clamping member 800b, the other end of the first transmission assembly 600b is in transmission connection with the third clamping portion 230b, and/or one side of the second clamping member 300b, which is rotatably provided with a fourth clamping member 340b, which is rotatably connected with the other end of the fourth clamping member 700b, which is rotatably provided with the fourth clamping member 700 b. Thus, when the object 500b needs to be clamped, firstly, the clamp 10b is moved, so that after the object 500b is at least partially located in the clamping space, the flexible mechanism 400b drives the first clamping member 200b and the second clamping member 300b to rotate along a relatively close direction relative to the mounting body 100b, so that the first clamping member 200b drives the first transmission assembly 600b and the third clamping member 800b to synchronously rotate, and the second clamping member 300b drives the second transmission assembly 700b and the fourth clamping member 900b to synchronously rotate until the third clamping member 800b and the fourth clamping member 900b respectively contact with two sides of the object 500b. Then, the flexible mechanism 400b continues to drive the first clamping member 200b and the second clamping member 300b to rotate relative to the mounting body 100b in a relatively approaching direction, so that the third clamping member 800b moves along a side close to the first clamping member 200b under the action of the reaction force of the object to be clamped 500b, and the third clamping member 800b slides relative to one end of the first transmission assembly 600b, the fourth clamping member 900b moves along a side close to the second clamping member 300b under the action of the reaction force of the object to be clamped 500b, and the fourth clamping member 900b slides relative to one end of the second transmission assembly 700b, so that the other end of the first transmission assembly 600b can drive the third clamping member 230b to rotate relative to the first clamping member 200b, and the other end of the second transmission assembly 700b can drive the fourth clamping member 340b to rotate relative to the second clamping member 300b, so that the third clamping member 230b, the third clamping member 800b, the fourth clamping member 340b and the fourth clamping member 900b can be matched with the outer wall of the object to be clamped 500b. When the clamp 10b needs to release the object 500b to be clamped, the flexible mechanism 400b drives the first clamping member 200b and the second clamping member 300b to rotate relative to the mounting body 100b in a relatively far direction, so that the third clamping member 800b moves along a side far from the first clamping member 200b, and the fourth clamping member 900b moves along a side far from the second clamping member 300b, so that the third clamping portion 230b, the third clamping member 800b, the fourth clamping portion 340b and the fourth clamping member 900b are separated from the object 500b to facilitate the clamp 10b to clamp other objects 500b to be clamped. In this embodiment, the clamping space can be formed by the third clamping portion 230b, the third clamping member 800b, the fourth clamping portion 340b and the fourth clamping member 900b, and the third clamping portion 230b, the third clamping member 800b, the fourth clamping portion 340b and the fourth clamping member 900b are all in contact with the object 500b to be clamped, so that the contact area between the clamp 10b and the object 500b to be clamped is increased, and the reliability and stability of the clamp 10b are improved.

As shown in fig. 5, 7 and 9, further, a fifth clamping portion 810b is disposed on a side of the third clamping member 800b away from the mounting body 100b, the fifth clamping portion 810b extends toward a side close to the first clamping member 200b, the fifth clamping portion 810b is provided with a second avoidance groove 811b disposed corresponding to the third clamping portion 230b, and at least a portion of the third clamping portion 230b can pass through the second avoidance groove 811b, so that the third clamping portion 230b and the fifth clamping portion 810b cooperate to wrap a side of the object 500b to be clamped. In this way, the third clamping portion 230b and the fifth clamping portion 810b can cooperate to form a groove for accommodating the object 500b to be clamped, so as to limit the position of the object 500b to be clamped relative to the clamp 10b, thereby improving the reliability of the clamp 10 b. The fifth clamping portion 810b has an arc shape in the present embodiment.

As shown in fig. 5, 7 and 9, optionally, a sixth clamping portion 910b is disposed on a side of the fourth clamping member 900b away from the mounting body 100b, the sixth clamping portion 910b extends toward a side close to the second clamping member 300b, the sixth clamping portion 910b is provided with a third avoidance groove 911b corresponding to the fourth clamping portion 340b, and at least a portion of the fourth clamping portion 340b can pass through the third avoidance groove 911b, so that the fourth clamping portion 340b and the sixth clamping portion 910b cooperate to wrap the other side of the object 500b to be clamped. In this way, the fourth clamping portion 340b and the sixth clamping portion 910b can cooperate to form a groove for accommodating the object 500b to be clamped, so as to limit the position of the object 500b to be clamped relative to the clamp 10b, thereby improving the reliability of the clamp 10 b. The sixth clamping portion 910b has an arc shape in the present embodiment.

As shown in fig. 5, 7 and 9, in one embodiment, a fifth clamping portion 810b is disposed on a side of the third clamping member 800b away from the mounting body 100b, the fifth clamping portion 810b extends toward a side close to the first clamping member 200b, the fifth clamping portion 810b is provided with a second avoidance groove 811b disposed corresponding to the third clamping portion 230b, and at least part of the third clamping portion 230b can pass through the second avoidance groove 811b; the side of the fourth clamping member 900b away from the mounting body 100b is provided with a sixth clamping portion 910b, the sixth clamping portion 910b extends toward the side close to the second clamping member 300b, the sixth clamping portion 910b is provided with a third avoidance groove 911b corresponding to the fourth clamping portion 340b, and at least part of the fourth clamping portion 340b can pass through the third avoidance groove 911b. In this way, the third clamping portion 230b, the fifth clamping portion 810b, the fourth clamping portion 340b and the sixth clamping portion 910b can cooperate to wrap two sides of the object 500b to clamp the object 500b, thereby improving the reliability of the clamp 10 b.

The third clamping member 800b is movably matched with the first clamping member 200b, and the fourth clamping member 900b is movably matched with the second clamping member 300b, which can be correspondingly connected through an elastic telescopic rod, an elastic telescopic pad, a telescopic spring or other structures capable of elastically telescopic.

As shown in fig. 5, 6, 7 and 9, in one embodiment, the first clamping member 200b is provided with a first through hole, the third clamping member 800b is provided with a second through hole corresponding to the first through hole, the clamp 10b further includes a guide member 1000b and an elastic telescopic member 1100b having a third through hole, the guide member 1000b sequentially passes through the first through hole, the third through hole and the second through hole, and the elastic telescopic member 1100b is in transmission connection with the third clamping member 800b, so that the third clamping member 800b can reciprocate along the axial direction of the guide member 1000 b. In this way, the guiding element 1000b can guide the elastic telescopic element 1100b and the third clamping element 800b, so that the third clamping element 800b and the elastic telescopic element 1100b can move back and forth along the axial direction of the guiding element 1000b stably and reliably, and further the third clamping element 800b can move back and forth along the direction close to or far from the first clamping element 200b stably and reliably, thereby improving the reliability and stability of the clamp 10 b.

The number of the guide members 1000b and the elastic telescopic members 1100b can be flexibly adjusted according to the actual use requirement. For example, the number of the guide member 1000b and the number of the elastic members may be one, two, or three.

Specifically, the guide member 1000b is a guide post, the elastic expansion member 1100b is a compression spring, the compression spring is disposed between the first clamping member 200b and the third clamping member 800b and is in transmission connection with the third clamping member 800b, one end of the guide post passes through the first through hole and is fixedly connected with the first clamping member 200b, the other end of the guide post passes through the compression spring and the second through hole, and the guide post is in sliding fit with the compression spring and the third clamping member 800b, so that the third clamping member 800b can stably and reliably reciprocate along the direction of the central axis of the guide post. This improves the reliability of the jig 10 b.

As shown in fig. 5, 6, 7 and 9, optionally, the second clamping member 300b is provided with a fourth through hole, the fourth clamping member 900b is provided with a fifth through hole corresponding to the fourth through hole, the fixture 10b further includes a guide member 1000b and an elastic telescopic member 1100b having a third through hole, the guide member 1000b sequentially passes through the fourth through hole, the third through hole and the fifth through hole, and the elastic telescopic member 1100b is in transmission connection with the fourth clamping member 900b, so that the fourth clamping member 900b reciprocates along the axial direction of the guide member 1000 b. In this way, the guiding element 1000b can guide the elastic telescopic element 1100b and the fourth clamping element 900b, so that the fourth clamping element 900b and the spring telescopic element can move back and forth along the axial direction of the guiding element 1000b stably and reliably, and further the fourth clamping element 900b can move back and forth along the direction close to or far from the second clamping element 300b stably and reliably, thereby improving the reliability and stability of the clamp 10 b.

One end of the first transmission assembly 600b is slidably connected to the third clamping member 800b, and one end of the second transmission assembly 700b is slidably connected to the fourth clamping member 900b, which may be combined by the sliding groove 821b and the sliding block, combined by the pulley and the sliding rail, or other sliding connection manners.

As shown in fig. 9 and 10, in one embodiment, a sliding seat 820b is disposed on a side of the third clamping member 800b near the first clamping member 200b, the sliding seat 820b is provided with a sliding groove 821b extending along a length direction (as shown in a D direction in fig. 6) of the third clamping member 800b, one end of the first transmission assembly 600b is provided with a sliding post 611b slidably connected with the sliding groove 821b, the other end of the first transmission assembly 600b is fixedly connected with the third clamping portion 230b, and the third clamping member 800b can drive the third clamping portion 230b to rotate relative to the first clamping member 200b through the first transmission assembly 600 b. In this way, in the process that the third clamping member 800b moves along the side close to the first clamping member 200b, the sliding post 611b on one end of the first transmission assembly 600b slides towards the one end of the sliding groove 821b close to the mounting body 100b under the driving of the third clamping member 800b, so that the other end of the first transmission assembly 600b can drive the third clamping portion 230b to rotate relative to the first clamping member 200b along the side close to the second clamping portion, and the third clamping portion 230b and the third clamping member 800b cooperate to wrap the side of the object 500b to be clamped. During the movement of the third clamping member 800b along the side away from the first clamping member 200b, the sliding post 611b on one end of the first transmission assembly 600b slides towards the one end of the sliding groove 821b away from the mounting body 100b under the driving of the third clamping member 800b, so that the other end of the first transmission assembly 600b can drive the third clamping portion 230b to rotate relative to the first clamping member 200b along the side away from the second clamping portion, so that the third clamping portion 230b is separated from the object 500b to release the object 500b.

As shown in fig. 9, 11, 12 and 13, further, two sliding seats 820b are provided, the two sliding seats 820b are arranged at intervals along the width direction (E direction in fig. 7) of the third clamping member 800b, sliding grooves 821b are respectively provided at one side of the two sliding seats 820b close to each other, the first transmission assembly 600b comprises a finger main body 610b and a finger auxiliary body 620 detachably connected with the finger main body 610b, sliding columns 611b are respectively provided at one ends of the finger main body 610b and the finger auxiliary body 620 close to the sliding seats 820b, the two sliding columns 611b are in one-to-one sliding connection with the two sliding grooves 821b, and one end of the finger main body 610b far away from the sliding seat 820b is fixedly connected with the third clamping portion 230 b. In this way, the two sliding columns 611b are slidably connected with the two sliding grooves 821b disposed at intervals in a one-to-one correspondence manner, so that one end of the first transmission assembly 600b can stably and reliably reciprocate along the length of the third clamping member 800b, thereby improving the reliability and stability of the clamp 10 b. In addition, the first transmission assembly 600b is detachable into the finger main body 610b and the finger sub-body 620, thereby improving the convenience of assembling the jig 10 b.

In the present embodiment, an end of the finger main body 610b away from the sliding seat 820b is integrally formed with the third clamping portion 230b, and the axial direction of the finger main body 610b is disposed at an obtuse angle with the central axial direction of the third clamping portion 230 b. In this way, the reliability of the jig 10b is improved.

The angle value set by the obtuse angle between the axial direction of the finger main body 610b and the central axis direction of the third clamping portion 230b can be flexibly adjusted according to the actual use requirement. For example, the angle at which the axial direction of the finger body 610b is disposed at an obtuse angle with respect to the central axis direction of the third clamping portion 230b may range from 140 ° to 170 °, the angle at which the axial direction of the finger body 610b is disposed at an obtuse angle with respect to the central axis direction of the third clamping portion 230b may range from 145 °, 155 °, 165 °, or the like.

The finger main body 610b and the finger auxiliary body 620 may be detachably connected by screwing, plugging, riveting or other detachable connection methods.

In the embodiment of the present application, the structure of the first transmission assembly 600b is the same as that of the second transmission assembly 700b, and the structure of the third clamping member 800b is the same as that of the fourth clamping member 900b, which are not described herein.

The mounting body 100b may be a mounting flange, a mounting rack, a mounting seat, or other mounting structure.

As shown in fig. 1 and fig. 4 to 7, in one embodiment, the mounting body 100b is provided with a mounting portion 110b, and the first clamping member 200b and the second clamping member 300b are disposed at two sides of the mounting portion 110b at intervals and are both rotatably connected to the mounting portion 110 b. In this way, the first clamping member 200b is disposed at an interval from the mounting body 100b, the second clamping portion is disposed at an interval from the mounting body 100b, and the first clamping member 200b is disposed at an interval from the second clamping member 300b, so that the first clamping portion and the second clamping portion can smoothly and stably rotate, thereby improving reliability and stability of the fixture 10 b.

The flexible mechanism 400b may be a combination of an air source and an air bag, a combination of a heat source and an artificial muscle, a combination of a power source and an artificial muscle, or other flexible driving mechanisms.

As shown in fig. 1 and 5, in one embodiment, the flexible mechanism 400b includes an air source, a first air bag 410b in driving connection with the first clamping member 200b, and a second air bag 420b in driving connection with the second clamping member 300b, where the first air bag 410b is used for elastically deforming when the air source inflates the inner cavity of the first air bag 410b, and the second air bag 420b is used for elastically deforming when the air source inflates the inner cavity of the second air bag 420b, so that the first air bag 410b and the second air bag 420b can drive the first clamping member 200b and the second clamping member 300b to rotate relative to the mounting portion 110b along directions approaching or separating from each other. In this way, the first air bag 410b can buffer the driving force between the air source and the first clamping member 200b through elastic deformation, and the second air bag 420b can buffer the driving force between the air source and the second clamping member 300b through elastic deformation, so that the clamping force between the first clamping member 200b and the object 500b to be clamped and the clamping force between the second clamping member 300b and the object 500b to be clamped are not too large, the object 500b to be clamped is not damaged, and the reliability and the clamping effect of the clamp 10b are improved. In this embodiment, the air source may be a pneumatic cylinder, a dual-purpose air pump for inflation and air extraction, or other structures capable of air source.

As shown in fig. 5 to 7, further, two sides of the first air bag 410b are flexibly connected to the mounting body 100b and the first connecting portion 220b, two sides of the second air bag 420b are flexibly connected to the mounting body 100b and the second connecting portion 320b, the mounting body 100b is provided with a first air flow channel communicated with the inner cavity of the first air bag 410b and a second air flow channel communicated with the inner cavity of the second air bag 420b, and the air source is communicated with both the first air flow channel and the second air flow channel. In this manner, the air source is capable of inflating the interior cavity of the first bladder 410b through the first air flow channel and the interior cavity of the second bladder 420b through the second air flow channel, improving the stability of the clamp 10 b.

As shown in fig. 6 and 9, optionally, before the first balloon 410b and the second balloon 420b are elastically deformed, the axis of the first balloon 410b and the axis of the second balloon 420b are disposed at an acute angle. In this way, in the process of clamping the object 500b by the clamp 10b, the deformation amounts of the first air bag 410b and the second air bag 420b are reduced, so that the clamping efficiency and the service life of the clamp 10b are improved.

The angle value of the axis of the first air bag 410b and the axis of the second air bag 420b that are disposed at an acute angle can be flexibly adjusted according to the actual use requirement. The angle at which the axis of the first bladder 410b is disposed at an acute angle to the axis of the second bladder 420b may range from 20 ° to 60 °. For example, the axis of the first bladder 410b is disposed at an acute angle with respect to the axis of the second bladder 420b at an angle of 27 °, 30 °, 40 °, 50 °, or the like.

As shown in fig. 5 and 9, in one embodiment, the third clamping portion 230b and the fourth clamping portion 340b are respectively provided with a flexible member 1200b on the side close to each other, and the fifth clamping portion 810b and the sixth clamping portion 910b are respectively provided with a flexible member 1200b on the side close to each other. In this way, when the fixture 10b clamps the object 500b to be clamped, the flexible member 1200b can elastically deform, so that the profile shape of the flexible member 1200b is matched with the profile shape of the object 500b to be clamped, and meanwhile, the flexible member 1200b can increase the friction between the fixture 10b and the object 500b to be clamped, thereby improving the applicability and reliability of the fixture 10 b.

The flexible member 1200b may be a silica gel pad, rubber pad, or other flexible structure.

In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present utility model. The term "and/or" as used in this utility model includes any and all combinations of one or more of the associated listed items.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present utility model, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present utility model, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

It will be understood that when an element is referred to as being "fixed" or "disposed" on 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. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.

It will be further understood that when interpreting the connection or positional relationship of elements, although not explicitly described, the connection and positional relationship are to be interpreted as including the range of errors that should be within an acceptable range of deviations from the particular values as determined by those skilled in the art. For example, "about," "approximately," or "substantially" may mean within one or more standard deviations, and is not limited herein.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The foregoing examples illustrate only a few embodiments of the utility model, which are described in detail and are not to be construed as limiting the scope of the utility model. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the utility model, which are all within the scope of the utility model. Accordingly, the scope of protection of the present utility model is to be determined by the appended claims.

Claims (10)

1. A clamp, comprising:

a mounting body;

the first clamping piece and the second clamping piece are rotationally connected with the installation body, and the first clamping piece and the second clamping piece are arranged at intervals to form a clamping space; a kind of electronic device with high-pressure air-conditioning system

The flexible mechanism is in transmission connection with the first clamping piece and the second clamping piece, and the flexible mechanism can drive the first clamping piece and the second clamping piece to rotate relative to the mounting body along directions close to each other or far away from each other.

2. The clamp according to claim 1, wherein a first clamping part is arranged on a side, away from the mounting body, of the first clamping part, two second clamping parts are arranged on a side, away from the mounting body, of the second clamping part, the two second clamping parts are arranged at intervals in the width direction of the second clamping part, the first clamping part and the two second clamping parts are arranged at intervals to form the clamping space, and when the clamp clamps an object to be clamped, the projection of the first clamping part along the axial direction of the second clamping part is located between the two second clamping parts.

3. The clamp according to claim 2, wherein a first connecting portion which is rotatably connected with the mounting body is provided on a side of the first clamping member adjacent to the mounting body, a width of the first clamping member tends to decrease from the first connecting portion toward and adjacent to the first clamping portion, and the first clamping member extends toward a side of the second clamping member;

and/or, a first avoiding groove which is arranged corresponding to the first clamping piece is formed in one side, close to the second clamping part, of the second clamping piece.

4. The clamp according to claim 1, further comprising a first transmission assembly, a second transmission assembly, a third clamping member and a fourth clamping member, wherein the third clamping member and the fourth clamping member are arranged in the clamping space at intervals, the third clamping member is in movable fit with the first clamping member so that the third clamping member can reciprocate in a direction approaching or separating from the first clamping member, the fourth clamping member is in movable fit with the second clamping member so that the fourth clamping member can reciprocate in a direction approaching or separating from the second clamping member, a third clamping portion is rotatably arranged on one side, away from the mounting body, of the first clamping member, one end of the first transmission assembly is in sliding connection with the third clamping member, the other end of the first transmission assembly is in transmission connection with the third clamping portion, and/or a fourth clamping portion is rotatably arranged on one side, away from the mounting body, of the second clamping member, one end of the second transmission assembly is in sliding connection with the fourth clamping member.

5. The fixture of claim 4, wherein a fifth clamping portion is disposed on a side, away from the mounting body, of the third clamping member, the fifth clamping portion extends toward a side, close to the first clamping member, the fifth clamping portion is provided with a second avoiding groove corresponding to the third clamping portion, and the third clamping portion can at least partially penetrate through the second avoiding groove, so that the third clamping portion and the fifth clamping portion cooperate to wrap a side of a to-be-clamped object.

6. The fixture of claim 4, wherein the first clamping member is provided with a first through hole, the third clamping member is provided with a second through hole corresponding to the first through hole, the fixture further comprises a guide member and an elastic telescopic member with a third through hole, the guide member sequentially passes through the first through hole, the third through hole and the second through hole, and the elastic telescopic member is in transmission connection with the third clamping member so that the third clamping member can reciprocate along the axial direction of the guide member.

7. The fixture of claim 4, wherein a slide is disposed on a side of the third clamping member adjacent to the first clamping member, the slide is provided with a sliding slot extending along a length direction of the third clamping member, one end of the first transmission assembly is provided with a sliding column slidably connected with the sliding slot, the other end of the first transmission assembly is fixedly connected with the third clamping portion, and the third clamping member can drive the third clamping portion to rotate relative to the first clamping member through the first transmission assembly.

8. The clamp according to any one of claims 1 to 7, wherein the mounting body is provided with a mounting portion, and the first clamping member and the second clamping member are disposed at intervals on both sides of the mounting portion and are both rotatably connected to the mounting portion; the flexible mechanism comprises an air source, a first air bag connected with the first clamping piece in a transmission manner, and a second air bag connected with the second clamping piece in a transmission manner, wherein the first air bag is used for generating elastic deformation when the air source inflates the inner cavity of the first air bag, and the second air bag is used for generating elastic deformation when the air source inflates the inner cavity of the second air bag, so that the first air bag and the second air bag can drive the first clamping piece and the second clamping piece to rotate along the direction of approaching or keeping away from each other relative to the mounting part.

9. A robot arm, comprising a robot arm body and the jig according to any one of claims 1 to 8, the jig being provided on the robot arm body.

10. A robot comprising a robot body and the mechanical arm according to claim 9, wherein the mechanical arm is disposed on the robot body.