WO2017028508A1

WO2017028508A1 - Grasping mechanism and robot

Info

Publication number: WO2017028508A1
Application number: PCT/CN2016/073219
Authority: WO
Inventors: 刘培超
Original assignee: 深圳市越疆科技有限公司
Priority date: 2015-08-16
Filing date: 2016-02-02
Publication date: 2017-02-23
Also published as: WO2017028509A1; WO2017028507A1; CN204868855U

Abstract

Disclosed are a grasping mechanism and a robot, the grasping mechanism comprising a grasping mounting frame (10), a grasping driver (20), a rotary arm (30) and a pair of clamping arm assemblies (40). The grasping driver (20) is fixed on the grasping mounting frame (10); the rotary arm (30) is fixedly connected to a rotary shaft (21) of the grasping driver (20) and rotates with the rotary shaft (21); the rotary arm (30) comprises an intermediate connection part (31) fixedly connected to the rotary shaft (21); each clamping arm assembly (40) comprises a clamping jaw (41) and a connection rod (42); one end of the connection rod (42) is hinged to the clamping jaw (41), and the other end thereof is hinged to the rotary arm (30); the two connection rods (42) are respectively hinged on two sides of the intermediate connection part (31) on the rotary arm (30); the clamping jaw (41) comprises a clamping part (411) used for clamping an article, and a fixed point hinged part (412) which is hinged to the grasping mounting frame (10) and driven by the connection rods (42) to rotate around the grasping mounting frame, wherein the clamping forces generated when the two clamping parts (411) clamp the article being in opposite directions; and the connections between the grasping mounting frame (10), the clamping jaw (41), the connection rods (42) and the rotary arm (30) adopt a hinge connection structure. The present application also discloses a robot corresponding to the grasping mechanism. With the grasping mechanism and the robot in the present application, there is no need to leave a motion clearance at the joint, thereby preventing the clamping jaw (41) from shaking.

Description

Manual Title: Grab Mechanism and Robot

Technical field

[0001] The present invention belongs to the field of robots, and more particularly to a grasping mechanism and a robot.

Background technique

[0002] The robot includes a robot arm and an actuator coupled to an end of the robot arm, wherein the actuator is coupled with a gripping mechanism for gripping the object, and the gripping mechanism often uses a gear assembly to achieve the clamping of the jaws thereof. However, in order to ensure the normal operation of the gear member, there must be an active clearance for the mesh between the gear teeth, and a certain displacement can occur between the gears, which causes the jaws to have some sway during use.

technical problem

[0003] It is an object of the present invention to overcome the deficiencies of the prior art described above and to provide a gripping mechanism that is designed to avoid swaying of the jaws during use.

Problem solution

Technical solution

The present invention is achieved in this way, a grasping mechanism, comprising:

[0005] grab the mounting frame;

[0006] a grab driver, the grab drive is fixed to the grab mount;

[0007] a rotating arm, the rotating arm is fixedly coupled to the rotating shaft of the gripping drive and rotates with the rotating shaft, the rotating arm includes an intermediate connecting portion fixedly connected with the rotating shaft;

[0008] a pair of clamp arm assemblies, each of the clamp arm assemblies including a jaw and a connecting rod, one end of the link is hinged to the jaw, the other end is hinged to the rotating arm, and the two connecting rods Separately hinged on both sides of the intermediate connecting portion on the rotating arm, the clamping jaw includes a clamping portion for holding the object, and is hinged with the grasping mounting frame and driven by the connecting rod a fixed point hinge around which the two gripping portions are opposed to each other by the direction of the clamping force generated by the gripping member.

[0009] Optionally, the rotating arm further includes a side connecting portion on both sides of the intermediate connecting portion and configured to be hinged with the connecting rod, and at least one side of the intermediate connecting portion is provided with at least Two of said side joints.

[0010] Optionally, the side connecting portion is symmetrically disposed around the intermediate connecting portion. [0011] Optionally, the link is hinged between the clamping portion and the fixed point hinge.

[0012] Optionally, the connecting rod is disposed between the clamping jaw and the rotating arm, and the clamping jaw is disposed between the connecting rod and the grab mounting bracket.

[0013] Optionally, the clamping portion includes a clamping end surface for clamping the object 吋 for abutting the object, and the clamping end surface is provided with an anti-slip structure.

[0014] Optionally, further comprising an auxiliary clamping member connected to the clamping portion, the auxiliary clamping member comprising an auxiliary edge that is flush with the clamping end surface and connected to an outer edge of the clamping end surface Clamping surface.

[0015] Optionally, the auxiliary clamping member is detachably connected to the clamping portion.

[0016] Optionally, a collet detachably coupled to the clamping portion and for abutting the article is further included.

[0017] Optionally, the clamping portion is provided with a first magnetic connecting member, and the clamping head is provided with a second magnetic connecting member magnetically connected to the first magnetic connecting member.

[0018] Optionally, the clamping portion is provided with a card slot, and the clamping head protrudes from a card protrusion that cooperates with the card slot;

[0019] The first magnetic connector is disposed in the card slot, and the second magnetic connector is disposed on the card protrusion.

[0020] Optionally, the gripping mechanism comprises a horizontal rotary drive coupled to the grab mount and configured to drive the grip mount horizontally.

[0021] Optionally, the horizontal rotation driving device comprises a horizontal rotation mounting bracket and a horizontal rotation driver disposed on the horizontal rotation mounting bracket, and an output end of the horizontal rotation driver is installed through the connecting shaft and the grabbing Rack connection

[0022] the horizontal rotary drive device includes an upper flange and a lower flange disposed in the horizontal rotary mount, and the upper flange is fixedly connected to an output end of the horizontal rotary drive, The lower flange is fixedly connected to the connecting shaft, and the upper flange and the lower flange are fixedly connected by the first fastener.

[0023] Optionally, the horizontal rotation driving device further includes an annular platform disposed in the horizontal rotating mounting frame, and the opposite side walls of the horizontal rotating mounting bracket are respectively provided with a notch, and the annular sliding sleeve The upper portion of the connecting shaft is disposed on the outer side and abuts against a side edge of the notch.

[0024] Optionally, the horizontal rotary drive is a steering gear or a motor, the steering gear or the motor is disposed at a top end portion of the horizontal rotary mount and fixed with the horizontal rotary mount by a second fastener connection.

[0025] The present invention also provides a robot including a robot arm and an actuator coupled to an end of the arm The robot further includes the above-described gripping mechanism, and the gripping mechanism is mounted on the actuator.

Advantageous effects of the invention

Beneficial effect

In the present invention, the connection between the gripping mount, the jaw, the connecting rod and the rotating arm is hinged, and the hinged connecting structure is used, so that there is no need to reserve a movable gap at the joint, thereby avoiding the jaw from shaking. In addition, the rotation of the rotating arm is driven by the rotating shaft to drive the jaws, that is, the driving of the jaws by the principle of the lever, the structure is simple, the manufacturing is convenient, and the standard parts can be used, which is advantageous for reducing the cost.

Brief description of the drawing

DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings to be used in the embodiments will be briefly described below. Obviously, the drawings in the following description are only some implementations of the present invention. For example, other drawings may be obtained from those of ordinary skill in the art in light of the inventive work.

1 is a schematic view showing the overall structure of a grasping mechanism of the present invention;

2 is a partial structural schematic view of the grasping mechanism of the present invention;

3 is a schematic exploded view of FIG. 2;

4 is a schematic view showing the overall structure of a horizontal rotary driving device in the grasping mechanism of the present invention;

5 is a schematic exploded view of FIG. 4.

DESCRIPTION OF REFERENCE NUMERALS:

[0034] Label Name Label Name

[0035] 10 grab mounting bracket

[0036] 20 Grab Drive 21 Shaft

30 rotating arm

31 intermediate connection portion 32 side connection portion

[0039] 40 clip arm assembly

[0040] 41 jaw 42 connecting rod

[0041] 411 clamping portion 412 fixed point hinge

[0042] 50 auxiliary clamping members [0043] 60 horizontal rotation drive device 61 horizontal rotation mount

[0044] 62 Horizontal Rotary Drive 63 Upper Flange

[0045] 64 lower flange 65 ring table

[0046] 66 connecting shaft

[0047] 611 notch 621 second fastener

[0048] 631 first fastener

Embodiments of the invention

[0049] In order to make the objects, technical solutions, and advantages of the present invention more comprehensible, the following

The present invention will be further described in detail.

[0050] The present invention provides a gripping mechanism.

[0051] As shown in FIGS. 1 through 3, the gripping mechanism includes a gripping mount 10, a gripping drive 20, a rotating arm 30, and a pair of clip arm assemblies 40. In the present embodiment, the grab mounting frame 10 is provided as a board structure, and of course, the grab mounting rack 10 may be provided for the frame structure or the like. The gripping drive 20 is secured to the gripping mount 10, and in the present embodiment, the gripping drive 20 can be removably mounted to the gripping mount 10 by bolts for ease of installation and removal. The rotating arm 30 is fixedly coupled to the rotating shaft 21 of the gripping drive 20 and is coupled to the rotating shaft 21, and the rotating arm 30 includes an intermediate connecting portion 31 fixedly coupled to the rotating shaft 21. In the present embodiment, the intermediate connecting portion 31 is provided with a fixed fit with the rotating shaft 21. The shaft hole, of course, in other implementations, the intermediate connection portion 31 can also be directly fixed to the shaft 21 by bolts. Each clamp arm assembly 40 includes a clamping jaw 41 and a connecting rod 42. One end of the connecting rod 42 is hinged to the clamping jaw 41, and the other end is hinged to the rotating arm 30, and the two connecting rods 42 are respectively hinged to the intermediate connecting portion 3 of the rotating arm 30. On both sides, the jaw 41 includes a clamping portion 411 for holding the article and a fixed point hinge 412 hinged to the grasping mount 10, wherein the clamping portion 411 clamps the clamping force generated by the object Directional setting

As shown in FIG. 1 to FIG. 3, the grasping driver 20 drives the rotating arm 21 to rotate by the rotating shaft 21, and the rotating arm 21 drives the clamping claw 41 to rotate around the fixed point hinge portion 412 to clamp the two clamping jaws 41. The portion 411 is close to or away from. As shown in Fig. 3, the rotary shaft 21 is rotated in the A direction, the nip portions 411 of the two jaws 41 are brought closer together, and the rotary shaft 21 is rotated in the B direction, and the nip portions 411 of the two jaws 41 face away from each other.

[0053] Based on the above structure, in the present invention, between the mounting bracket 10, the jaw 41, the link 42 and the rotating arm 21 The connection is hinged, and the hinged connection structure eliminates the need to reserve active clearance at the joint, thereby preventing the jaws 41 from shaking. In addition, the rotation of the rotating arm 21 is driven by the rotating shaft 21 to drive the clamping jaw 41, that is, the driving of the clamping jaw 41 is realized by the principle of the lever, the structure is simple, the manufacturing is convenient, and the standard member can be used, which is advantageous for reducing the cost.

As shown in FIG. 3, the rotating arm 21 further includes side connecting portions 32 on both sides of the intermediate connecting portion 31 for articulating with the link 42, and at least one side of the intermediate connecting portion 31 is provided. Two side connecting portions 32. Based on this configuration, the side connecting portions 32 of the different positions at which the link 42 is hinged are known from the principle of the lever, which changes the direction of the driving force to the jaws 41 and the point of application of the force, thereby changing the clamping portion of the two jaws 41. The closest distance between 411 and the closest distance that can be reached is such that the range of angles at which the jaws 41 can be adjusted is adjusted by adjusting the position of the link 42 and the rotating arm 21.

As shown in FIG. 3, the side connecting portions 32 are symmetrically disposed centering on the intermediate connecting portion 31. Thus, during the rotation of the driving rotary arm 21, it is advantageous to equalize the forces on both sides of the rotary shaft 21.

As shown in FIGS. 1 and 3, the link 42 is hinged between the clamping portion 411 of the jaw 41 and the fixed point hinge 412.

Thus, in the lever balance relationship, the power rod is superposed on the resistance rod, which improves the utilization of the resistance rod and simplifies the structure.

[0057] In the present invention, the clamping portion 411 includes a clamping end surface (not labeled) for abutting the object member, and the clamping end surface is provided with a non-slip structure to improve the gripping effect of the grasping mechanism. .

[0058] In the present invention, the gripping mechanism includes a horizontal rotary drive coupled to the grab mount 10 for driving the grip mount 10 to rotate horizontally. Thus, the horizontal rotation drive drives the gripping drive 10 to drive the gripping drive 20, the rotating arm 21 and the clamp arm assembly 40 to rotate horizontally as a whole, whereby the object can be rotated horizontally to adjust the placement of the object.

As shown in FIGS. 1 to 3, the holding portion 411 is detachably coupled to the auxiliary holding member 50, and the auxiliary holding member 50 includes an auxiliary holding surface for abutting the object. Thus, the area for holding the object is increased by the auxiliary holding member 50, and the gripping effect of the grasping mechanism is improved. The auxiliary clamping member 50 is detachably connected to the clamping portion 411, so that the auxiliary clamping member 50 is added according to the actual situation.

[0060] Of course, in other embodiments, the grasping mechanism may further include a collet that is detachably coupled to the gripping portion 411 and used to abut the article, such that the collet can be replaced according to the specific shape of the article to be gripped. Wherein, the clamping portion 411 is provided with a first magnetic connecting member, and the clamping head is provided with a second magnetic magnetic connection with the first magnetic connecting member Connector. The magnetic connection has the characteristics of simple connection and quickness, which is beneficial to improve the connection efficiency. In this embodiment, the first magnetic connecting member is a magnet, and the second magnetic connecting member is an iron block.

[0061] Further, the clamping portion 411 is provided with a card slot, and the clamping head protrudes from the card protrusion engaged with the card slot, the first magnetic connecting member is disposed in the card slot, and the second magnetic connecting member is disposed on the card protrusion. Thus, in the process of attaching the collet assembly to the clamping portion 411, the card is only required to be convex to the card slot, and under the magnetic attraction between the first magnetic connection and the second magnetic connecting member, The connection of the collet to the clamping portion 411 is achieved.

[0062] As shown in FIGS. 4 and 5, the horizontal rotation driving device includes a horizontal rotation mounting bracket 61 and a horizontal rotation driver 62 provided on the horizontal rotation mounting bracket 61. The output end of the horizontal rotation driver 62 passes through the connecting shaft 66 and grasps. Take the mounting bracket. Generally, the output end of the horizontal rotary drive 62 is shaft-shaped, and the connecting shaft 66 is also shaft-shaped. The connection between the shaft member and the shaft member is to ensure stability, and it is necessary to consider whether the connection is convenient for assembly operation, and also consider Stability after connection. In this embodiment, the upper flange 36 is first connected to the output end of the horizontal rotary drive 62, and the lower flange 64 is connected to the connecting shaft 66. The upper flange 63 is connected to the output end of the horizontal rotary drive 62. And the connection of the lower flange 64 and the connecting shaft 66 can be connected by a shaft hole interference fit manner, and finally the upper flange 63 and the lower flange 64 are locked and fixed by the first fastener 631, thereby completing the level. The output end of the rotary drive 62 is coupled to the drive shaft 66. When the horizontal rotary drive 62 is activated, the output shaft 66 is rotated by the output end, and finally the drive suction cup is driven to rotate the connecting shaft 66 in the axial direction.

[0063] Further, the horizontal rotation driving device 60 further includes an annular table 65 disposed in the horizontal rotating mounting frame 61. The opposite side walls of the horizontal rotating mounting frame 61 are respectively provided with a notch 611, and the annular table 65 is sleeved on the connection. The upper portion and the outer side of the shaft 66 abut against the side edges of the notches 611. Thus, when the horizontal rotary actuator 62 drives the connecting shaft 66 to rotate, the annular table 65 can prevent the horizontal rotating mount 61 from shaking, ensuring the accuracy of the gripping.

In the present embodiment, the horizontal rotary drive 62 is a steering gear or a motor, and the steering gear or the motor is provided at the top end portion of the horizontal rotary mount 61 and is fixedly coupled to the horizontal rotary mount by the second fastener 621. Specifically, the steering gear or the motor as the horizontal rotary drive 62 is locked to the top end surface of the horizontal rotary mount 61 by the second fastener 621, which is easy to implement, easy to assemble and disassemble, and the stability after installation can be secured. It should be noted that the steering gear or the motor is the horizontal rotary drive 62, and the output shaft of the steering gear or the motor is the output end of the horizontal rotary drive 62. [0065] The present invention also provides a robot including a grasping mechanism. The specific structure of the grasping mechanism refers to the above embodiment. Since the robot adopts all the technical solutions of all the above embodiments, the same embodiment is also provided. All the beneficial effects brought about by the technical solutions are not repeated here.

The above are only the preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent substitutions or improvements made within the spirit and principles of the present invention are included in the present invention. Within the scope of protection.

Claims

Claim

[Claim 1] A grasping mechanism, comprising:

Grab the mounting bracket;

Grasping a drive, the grab drive being fixed to the grab mount;

a rotating arm, the rotating arm is fixedly connected to the rotating shaft of the gripping drive and rotates with the rotating shaft, the rotating arm includes an intermediate connecting portion fixedly connected with the rotating shaft;

a pair of clip arm assemblies, each of the clip arm assemblies including a jaw and a connecting rod, one end of the connecting rod is hinged to the clamping jaw, the other end is hinged to the rotating arm, and the two connecting rods are respectively hinged to Two sides of the intermediate connecting portion on the rotating arm, the clamping jaw includes a clamping portion for holding the object, and is hinged with the grasping mounting frame and rotated around the connecting rod The fixed point hinge portion, wherein the clamping force is generated by the clamping portions of the two clamping portions.

[Claim 2] The grasping mechanism according to claim 1, wherein the rotating arm further includes a side connecting portion on both sides of the intermediate connecting portion for articulating with the link, And at least two of the side connecting portions are provided on either side of the intermediate connecting portion.

[Claim 3] The gripping mechanism according to claim 2, wherein the side connecting portion is symmetrically disposed centering on the intermediate connecting portion.

[Claim 4] The gripping mechanism according to claim 1, wherein the link is hinged between the grip portion and the fixed point hinge.

[Claim 5] The grasping mechanism according to claim 1, wherein the link is disposed between the jaw and the rotating arm, and the jaw is disposed at the connecting rod and the Scratch between the mounting brackets.

[Claim 6] The grasping mechanism according to any one of claims 1 to 5, wherein the clamping portion includes a clamping end surface for holding the object 吋 for abutting the object, The clamping end surface is provided with a non-slip structure.

[Claim 7] The grasping mechanism according to claim 6, further comprising an auxiliary holding member coupled to the clamping portion, the auxiliary holding member including flush with the clamping end surface And an auxiliary clamping surface that is connected to the outer edge of the clamping end face.

[Claim 8] The grasping mechanism of the grasping mechanism according to claim 7, wherein the auxiliary clip The holder is detachably coupled to the clamping portion.

The gripping mechanism according to any one of claims 1 to 5, further comprising a collet detachably coupled to the gripping portion for abutting the article.

[Claim 10] The grasping mechanism according to claim 9, wherein the clamping portion is provided with a first magnetic connecting member, and the collet is provided with a magnetic connection with the first magnetic connecting member. a second magnetic connector.

[Claim 11] The grasping mechanism according to claim 10, wherein the clamping portion is provided with a card slot, and the clamping head is convexly provided with a card protrusion that cooperates with the card slot; The first magnetic connector is disposed in the card slot, and the second magnetic connector is disposed on the card protrusion.

[Claim 12] The grasping mechanism according to any one of claims 1 to 5, wherein the gripping mechanism includes a connection with the gripping mount and is used to drive the gripping mount level Rotating horizontally rotates the drive.

[Claim 13] The gripping mechanism according to claim 12, wherein the horizontal rotation driving device includes a horizontal rotation mounting bracket and a horizontal rotation driver provided on the horizontal rotation mounting bracket, the horizontal rotation The output end of the driver is coupled to the grab mount by a connecting shaft. The horizontal rotary drive comprises an upper flange and a lower flange disposed in the horizontal rotary mount, the upper flange and the upper flange The output end of the horizontal rotary drive is fixedly connected, the lower flange is fixedly connected to the connecting shaft, and the upper flange and the lower flange are fixedly connected by a first fastener.

[Claim 14] The grasping mechanism according to claim 12, wherein the horizontal rotary drive device further includes an annular table provided in the horizontal rotary mount, and two opposite sides of the horizontal rotary mount The side wall is respectively provided with a notch, and the annular table is sleeved on the upper part of the connecting shaft and the outer side abuts against the side edge of the notch.

[Claim 15] The grasping mechanism according to claim 12, wherein the horizontal rotary actuator is a steering gear or a motor, and the steering gear or the motor is provided at a tip end portion of the horizontal rotary mount and The horizontal rotary mount is fixedly coupled by a second fastener. [Claim 16] A robot comprising a robot arm and an actuator coupled to an end of the robot arm, characterized by further comprising a grasping mechanism according to any one of claims 1 to 15, said grasping The mechanism is mounted on the actuator.