WO2023246857A1 - 夹爪及带有该夹爪的夹取装置、移动机器人 - Google Patents

夹爪及带有该夹爪的夹取装置、移动机器人 Download PDF

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Publication number
WO2023246857A1
WO2023246857A1 PCT/CN2023/101652 CN2023101652W WO2023246857A1 WO 2023246857 A1 WO2023246857 A1 WO 2023246857A1 CN 2023101652 W CN2023101652 W CN 2023101652W WO 2023246857 A1 WO2023246857 A1 WO 2023246857A1
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WO
WIPO (PCT)
Prior art keywords
clamping
clamp
fingers
clamp arm
driving mechanism
Prior art date
Application number
PCT/CN2023/101652
Other languages
English (en)
French (fr)
Inventor
王永康
高建东
张健
何志恒
Original Assignee
深圳晶泰科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳晶泰科技有限公司 filed Critical 深圳晶泰科技有限公司
Priority to US18/394,831 priority Critical patent/US20240123634A1/en
Publication of WO2023246857A1 publication Critical patent/WO2023246857A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B25J15/0475—Exchangeable fingers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers

Definitions

  • the present application relates to the technical field of automation equipment, and in particular to a clamping jaw, a clamping device with the clamping jaw, and a mobile robot.
  • This application provides a clamping claw, a clamping device with the clamping claw, and a mobile robot, aiming to solve the problem of the pallet being unable to be clamped or easily slipping when clamping.
  • a first aspect of the present application provides a clamp, including: a clamp arm, the clamp arm is used to connect with a driving mechanism in the clamping device; a clamp finger, the clamp finger is floatingly connected to the clamping device; In the clamping arm, the clamping claw fingers have a clamping surface, and the driving mechanism drives the clamping arm to move to drive the clamping claw fingers to clamp or release the object to be clamped.
  • the above-mentioned clamping claw further includes: an elastic pad, which is provided on the clamping surface of the clamping claw finger, and is used for contacting the to-be-clamped object when the clamping claw finger clamps the object to be clamped. Physical elastic contact.
  • the surface of the elastic pad used for contacting the object to be clamped is provided with an anti-slip portion; the elastic pad is a foamed silicone pad.
  • the gripper finger includes: a first connection part, the first connection part is rotatably and floatingly connected to the clamp arm; a second connection part, the second connection part is connected to the third connection part.
  • a connecting part is connected, and the clamping surface is located on a side of the second connecting part facing away from the clamp arm.
  • the above-mentioned clamping jaw further includes: an elastic member, the elastic member is placed between the clamping arm and the fingers of the clamping jaw, one end of the elastic member is connected to the clamping arm, and the other end of the elastic member is connected to the clamping arm. Contact with the fingers of the clamping claw.
  • the elastic members are evenly distributed on the clamp arm; the elastic members are springs.
  • the first connection part is connected to the clamp arm through a step screw, so that the first connection part can rotate relative to the clamp arm using the step screw as a rotation fulcrum.
  • the clamp jaw further includes: a lubricating pad disposed between the clamp arm and the fingers of the clamp jaw.
  • the step screw is disposed at an intermediate position of the first connecting part; the lubricating pad is fixed between the clamp arm and the first connecting part through the step screw.
  • the maximum angle range in which the first connection part can rotate relative to the clamp arm is 1-2 degrees; the first connection part and the second connection part are arranged perpendicularly.
  • the clamp arm includes: a third connection part, a first end of the third connection part is used to connect with the driving mechanism; a fourth connection part, a third connection part of the fourth connection part One end is connected to the second end of the third connecting part, the second end of the fourth connecting part is a free end, and the claw finger is connected to the fourth connecting part.
  • the second end of the fourth connecting part is flush with the frontmost end of the clamping finger; or, the second end of the fourth connecting part is longer than the frontmost end of the clamping finger.
  • the gripper fingers By connecting the gripper fingers to the clamp arm in a floating manner, when the gripping surface of the gripper fingers is slightly non-parallel to the pallet, the gripper fingers can adjust the gripping direction to successfully grip the pallet, so that the pallet can be grasped and transferred during the process. Will not fall off.
  • a second aspect of the present application provides a clamping device.
  • the clamping device includes: a driving mechanism; two clamping jaws of any of the above types.
  • the clamping arms of the two clamping jaws are respectively connected to the driving mechanism.
  • the clamping surfaces of the clamping claw fingers in each of the clamping jaws are arranged oppositely, and the two clamping claw fingers are driven toward or away from each other under the driving of the driving mechanism.
  • the driving mechanism is formed with two relatively slidable connecting pieces, and the two clamping arms are respectively connected to the two connecting pieces; the relative sliding direction of the two connecting pieces is related to the two connecting pieces.
  • the relative movement directions of the two gripper fingers are the same.
  • the above-mentioned clamping device further includes: a quick-change connector, the quick-change connector Connected to the driving mechanism and used for quick-change connection between the driving mechanism and peripheral equipment.
  • the connecting piece and the clamp arm are rotatably connected; the extension direction of the clamp finger and the direction of the driving mechanism are perpendicular to or parallel to each other.
  • a third aspect of this application provides a mobile robot, including: a moving mechanism and any one of the above-mentioned clamping devices, the moving mechanism is connected to the clamping device, and the moving mechanism can drive the clamping device to move.
  • the gripping device and the mobile robot having the clamping claw also have corresponding technical effects.
  • Figure 1 is a schematic structural diagram of a clamp provided in an embodiment of the present application.
  • Figure 2 is a schematic three-dimensional structural diagram of the clamping device provided in the embodiment of the present application.
  • Figure 3 is a front view of the clamping device provided in the embodiment of the present application.
  • Figure 4 is a left view of the clamping device provided in the embodiment of the present application.
  • Figure 5 is a right view of the clamping device provided in the embodiment of the present application.
  • Figure 6 is a top view of the clamping device provided in the embodiment of the present application.
  • Figure 7 is a bottom view of the clamping device provided in the embodiment of the present application.
  • Figure 8 is a partial schematic diagram of the clamping device provided in the embodiment of the present application.
  • Figure 9 is another three-dimensional structural schematic diagram of the clamping device provided in the embodiment of the present application.
  • first, second, third, etc. may be used in this application to describe various information, the information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other.
  • first information may also be called second information, and similarly, the second information may also be called first information. Therefore, features defined as “first” and “second” may explicitly or implicitly include one or more of these features.
  • plurality means two or more than two, unless otherwise explicitly and specifically limited.
  • Embodiments of the present application provide a clamping claw, a clamping device with the clamping claw, and a mobile robot, which can solve the problem of the pallet being unable to be clamped or easily slipping when clamping.
  • a gripper includes a gripper arm 100 and a gripper finger 200.
  • the clamping arm 100 is used to connect with the driving mechanism 600 (such as an electric claw) in the clamping device.
  • the clamping device can be used to clamp trays (such as test tube trays, tip trays, etc.), brackets and other items.
  • the clamping arm 100 can be a long strip structure, and the cross-section can be rectangular, positive, polygonal, etc., and the first end (the upper end shown in Figure 1) of the clamping arm 100 is connected to the driving mechanism 600 .
  • the clamping finger 200 is connected to the clamping arm 100.
  • the clamping finger 200 has a clamping surface 210.
  • the area corresponding to the clamping surface 210 is the clamping area.
  • the driving mechanism 600 can drive the clamping arm 100 to approach or move away from the clamping area. direction movement.
  • the clamping finger 200 is connected to the second end (the lower end shown in FIG. 1 ) of the clamping arm 100.
  • the movement direction of the clamping arm 100 can be perpendicular to the clamping surface 200. Of course, it can also be in the direction of the clamping surface 200. A certain angle.
  • the clamp arm 100 includes: a third connection part 110 and a fourth connection part 120 , the first end (the rear end shown in FIG. 1 ) of the third connection part 110 is used to connect with The driving mechanism 600 is connected, the second end of the third connection part 110 (the front end shown in FIG. 1) is connected with the first end (the rear end shown in FIG. 1) of the fourth connection part 120, and the fourth connection Department 120 The second end (the front end shown in FIG. 1 ) is a free end, and the gripper finger 200 is connected to the fourth connecting part 120 .
  • the third connecting part 110 and the fourth connecting part 120 are integrally formed.
  • the second end of the fourth connecting portion 120 is flush with the frontmost end of the gripper finger 200 , or the second end of the fourth connecting portion 120 extends from the frontmost end of the gripper finger 200 , that is, slightly. It is longer than the front end of the clamping claw finger 200 to ensure the stability of the floating clamping claw finger 200 .
  • the front end of the gripper finger 200 can be regarded as the end of the gripper finger 200 away from the third connecting part 110 .
  • connection part 110 and the fourth connection part 120 may be connected at a certain angle (as shown in FIG. 2 ), or they may be in a straight line, which is not limited here.
  • the clamping finger 200 can be connected to the clamping arm 100 in a floating manner, so that the clamping surface 210 of the clamping finger 200 has a floating space relative to the clamping arm 100 .
  • the gripping surface of the gripper fingers 200 is fixed relative to the clamping arm 100.
  • the gripping surface 210 of the gripper fingers 200 is slightly non-parallel to the pallet, it is easy to cause gripping failure. .
  • the clamping surface 210 of the clamping finger 200 and the pallet may not be parallel, which may cause the pallet to fall.
  • the gripper fingers 200 are floatingly connected to the clamp arm 100.
  • the gripper fingers 200 can adjust the gripping direction to successfully grip. Pallets so that the pallets will not fall during picking and transfer.
  • an elastic pad 300 is also included, which is provided on the gripping surface 210 of the gripper finger 200 and is used to elastically contact the object to be gripped when the gripper finger 200 grips the object to be gripped.
  • the elastic pad 300 can be a foamed silicone pad, a rubber pad, etc.
  • the thickness of the foamed silicone pad is 1 mm.
  • the foamed silicone pad can also have other thicknesses, such as 2mm, etc. This embodiment does not specify the specific thickness of the foamed silicone pad. Any limitations.
  • the elastic pad 300 is adhered to the clamping surface 210 , and may be adhered by, for example, 3M glue.
  • the claw finger 200 is provided with an embedding groove, such as a dovetail groove, and the elastic pad 300 is partially embedded in the dovetail groove.
  • the area between the clamping surfaces 210 of the two clamping jaw fingers 200 is the clamping area.
  • the two clamping jaws can be relatively close to each other or keep away.
  • the driving mechanism 600 drives the clamping arm 100 to move in the direction of the clamping area.
  • the clamping surfaces 210 of the two clamping claw fingers 200 are close to each other, so that the elastic The pad 300 is in contact with the object to be clamped, and applies clamping pressure to the object to be clamped, thereby clamping the object to be clamped.
  • the driving mechanism 600 drives the clamp arm 100 to move in a direction away from the clamping area, at this time, the clamping surfaces 210 of the two clamping fingers 200 move away from each other, and the elastic pad 300 separates from the object to be clamped, so that the object to be clamped is put down. things.
  • an elastic pad 300 is provided on the claw finger 200.
  • the friction between the elastic pad 300 and the object to be clamped in this embodiment is greatly improved. Effectively prevents the risk of objects to be clamped, such as pallets, etc., from slipping.
  • the material of the elastic pad 300 is soft, the tray will not be worn when grabbing the tray, and hard contact with the tray will be avoided.
  • the surface of the elastic pad 300 used for contacting the object to be clamped is provided with an anti-slip portion to further increase the friction between the elastic pad 300 and the object to be clamped.
  • the elastic pad 300 is a foamed silicone pad
  • the anti-slip portion is a stripe-like structure protruding on the surface of the elastic pad 300, such as linear stripes, wavy patterns, etc., and can also be dot-shaped, round, or elliptical. shapes and irregular shapes, etc.
  • the clamping finger 200 is in a sheet shape, and the clamping finger 200 is connected to the clamping arm 100 through a step screw 400 .
  • the gripper finger 200 includes a first connecting portion 230 and a second connecting portion 240 .
  • the first connecting part 230 and the second connecting part 240 are both sheet-shaped and connected to form a bent structure.
  • the first connecting part 230 is rotatably and floatingly connected to the clamp arm 100 .
  • the second connecting part 240 is connected to the first connecting part 230 .
  • the area corresponding to the second connecting part 240 is a clamping area.
  • the clamping surface 210 is located on the side of the second connecting part 240 away from the clamp arm 100 .
  • the first connecting part 230 and the second connecting part 240 are integrally formed.
  • the first connecting part 230 is connected to the clamp arm 100 through the step screw 400, and the first connecting part 230 and the second connecting part 240 can be arranged vertically.
  • the maximum rotatable angle range of the clamping finger 200 and the clamp arm 100 is 1-2 degrees.
  • the maximum rotatable angle range of the first connecting part 230 and the clamp arm 100 is 1-2 degrees.
  • it can also be adjusted according to the actual situation. It is determined to be other angles, and this embodiment does not impose any limitations on them.
  • the first connecting part 230 rotates relative to the clamp arm 100 with the step screw 400 as a rotation center, and may also use the step screw 400 as a fulcrum to rotate along the step screw 400 . Float in the direction of approaching or moving away from the clamping arm 100 .
  • the first connecting part 230 rotates relative to the clamp arm 100 along the step screw 400, the first connecting part 230 drives the second connecting part 240 to swing along the A direction shown in FIG. 1, thereby adjusting the clamping surface 210 and the tray in the A direction. Parallelism in direction.
  • connection between the clamping finger 200 and the clamping arm 100 is a rotatable floating connection.
  • the clamping finger 200 can automatically correct its position. Keep it parallel to the pallet to effectively prevent the risk of the pallet being unable to be clamped or falling midway.
  • some embodiments also include an elastic member 500.
  • the elastic member 500 is placed between the clamp arm 100 and the clamping finger 200 and is disposed corresponding to the clamping surface 210.
  • One end of the elastic member 500 is connected to the clamp arm 100.
  • the other end is a free end, and the free end is in contact with the second connecting portion 240 of the clamping finger 200 .
  • the elastic member 500 can be a spring, an elastic piece, an elastic column, a rubber block, etc.
  • There are at least two elastic members 500 and at least two elastic members 500 are evenly arranged in the A direction shown in FIG. 1 .
  • the elastic member 500 provided in this embodiment mainly plays an elastic supporting role.
  • the two clamps are The gripping surfaces 210 of the claw fingers 200 remain parallel.
  • the first connection part 230 is connected to the clamp arm 100 through the step screw 400, so that the first connection part 230 rotates relative to the clamp arm 100 using the step screw as a rotation fulcrum.
  • a lubricating pad 410 is further included, which is disposed between the clamp arm 100 and the gripper finger 200 , specifically between the clamp arm 100 and the first connecting portion 230 of the gripper finger 200 .
  • the lubricating gasket 410 may be a metal gasket, such as a brass gasket, or a non-metallic gasket, such as a PPS gasket.
  • the step screw 400 is disposed at the middle position of the first connecting part 230 , and the lubricating pad 410 is fixed between the clamp arm 100 and the first connecting part 230 through the step screw 400 .
  • the lubricating pad 410 can self-lubricate when the gripper finger 200 rotates to keep the gripper finger 200 rotating smoothly.
  • the embodiment of the present application also provides a clamping device.
  • the clamping device includes: a driving mechanism 600 and two clamping jaws of any of the above types.
  • the clamping arms 100 in the two clamping jaws are respectively Connected to the driving mechanism 600, and the gripping surfaces 210 of the gripper fingers 200 of the two grippers Arranged oppositely, the two gripper fingers 200 are driven toward or away from each other by the driving mechanism 600 .
  • the area between the two clamping surfaces 210 is the clamping area.
  • the driving mechanism 600 controls the opening and closing of the clamp arm 100 , that is, it moves toward the clamping area when closed, and moves away from the clamping area when opened.
  • the driving mechanism 600 is the power source for the movement of the clamp arm 100 .
  • the driving mechanism 600 is an electric claw or the like.
  • the clamping device having the clamping jaw also has corresponding technical effects.
  • the driving mechanism 600 is formed with two relatively slidable connecting parts 610, and the two clamping arms 100 are respectively connected to the two connecting parts 610.
  • the relative sliding direction of the two connecting members 610 is the same as the relative movement direction of the two gripper fingers 200 .
  • one of the driving mechanism 600 and the connecting piece 610 is provided with a slideway, and the other one is provided with a guide rail, and the guide rail cooperates with the slideway to form a sliding connection.
  • the driving mechanism 600 is provided with a control mechanism, and the control mechanism controls the sliding of the connecting piece 610 relative to the driving mechanism 600. That is to say, the control mechanism can control the two connecting pieces 610 to slide relative to each other, and the two connecting pieces 610 in turn drive the clamp.
  • the arm 100 then drives the gripper fingers 200 to perform relative motion to grip the object to be gripped between the two gripping surfaces 210 .
  • the clamping device further includes: a quick-change connector 700.
  • the quick-change connector 700 is connected to the driving mechanism 600 and is used for quick-change connection between the driving mechanism 600 and peripheral equipment.
  • the quick-change connector 700 is a quick-change female connector.
  • One end of the quick-change female connector can be connected to the driving mechanism 600 through the quick-change connection plate, and the other end can be automatically connected to the quick-change male connector on the peripheral device. separation.
  • the peripheral device may be a movable device, such as a robotic arm.
  • the quick-change female head and the drive mechanism 600 are also connected through a quick-change connector to facilitate quick connection and disconnection of the drive mechanism 600 .
  • the connecting piece 610 is rotatably connected to the clamp arm 100 , and the extension direction of the clamp finger 200 and the direction of the driving mechanism 600 are perpendicular or parallel to each other.
  • the extension direction of the clamping claw fingers 200 and the direction of the driving mechanism 600 are perpendicular to each other. It can be seen that in this embodiment, the driving mechanism 600 is arranged vertically, and the clamping arm 100 is arranged horizontally. Orientation settings.
  • the extension direction of the clamping finger 200 and the direction of the driving mechanism 600 are parallel to each other. It can be seen that in this embodiment, the driving mechanism 600 and the clamping arm 100 are set along the horizontal direction.
  • the appropriate setting direction can be selected according to the size of the space where the object to be clamped is located. For example, when the space is large, a clamping device with a driving mechanism and clamping claws arranged vertically can be used, and when the space is small, a clamping device with a driving mechanism and clamping jaws can be used. A clamping device with horizontal claws.
  • the clamping device when the pallet needs to be clamped, the clamping device is moved to the position of the pallet, and the driving mechanism 600 drives the clamping fingers 200 on both sides to move toward the middle. Since the elastic pad 300 is attached to the contact point between the clamping claw finger 200 and the pallet, the friction force is greatly increased under the same clamping pressure, effectively preventing the risk of the pallet slipping.
  • the connection between the clamping finger 200 and the clamping arm 100 is a floating connection. When the clamping finger 200 is slightly non-parallel to the pallet, the clamping arm 100 can automatically correct the position and keep the clamping surface 210 of the clamping finger 200 consistent with the pallet. Parallel, effectively preventing the risk of the pallet being unable to be clamped or falling midway.
  • the clamping claw fingers 200 When the clamping force reaches the set value, the clamping claw fingers 200 maintain the clamping force and can still maintain self-locking after the power is turned off, so the pallet will not fall even if the power is suddenly cut off during the clamping process.
  • the clamping device can be assembled horizontally, as shown in Figure 9, or vertically, as shown in Figure 2.
  • This embodiment also provides a mobile robot, which includes a moving mechanism and any one of the above-mentioned clamping devices.
  • the moving mechanism is connected to the clamping device, and the moving mechanism can drive the clamping device to move.
  • the moving mechanism can be a robotic arm, such as a six-axis robotic arm.
  • the robotic arm is connected to the clamping device through a quick change, which can meet the requirements of automated experiments.

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  • Robotics (AREA)
  • Mechanical Engineering (AREA)
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Abstract

本申请公开了一种夹爪及带有该夹爪的夹取装置、移动机器人。该夹爪包括：夹臂，所述夹臂用于与所述夹取装置中的驱动机构相连接；夹爪指头，所述夹爪指头可浮动地连接于所述夹臂，所述夹爪指头具有夹取面，通过所述驱动机构驱动所述夹臂运动，以带动所述夹爪指头夹取或释放待夹取物。本申请提供的方案，能够解决夹取托盘时夹不起或容易滑落的问题。

Description

夹爪及带有该夹爪的夹取装置、移动机器人
本申请要求于2022年06月22日提交国家知识产权局、申请号为CN202210711412.0、申请名称为“夹爪及带有该夹爪的夹取装置、移动机器人”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及自动化设备技术领域，尤其涉及一种夹爪及带有该夹爪的夹取装置、移动机器人。
背景技术
在自动化实验中，有许多标准托盘需要搬运，这就需要一个能够稳定夹取各类托盘的夹爪，但现有的夹爪在抓取托盘时容易使托盘滑落。此外，当夹爪与托盘有轻微的不平行时又容易夹取失败，使托盘有夹不起或中途掉落的风险。
发明内容
本申请提供了一种夹爪及带有该夹爪的夹取装置、移动机器人，旨在解决夹取托盘时夹不起或容易滑落的问题。
本申请第一方面提供一种夹爪，包括：夹臂，所述夹臂用于与所述夹取装置中的驱动机构相连接；夹爪指头，所述夹爪指头可浮动地连接于所述夹臂，所述夹爪指头具有夹取面，通过所述驱动机构驱动所述夹臂运动，以带动所述夹爪指头夹取或释放待夹取物。
在一实施例中，上述夹爪还包括：弹性垫，设于所述夹爪指头的夹取面，用于在所述夹爪指头夹取所述待夹取物时与所述待夹取物弹性抵接。
在一实施例中，所述弹性垫用于与所述待夹取物相贴合的面设有防滑部；所述弹性垫为发泡硅胶垫。
在一实施例中，所述夹爪指头包括：第一连接部，所述第一连接部与所述夹臂可旋转地浮动连接；第二连接部，所述第二连接部与所述第一连接部相连接，所述夹取面位于所述第二连接部背离所述夹臂的一面。
在一实施例中，上述夹爪还包括：弹性件，所述弹性件置于所述夹臂与所述夹爪指头之间，所述弹性件的一端与所述夹臂相连接，另一端与所述夹爪指头相抵接。
在一实施例中，所述弹性件为至少两个，且均匀分布于所述夹臂；所述弹性件为弹簧。
在一实施例中，所述第一连接部通过台阶螺钉与所述夹臂相连接，以使所述第一连接部能够以所述台阶螺钉为旋转支点相对所述夹臂旋转。
在一实施例中，上述夹爪还包括：润滑垫片，垫设于所述夹臂和所述夹爪指头之间。
在一实施例中，所述台阶螺钉设置于所述第一连接部的中间位置；所述润滑垫片通过所述台阶螺钉固定于所述夹臂和所述第一连接部之间。
在一实施例中，所述第一连接部相对所述夹臂可旋转的最大角度范围为1-2度；所述第一连接部与所述第二连接部垂直设置。
在一实施例中，所述夹臂包括：第三连接部，所述第三连接部的第一端用于与所述驱动机构相连接；第四连接部，所述第四连接部的第一端与所述第三连接部的第二端相连接，所述第四连接部的第二端为自由端，所述夹爪指头与所述第四连接部相连接。
在一实施例中，所述第四连接部的第二端与所述夹爪指头的最前端平齐；或者，所述第四连接部的第二端长于所述夹爪指头的最前端。
通过将夹爪指头可浮动地连接于夹臂，当夹爪指头夹取面与托盘有轻微的不平行时，夹爪指头可调整夹取方向成功夹取托盘，使托盘在夹取和转运过程中不会掉落。
本申请第二方面提供一种夹取装置，该夹取装置包括：驱动机构；两个上述任一种夹爪，两个所述夹爪中的夹臂分别与所述驱动机构相连接，两个所述夹爪中的夹爪指头的夹取面相对设置，两个所述夹爪指头在所述驱动机构的驱动下相互靠近或远离。
在一实施例中，所述驱动机构形成有两个可相对滑动的连接件，两个所述夹臂分别与两个所述连接件相连接；两个所述连接件的相对滑动方向与两个所述夹爪指头的相对运动方向相同。
在一实施例中，上述夹取装置还包括：快换连接件，所述快换连接件 与所述驱动机构相连接，用于所述驱动机构与外围设备的快换连接。
在一实施例中，所述连接件与所述夹臂为可转动连接；所述夹爪指头的延伸方向与所述驱动机构的朝向相互垂直或相互平行。
本申请第三方面提供一种移动机器人，包括：移动机构和上述任一种夹取装置，所述移动机构与所述夹取装置连接，所述移动机构能够带动所述夹取装置移动。
由于夹爪具有上述效果，所以具有该夹爪的夹取装置和移动机器人也具有相应的技术效果。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本申请。
附图说明
通过结合附图对本申请示例性实施方式进行更详细的描述，本申请的上述以及其它目的、特征和优势将变得更加明显，其中，在本申请示例性实施方式中，相同的参考标号通常代表相同部件。
图1为本申请实施例中提供的夹爪的结构示意图；
图2为本申请实施例中提供的夹取装置的立体结构示意图；
图3为本申请实施例中提供的夹取装置的主视图；
图4为本申请实施例中提供的夹取装置的左视图；
图5为本申请实施例中提供的夹取装置的右视图；
图6为本申请实施例中提供的夹取装置的俯视图；
图7为本申请实施例中提供的夹取装置的仰视图；
图8为本申请实施例中提供的夹取装置的局部示意图；
图9为本申请实施例中提供的夹取装置的又一立体结构示意图。
具体实施方式
下面将参照附图更详细地描述本申请的实施方式。虽然附图中显示了本申请的实施方式，然而应该理解，可以以各种形式实现本申请而不应被这里阐述的实施方式所限制。相反，提供这些实施方式是为了使本申请更加透彻和完整，并且能够将本申请的范围完整地传达给本领域的技术人员。
在本申请使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本申请。在本申请和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。还应当理解，本文中使用的术语“和/或”是指并包含一个或多个相关联的列出项目的任何或所有可能组合。
应当理解，尽管在本申请可能采用术语“第一”、“第二”、“第三”等来描述各种信息，但这些信息不应限于这些术语。这些术语仅用来将同一类型的信息彼此区分开。例如，在不脱离本申请范围的情况下，第一信息也可以被称为第二信息，类似地，第二信息也可以被称为第一信息。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本申请的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
本申请实施例提供一种夹爪及带有该夹爪的夹取装置、移动机器人，能够解决夹取托盘时夹不起或容易滑落的问题。
以下结合附图详细描述本申请实施例的技术方案。
参见图1和图2，依据本申请一个实施例的夹爪包括夹臂100、夹爪指头200。其中，夹臂100用于与夹取装置中的驱动机构600(例如电爪)相连接，夹取装置可用于夹取托盘(如试管托盘、Tip头托盘等)、支架等物品。在一种具体实现中，夹臂100可为长条形结构，截面可为长方形、正方向、多边形等形状，夹臂100的第一端(图1所示的上端)与驱动机构600相连接。
夹爪指头200连接于夹臂100，夹爪指头200具有夹取面210，与夹取面210相对应的区域为夹取区域，驱动机构600可驱动夹臂100沿着靠近或远离夹取区域的方向运动。在一种具体实现中，夹爪指头200连接于夹臂100的第二端(图1中所示的下端)，夹臂100的运动方向可与夹取面200相垂直，当然，也可呈一定角度。
继续参见图1，在一些实施例中，夹臂100包括：第三连接部110和第四连接部120，第三连接部110的第一端(图1中所示的后端)用于与驱动机构600相连接，第三连接部110的第二端(图1中所示的前端)与第四连接部120的第一端(图1中所示的后端)相连接，第四连接部120 的第二端(图1中所示的前端)为自由端，夹爪指头200与第四连接部120相连接。在一种具体实现中，第三连接部110和第四连接部120一体成型。
在一些实施例中，第四连接部120的第二端与夹爪指头200的最前端平齐，或者，第四连接部120的第二端伸出于夹爪指头200的最前端，即略长于夹爪指头200的最前端，以保证浮动夹爪指头200的稳定性。其中，夹爪指头200的最前端可以看作为夹爪指头200远离第三连接部110的一端。
可以理解的是，第三连接部110和第四连接部120可以呈一定的角度连接(如图2所示)，两者也可以呈一条直线，这里不作限定。
在本实施例中，夹爪指头200可浮动地连接于夹臂100，以使夹爪指头200的夹取面210相对于夹臂100具有浮动空间。
在相关技术中，夹爪指头200的夹取面相对于夹臂100位置固定，在夹取托盘时，当夹爪指头200的夹取面210与托盘有轻微的不平行时，容易造成夹取失败。即使夹取成功，在托盘的转运过程中，也容易因为夹爪指头200的夹取面210与托盘之间的不平行，导致夹不紧，进而导致托盘掉落。
本实施例中通过将夹爪指头200可浮动地连接于夹臂100，当夹爪指头200的夹取面210与托盘有轻微的不平行时，夹爪指头200可调整夹取方向成功夹取托盘，使托盘在夹取和转运过程中不会掉落。
在一些实施例中，还包括弹性垫300，设于夹爪指头200的夹取面210，用于在夹爪指头200夹取待夹取物时与待夹取物弹性抵接。其中，弹性垫300可以为发泡硅胶垫、橡胶垫等。
本实施例中，发泡硅胶垫的厚度为1mm，当然，在另一些实施例中，发泡硅胶垫也可为其他厚度，例如2mm等，本实施例对发泡硅胶垫的具体厚度不做任何限定。
在一个实施例中，弹性垫300黏贴在夹取面210上，具体可通过例如3M胶等进行黏贴。在另一个实施例中，夹爪指头200开设有嵌设槽，例如燕尾槽等，弹性垫300部分嵌设在该燕尾槽内。
参见图2，可以理解，本实施例中的夹爪应两个配合使用，两个夹爪指头200的夹取面210之间的区域为夹取区域，两个夹爪可相对靠近或者 远离。当待夹取物例如托盘等置于夹取区域内时，驱动机构600驱动夹臂100向夹取区域的方向运动，此时，两个夹爪指头200的夹取面210相靠近，使弹性垫300与待夹取物相贴合，并对待夹取物施加夹持压力，进而对待夹取物进行夹取。当驱动机构600驱动夹臂100向远离夹取区域的方向运动，此时，两个夹爪指头200的夹取面210相远离，弹性垫300与待夹取物相脱离，以放下待夹取物。
本实施例在夹爪指头200上设置了弹性垫300，与相关技术相比，在相同的夹持压力下，本实施例中的弹性垫300与待夹取物之间的摩擦力大幅提升，有效的防止了待夹取物例如托盘等滑落的风险。此外，由于弹性垫300材质柔软，抓取托盘时不会磨损托盘，避免与托盘硬接触。
在一些实施例中，弹性垫300用于与待夹取物相贴合的面凸设有防滑部，以进一步增加弹性垫300和待夹取物之间的摩擦力。在一种具体实现中，弹性垫300为发泡硅胶垫，防滑部为凸设在弹性垫300表面的条纹状结构，例如直线型条纹、波浪纹等，也可为点状、圆状、椭圆状及不规则形状等。
在一个实施例中，夹爪指头200为片状，夹爪指头200通过台阶螺钉400与夹臂100相连接。
参见图1，在另一个实施例中，夹爪指头200包括：第一连接部230和第二连接部240。其中，第一连接部230和第二连接部240均为片状且相连接以形成弯折结构，第一连接部230与夹臂100可旋转地浮动连接。第二连接部240与第一连接部230相连接，与第二连接部240相对应的区域为夹取区域，夹取面210位于第二连接部240背离夹臂100的一面。其中，第一连接部230和第二连接部240一体成型。
在一种具体实现中，第一连接部230通过台阶螺钉400与夹臂100相连接，第一连接部230与第二连接部240可垂直设置。夹爪指头200与夹臂100可旋转地最大角度范围为1-2度，其中，第一连接部230与夹臂100可旋转地最大角度范围为1-2度，当然，也可根据实际情况确定为其他角度，本实施例对其不做任何限定。
需要说明的是，在本实施例中，第一连接部230以台阶螺钉400为旋转中心相对夹臂100进行旋转，并且，还可以台阶螺钉400为支点，沿着 靠近或远离夹臂100的方向进行浮动。
当第一连接部230沿着台阶螺钉400相对夹臂100进行旋转时，第一连接部230带动第二连接部240沿着图1所示A向摆动，进而调节夹取面210与托盘在A方向上的平行度。
可以看出，本实施例中夹爪指头200与夹臂100之间的连接为可旋转地浮动连接，当夹爪指头200与托盘有轻微的不平行时，夹爪指头200可以自动矫正位置，保持与托盘平行，有效的防止托盘夹不起或中途掉落的风险。
继续参见图8，在一些实施例中还包括弹性件500，弹性件500置于夹臂100与夹爪指头200之间且对应夹取面210设置，弹性件500的一端与夹臂100相连接，另一端为自由端，自由端与夹爪指头200的第二连接部240相抵接。在一种具体实现中，弹性件500可为弹簧、弹性片、弹性柱、橡胶块等。弹性件500至少为两个，至少两个弹性件500在图1中所示的A向均匀布置。
参见图2，可以理解，本实施例中的夹爪需要两个配合使用，本实施例中设置的弹性件500主要起到弹性支撑作用，在抓取或未抓取托盘时，使两个夹爪指头200的夹取面210保持平行。
在一些实施例中，第一连接部230通过台阶螺钉400与夹臂100相连接，以使第一连接部230以台阶螺钉为旋转支点相对夹臂100旋转。
在一些实施例中，还包括润滑垫片410，垫设于夹臂100和夹爪指头200之间，具体是垫设于夹臂100和夹爪指头200的第一连接部230之间。其中，该润滑垫片410可以为金属垫片，例如黄铜垫片等，也可以为非金属垫片，例如PPS垫片等。台阶螺钉400设置于第一连接部230的中间位置，润滑垫片410通过台阶螺钉400固定于夹臂100和第一连接部230之间。
本实施例中，润滑垫片410可在夹爪指头200旋转时能够自润滑，保持夹爪指头200的旋转顺畅。
参见图2至图9，本申请实施例中还提供了一种夹取装置，该夹取装置包括：驱动机构600和两个上述任一种夹爪，两个夹爪中的夹臂100分别与驱动机构600相连接，并且，两个夹爪的夹爪指头200的夹取面210 相对设置，两个夹爪指头200在驱动机构600的驱动下相互靠近或远离。两个夹取面210之间的区域为夹取区域。驱动机构600控制夹臂100的打开与闭合，即闭合时向靠近夹取区域的方向运动，打开时向远离夹取区域的方向运动，驱动机构600是夹臂100运动的动力来源。其中，驱动机构600为电爪等。
由于夹爪具有上述效果，所以具有该夹爪的夹取装置也具有相应的技术效果。
在一些实施例中，驱动机构600形成有两个可相对滑动的连接件610，两个夹臂100分别与两个连接件610相连接。两个连接件610的相对滑动方向与两个夹爪指头200的相对运动方向相同。
在本实施例中，驱动机构600和连接件610的其中之一设置有滑道，其中之另一设置有导轨，导轨与滑道相配合形成滑动连接。
可以理解，驱动机构600设置有控制机构，通过控制机构控制连接件610相对于驱动机构600进行滑动，也就是说，控制机构可控制两个连接件610相对滑动，两个连接件610又带动夹臂100进而带动夹爪指头200进行相对运动，以对置于两个夹取面210之间的待夹取物进行夹取。
参见图2，在一些实施例中，夹取装置还包括：快换连接件700，快换连接件700与驱动机构600相连接，用于驱动机构600与外围设备的快换连接。在一种具体实现中，快换连接件700为快换母头，快换母头的一端可以通过快换连接板连接驱动机构600，另一端可与外围设备上的快换公头自动连接和分离。其中，外围设备可以为可移动的设备，如机械臂。
在一些实施例中，快换母头和驱动机构600之间也通过快换连接件相连接，以便于驱动机构600的快速连接和分离。
参见图2至图9，连接件610与夹臂100为可转动连接，夹爪指头200的延伸方向与驱动机构600的朝向相互垂直或相互平行。
参见图2至8，在一些实施例中，夹爪指头200的延伸方向与驱动机构600的朝向相互垂直，可以看出，本实施例中，驱动机构600沿竖向设置，夹臂100沿水平方向设置。
参见图9，在另一些实施例中，夹爪指头200的延伸方向与驱动机构600的朝向相互平行，可以看出，本实施例中，驱动机构600和夹臂100 均沿水平方向设置。可以根据待夹取物所处空间大小来选择相适配的设置方向，例如，当空间较大时可以采用驱动机构和夹爪垂直设置的夹取装置，当空间较小时可以采用驱动机构和夹爪水平设置的夹取装置。
本申请实施例中，当需要夹取托盘时，将夹取装置移动到托盘的位置，通过驱动机构600带动两边夹爪指头200朝着中间运动。由于夹爪指头200与托盘接触处贴有弹性垫300，在相同的夹持压力下摩檫力大幅提升，有效的防止托盘滑落的风险。另外，夹爪指头200与夹臂100的连接为浮动连接，当夹爪指头200与托盘有轻微的不平行时，夹臂100可以自动矫正位置，保持夹爪指头200的夹取面210与托盘平行，有效的防止托盘夹不起或中途掉落的风险。当夹紧力达到设定值后夹爪指头200保持该夹紧力，并且断电后仍然能保持自锁，所以即使在夹起过程中突然断电托盘也不会掉落。根据使用场景的不同，夹取装置可以水平装配，如图9所示；也可以竖直装配，如图2所示。
本实施例还提出了一种移动机器人，包括移动机构和上述任一种夹取装置，移动机构与夹取装置连接，移动机构能够带动夹取装置移动。其中，移动机构可以为机械臂，如六轴机械臂，机械臂通过快换与夹取装置连接，能够满足自动化实验要求。
以上已经描述了本申请的各实施例，上述说明是示例性的，并非穷尽性的，并且也不限于所披露的各实施例。在不偏离所说明的各实施例的范围和精神的情况下，对于本技术领域的普通技术人员来说许多修改和变更都是显而易见的。本文中所用术语的选择，旨在最好地解释各实施例的原理、实际应用或对市场中的技术的改进，或者使本技术领域的其它普通技术人员能理解本文披露的各实施例。

Claims (17)

  1. 一种夹爪，应用于夹取装置，其特征在于，包括：
    夹臂，所述夹臂用于与所述夹取装置中的驱动机构相连接；
    夹爪指头，所述夹爪指头可浮动地连接于所述夹臂，所述夹爪指头具有夹取面，通过所述驱动机构驱动所述夹臂运动，以带动所述夹爪指头夹取或释放待夹取物。
  2. 根据权利要求1所述的夹爪，其特征在于，还包括：
    弹性垫，设于所述夹爪指头的夹取面，用于在所述夹爪指头夹取所述待夹取物时与所述待夹取物弹性抵接。
  3. 根据权利要求2所述的夹爪，其特征在于，
    所述弹性垫用于与所述待夹取物相贴合的面设有防滑部；
    所述弹性垫为发泡硅胶垫。
  4. 根据权利要求1所述的夹爪，其特征在于，所述夹爪指头包括：
    第一连接部，所述第一连接部与所述夹臂可旋转地浮动连接；
    第二连接部，所述第二连接部与所述第一连接部相连接，所述夹取面位于所述第二连接部背离所述夹臂的一面。
  5. 根据权利要求1所述的夹爪，其特征在于，还包括：
    弹性件，所述弹性件置于所述夹臂与所述夹爪指头之间，所述弹性件的一端与所述夹臂相连接，另一端与所述夹爪指头相抵接。
  6. 根据权利要求5所述的夹爪，其特征在于，所述弹性件为至少两个，且均匀分布于所述夹臂；
    所述弹性件为弹簧。
  7. 根据权利要求4所述的夹爪，其特征在于，
    所述第一连接部通过台阶螺钉与所述夹臂相连接，以使所述第一连接部能够以所述台阶螺钉为旋转支点相对所述夹臂旋转。
  8. 根据权利要求7所述的夹爪，其特征在于，还包括：
    润滑垫片，垫设于所述夹臂和所述夹爪指头之间。
  9. 根据权利要求8所述的夹爪，其特征在于，所述台阶螺钉设置于所述第一连接部的中间位置；
    所述润滑垫片通过所述台阶螺钉固定于所述夹臂和所述第一连接部 之间。
  10. 根据权利要求4所述的夹爪，其特征在于，
    所述第一连接部相对所述夹臂可旋转的最大角度范围为1-2度；
    所述第一连接部与所述第二连接部垂直设置。
  11. 根据权利要求1至10中任一项所述的夹爪，其特征在于，所述夹臂包括：
    第三连接部，所述第三连接部的第一端用于与所述驱动机构相连接；
    第四连接部，所述第四连接部的第一端与所述第三连接部的第二端相连接，所述第四连接部的第二端为自由端，所述夹爪指头与所述第四连接部相连接。
  12. 根据权利要求11所述的夹爪，其特征在于，所述第四连接部的第二端与所述夹爪指头的最前端平齐；或者，
    所述第四连接部的第二端伸出于所述夹爪指头的最前端。
  13. 一种夹取装置，其特征在于，包括：
    驱动机构；
    两个如权利要求1至12中任一项所述的夹爪，两个所述夹爪中的夹臂分别与所述驱动机构相连接，两个所述夹爪中的夹爪指头的夹取面相对设置，两个所述夹爪指头在所述驱动机构的驱动下相互靠近或远离。
  14. 根据权利要求13所述的夹取装置，其特征在于，
    所述驱动机构形成有两个可相对滑动的连接件，两个所述夹臂分别与两个所述连接件相连接；
    两个所述连接件的相对滑动方向与两个所述夹爪指头的相对运动方向相同。
  15. 根据权利要求13所述的夹取装置，其特征在于，还包括：
    快换连接件，所述快换连接件与所述驱动机构相连接，用于所述驱动机构与外围设备的快换连接。
  16. 根据权利要求14所述的夹取装置，其特征在于，所述连接件与所述夹臂为可转动连接；
    所述夹爪指头的延伸方向与所述驱动机构的朝向相互垂直或相互平行。
  17. 一种移动机器人，其特征在于，包括移动机构和如权利要求13至16任一项所述的夹取装置，所述移动机构与所述夹取装置连接，所述移动机构能够带动所述夹取装置移动。
PCT/CN2023/101652 2022-06-22 2023-06-21 夹爪及带有该夹爪的夹取装置、移动机器人 WO2023246857A1 (zh)

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CN117583345B (zh) * 2024-01-19 2024-04-26 上海奔曜科技有限公司 器皿清洁装置、器皿清洁模块、配液平台及配液系统

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