CN221248873U - Clamping mechanism and manipulator - Google Patents
Clamping mechanism and manipulator Download PDFInfo
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- CN221248873U CN221248873U CN202322594145.6U CN202322594145U CN221248873U CN 221248873 U CN221248873 U CN 221248873U CN 202322594145 U CN202322594145 U CN 202322594145U CN 221248873 U CN221248873 U CN 221248873U
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- clamping mechanism
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- claw
- clamping
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- 210000000078 claw Anatomy 0.000 claims abstract description 39
- 238000001514 detection method Methods 0.000 claims description 10
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
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Abstract
The application is applicable to the technical field of manipulators, and provides a clamping mechanism and a manipulator, wherein the clamping mechanism comprises: a base; a plurality of claw members disposed at intervals on the base and fixedly connected to the base; one or more air bags disposed on the jaw members such that each air bag is expandable in a direction away from the jaw member in which it is located; and the switching part is arranged on the base. The clamping mechanism provided by the embodiment of the application can lighten the load of the mechanical arm.
Description
Technical Field
The application belongs to the technical field of manipulators, and particularly relates to a clamping mechanism and a manipulator.
Background
The clamping mechanism (such as a clamping jaw) installed on the mechanical arm is generally driven by a motor or an air cylinder, but the motor or the air cylinder has certain weight, and the weight of the transmission structure can bring a larger dead weight to the clamping mechanism, so that the larger dead weight can weigh the mechanical arm.
Disclosure of utility model
The embodiment of the application provides a clamping mechanism and a manipulator, which can reduce the load of the manipulator.
In a first aspect, embodiments of the present application provide a clamping mechanism comprising:
a base;
A plurality of claw members disposed at intervals on the base and fixedly connected to the base;
One or more air bags disposed on the jaw members such that each air bag is expandable in a direction away from the jaw member in which it is located;
and the switching part is arranged on the base.
In some possible implementations of the first aspect, the number of pedestals is a plurality;
each base is commonly connected with the switching component;
each of the bases is provided with a plurality of the claw members.
In some possible implementations of the first aspect, the clamping mechanism further includes:
One or more pressing members each pressing a portion of each balloon against each claw member.
In some possible embodiments of the first aspect, the balloon is a flat balloon;
The pressing member includes:
A first pressing member that presses one end of the flat air bag against the claw member;
and the second pressing part is used for pressing the other end of the flat air bag to the claw part.
In some possible implementations of the first aspect, the clamping mechanism further includes:
And the detection sensor is arranged on the base to detect the object.
In some possible implementations of the first aspect, the clamping mechanism further includes:
A sensor mounting member;
the detection sensor is provided to the base through the sensor mounting member.
In some possible implementations of the first aspect, the clamping mechanism further includes:
One or more air nozzles are arranged on each air bag.
In some possible implementations of the first aspect, the clamping mechanism further includes:
one or more air supply connectors are connected to each air tap.
In some possible embodiments of the first aspect, each of the air bags has a clamping face, the clamping face of each of the air bags facing toward the middle of the base or the clamping face of each of the air bags facing toward the clamping face of the air bag disposed directly opposite thereto.
In a second aspect, embodiments of the present application provide a robot arm including:
A clamping mechanism as claimed in any one of the preceding claims;
and the mechanical arm is connected with the switching part, so that the base is connected with the mechanical arm.
The embodiment of the application has the beneficial effects that:
The switching part arranged on the base is connected with the mechanical arm, each claw part is arranged on the base at intervals and fixedly connected with the base, and the air bags arranged on each claw part expand towards the direction away from the claw part where the claw part is arranged, so that the object can be clamped, the clamping structure is simple, the weight can be reduced, and the load of the mechanical arm can be reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings used in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a perspective view of a clamping mechanism according to one embodiment of the present application;
FIG. 2 is a schematic view of a part of a structure of a clamping mechanism according to an embodiment of the present application;
fig. 3 is another angular perspective view of a clamping mechanism according to an embodiment of the present application.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects to be solved more clear, the present application is further described in detail below with reference to fig. 1 to 3 and the embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are merely for convenience in describing and simplifying the description based on the orientation or positional relationship shown in the drawings, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the application.
It should be understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
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 one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
Embodiments of the present application provide a clamping mechanism that may be mounted to a robotic arm to clamp an object.
Fig. 1 is an angular perspective view of a clamping mechanism according to an embodiment of the present application. Referring to fig. 1, the clamping mechanism provided by the embodiment of the application comprises a base 1, a claw member 2, an air bag 3, and an adapter member 4.
Referring to fig. 1, the base 1 may have a plate-like structure or a block-like structure.
The base 1 may be of a lightweight high-strength construction in particular, to ensure the lightweight and rigidity of the clamping mechanism.
Referring to fig. 1, the number of the claw members 2 may be plural. The claw members 2 are provided at intervals on the base 1 and fixedly connected to the base 1.
Illustratively, each jaw member 2 is disposed on the base 1 in a circumferential array about the center of the base 1; each claw member 2 may also be provided in a rectangular array on the base 1.
The claw member 2 may be formed integrally with the base 1 or may be formed separately from the base 1.
It should be understood that the structures of the respective claw members 2 may be the same or different.
The number of the air bags 3 may be one or more. The air bag 3 is used for clamping objects.
Referring to fig. 1, each airbag 3 is provided to the claw member 2. The claw member 2 can function to bind the airbag 3 so that the airbag 3 can be inflated only in a fixed direction.
Specifically, each airbag 3 is provided to the claw member 2 such that each airbag 3 can expand in a direction away from the claw member 2 where it is located, to achieve gripping of an object.
When the airbag 3 is one, the airbag 3 is inflated to approach the other claw member 2, and holds the object together with the other claw member 2.
Specifically, each airbag 3 has a holding surface 31, and when each airbag 3 inflates, the holding surface 31 of each airbag 3 moves in a direction away from the claw member 2 where it is located, to hold an object.
Illustratively, each bladder 3 expands towards the center of the base 1, which is particularly useful for gripping cylindrical objects.
In other embodiments, the gripping surface 31 of each balloon 3 faces the gripping surface 31 of the balloon 3 opposite thereto, such as: the two airbags 3 are located on the same diagonal, the clamping faces 31 of the two airbags 3 being oriented towards each other; in this way, each airbag 3 is inflated toward the airbag 3 disposed opposite to each other, and the object can be held.
The balloon 3 may be a flat balloon. The flat air bag is inflated, inflated and rounded, and automatically flattened after pressure relief, so that the object is clamped and released. Of course, the balloon 3 may be another type of balloon.
Referring to fig. 1, the adaptor 4 is disposed on the base 1 to connect the base 1 to the mechanical arm, so that the mechanical arm drives the clamping mechanism to move to a specified position to clamp or unclamp an object.
As can be seen from the above, the adapting member provided on the base 1 is connected to the mechanical arm, the claw members 2 are provided on the base 1 at intervals and are fixedly connected to the base 1, and the air bags 3 provided on the claw members 2 expand in a direction away from the claw members 2 where they are located to clamp the object, so that the clamping structure is simple, the weight can be reduced, and the load of the mechanical arm can be reduced.
The number of the bases 1 may be plural.
The bases 1 are commonly connected to the switching component 4, and the switching component 4 is connected to the mechanical arm, so that the bases 1 are connected to the mechanical arm.
Each base 1 is provided with a plurality of claw members 2. Each claw member 2 is provided with an airbag 3.
By way of example, with reference to fig. 1, the number of bases 1 is two, two being jointly connected to the adapter part 4, each base 1 being fixedly provided with four jaw members 2, each jaw member 2 being provided with an air-bag 3, so that two objects can be gripped at a time. Of course, the number of the bases 1 may be three, four, five, six, seven, or more than eight.
As can be seen from the above, the airbag 3 of each base 1 can be inflated to hold one object, the number of bases 1 is plural, each base 1 is provided with plural claw members 2, each claw member 2 is provided with the airbag 3, so that a plurality of objects can be held at a time, and the work efficiency can be improved.
Referring to fig. 1, the above-described clamping mechanism may further include a pressing member 5.
The number of the pressing members 5 may be one or more. Each pressing member 5 presses a part of each balloon 3 against each claw member 2, so that the balloon 3 is fixed to the claw member 2.
Referring to fig. 1, the pressing member 5 may include a first pressing member 51 and a second pressing member 52.
The first pressing member 51 presses one end of the balloon 3 against the claw member 2.
The second pressing member 52 presses the other end of the balloon 3 against the claw member 2.
When the air bag 3 is a flat air bag, the air bag 3 is pressed against both ends of the air bag 3 by the first pressing member 51 and the second pressing member 52, so that air leakage of the flat air bag can be prevented, and the clamping mechanism can clamp an object for a long time.
Fig. 2 is a schematic view of a part of a structure of a clamping mechanism according to an embodiment of the present application. Referring to fig. 2, the clamping mechanism may further include an air tap 6.
The number of air nozzles 6 is one or more. Each air tap 6 is provided to each air bag 3 for inflating the air bag 3 with high-pressure gas.
The air tap 6 can be a special air tap, can ensure that the air in the air bag 3 is inflated and deflated without special sealing, and can further simplify the structure.
Referring to fig. 1, the clamping mechanism may further comprise an air supply connector 7.
The number of air supply connections 7 may be one or more. An air supply connector 7 is connected to each air tap 6. The air supply joint 7 is used for being connected with an external air pipe to supply air to the air bag 3.
Referring to fig. 1, the clamping mechanism may further include a detection sensor 8.
The detection sensor 8 is provided at the base 1 to detect an object, specifically, whether or not an object is located at the clamping mechanism.
If the detection sensor 8 detects that an object is positioned in the clamping mechanism, a signal for starting the air bag 3 is generated, so that the air bag 3 is inflated to clamp the object; or a signal for closing the airbag 3 is generated so that the airbag 3 is deflated, thereby releasing the object.
The detection sensor 8 may be a noncontact sensor or a contact sensor. Wherein the non-contact sensor may be a photoelectric sensor or an infrared sensor.
Fig. 3 is another angular perspective view of a clamping mechanism according to an embodiment of the present application. Referring to fig. 3, the clamping mechanism may further include a sensor mounting member 9.
The sensor mounting member 9 is for fixing the detection sensor 8. The sensor mounting member 9 is provided to the base 1.
The detection sensor 8 is fixed by being provided to the base 1 via a sensor mounting member 9.
The embodiment of the application also provides a manipulator which comprises a manipulator arm and the clamping mechanism provided by any embodiment. The robotic arm is connected to the adapter member 4 to move the entire clamping mechanism to a designated position.
The clamping mechanism provided by the embodiment of the application can lighten the load of the mechanical arm, can prolong the service life of the mechanical arm, and can avoid selecting the mechanical arm model with higher specification in design, thereby reducing the overall cost. The clamping mechanism provided by the embodiment of the application is a light and efficient clamping mechanism capable of clamping cylindrical objects, and is particularly suitable for clamping cylindrical products with large weight and volume so as to perform automatic feeding and discharging operations.
The foregoing description of the preferred embodiments of the application is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the application.
Claims (10)
1. A clamping mechanism, comprising:
a base;
A plurality of claw members disposed at intervals on the base and fixedly connected to the base;
One or more air bags disposed on the jaw members such that each air bag is expandable in a direction away from the jaw member in which it is located;
and the switching part is arranged on the base.
2. The clamping mechanism of claim 1 wherein the number of bases is a plurality;
each base is commonly connected with the switching component;
each of the bases is provided with a plurality of the claw members.
3. The clamping mechanism of claim 1, wherein the clamping mechanism further comprises:
One or more pressing members each pressing a portion of each balloon against each claw member.
4. A clamping mechanism according to claim 3 wherein the bladder is a flat bladder;
The pressing member includes:
A first pressing member that presses one end of the flat air bag against the claw member;
and the second pressing part is used for pressing the other end of the flat air bag to the claw part.
5. The clamping mechanism of claim 1, wherein the clamping mechanism further comprises:
The detection sensor is arranged on the base to detect objects.
6. The clamping mechanism of claim 5, wherein the clamping mechanism further comprises:
A sensor mounting member;
the detection sensor is provided to the base through the sensor mounting member.
7. The clamping mechanism of claim 1, wherein the clamping mechanism further comprises:
One or more air nozzles are arranged on each air bag.
8. The clamping mechanism of claim 7, wherein the clamping mechanism further comprises:
one or more air supply connectors are connected to each air tap.
9. The clamping mechanism of any one of claims 1 to 8, wherein each of said air bags has a clamping face, the clamping face of each of said air bags facing toward the middle of said base or the clamping face of each of said air bags facing toward the clamping face of said air bag disposed directly opposite thereto.
10. A manipulator, comprising:
a clamping mechanism according to any one of claims 1 to 9;
and the mechanical arm is connected with the switching part, so that the base is connected with the mechanical arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322594145.6U CN221248873U (en) | 2023-09-22 | 2023-09-22 | Clamping mechanism and manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322594145.6U CN221248873U (en) | 2023-09-22 | 2023-09-22 | Clamping mechanism and manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN221248873U true CN221248873U (en) | 2024-07-02 |
Family
ID=91622977
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322594145.6U Active CN221248873U (en) | 2023-09-22 | 2023-09-22 | Clamping mechanism and manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN221248873U (en) |
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2023
- 2023-09-22 CN CN202322594145.6U patent/CN221248873U/en active Active
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