WO2020042007A1 - Clamping device and movable machine - Google Patents

Clamping device and movable machine Download PDF

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Publication number
WO2020042007A1
WO2020042007A1 PCT/CN2018/102936 CN2018102936W WO2020042007A1 WO 2020042007 A1 WO2020042007 A1 WO 2020042007A1 CN 2018102936 W CN2018102936 W CN 2018102936W WO 2020042007 A1 WO2020042007 A1 WO 2020042007A1
Authority
WO
WIPO (PCT)
Prior art keywords
rod
clamping
rotatably connected
link group
driving
Prior art date
Application number
PCT/CN2018/102936
Other languages
French (fr)
Chinese (zh)
Inventor
包玉奇
帅治民
Original Assignee
深圳市大疆创新科技有限公司
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 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2018/102936 priority Critical patent/WO2020042007A1/en
Priority to CN201880039092.0A priority patent/CN110809506A/en
Publication of WO2020042007A1 publication Critical patent/WO2020042007A1/en

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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
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
    • F16B2/00—Friction-grip releasable fastenings
    • F16B2/02—Clamps, i.e. with gripping action effected by positive means other than the inherent resistance to deformation of the material of the fastening
    • F16B2/06—Clamps, i.e. with gripping action effected by positive means other than the inherent resistance to deformation of the material of the fastening external, i.e. with contracting action

Definitions

  • the present disclosure relates to the technical field of robot hands, and in particular, to a clamping device and a movable machine.
  • Robot hands have a wide range of applications in industry and life, capable of holding, moving, extracting, and placing functions.
  • Traditional robots use at least one power source to drive the robotic fingers to grip objects.
  • the power source needs to continuously provide greater power to the robotic fingers to make the gripping more stable.
  • the power source Continuously providing more power will consume more energy.
  • Embodiments of the present invention provide a clamping device and a movable machine.
  • a clamping device includes a main body, a driving portion, and a plurality of clamping portions, and the driving portion and the plurality of clamping portions are all disposed on the body.
  • the clamping portion includes a first link group, a clamping rod, and a second link group.
  • One end of the first link group is rotatably connected to the body through an elastic member.
  • the clamping lever includes an inner end and an outer end, and the inner end of the clamping lever is rotatably connected to the other end of the first link group.
  • One end of the second link group is rotatably connected to the body, and the other end is rotatably connected to an outer end of the clamping rod.
  • the elastic member is configured to apply an elastic force to the first link group, so that the first link group drives an inner end of the clamping rod to move, and the driving portion is configured to drive the second link Group movement, so that the second link group drives the outer end of the clamping rod to move.
  • a movable machine includes a moving body and a holding device according to the above embodiment.
  • the holding device is mounted on the moving body.
  • the elastic member can apply an elastic force to the first link group to drive the inner end of the clamping rod.
  • the elastic member and the driving portion can provide force at the same time. Function to ensure that multiple gripping parts hold objects stably, and after the force of the driving part is withdrawn, the multiple gripping parts can also grip the object by the force provided by the elastic member, and the driving part is not required to continuously provide The effect of force saves the energy consumed when holding objects.
  • FIG. 1 is a schematic structural diagram of a movable machine according to an embodiment of the present invention.
  • FIG. 2 is a perspective assembly schematic view of a clamping device according to an embodiment of the present invention.
  • FIG. 3 is a schematic plan view of a planar device of a clamping device according to an embodiment of the present invention.
  • FIG. 4 is an exploded perspective view of a clamping device according to an embodiment of the present invention.
  • FIG. 5 is an enlarged schematic view of a V portion in the clamping device shown in FIG. 3;
  • FIGS. 6 and 7 are schematic diagrams of the principle of the object being clamped by the clamping part according to the embodiment of the present invention.
  • FIG 8 to 11 are schematic diagrams of the principle of the object being held by the holding device according to the embodiment of the present invention.
  • Movable machine 1000 main body 200, clamping device 100, runner 300, main body 10, connection port 11, driving unit 20, power unit 21, motor 211, reduction gear box 212, drive unit 22, rotating member 221, lead screw 2211 , Moving part 222, screw nut 2221, driving lever 2222, clamping part 30, first link group 31, first inner lever 311, second inner lever 312, inner limiter 313, clamping lever 32, inner End 321, outer end 322, clamp 323, tail end 324, second link group 33, first outer rod 331, second outer rod 332, first end 3321, second end 3322, third end 3323, The third outer rod 333, the outer limiter 334, the telescopic rod 335, the elastic member 40, the limiter 50, and the object 2000.
  • the first feature "on” or “down” of the second feature may be the first and second features in direct contact, or the first and second features indirectly through an intermediate medium. contact.
  • the first feature is “above”, “above”, and “above” the second feature.
  • the first feature is directly above or obliquely above the second feature, or only indicates that the first feature is higher in level than the second feature.
  • the first feature is “below”, “below”, and “below” of the second feature.
  • the first feature may be directly below or obliquely below the second feature, or it may simply indicate that the first feature is less horizontal than the second feature.
  • a movable machine 1000 includes a moving body 200 and a clamping device 100.
  • the clamping device 100 is mounted on the moving body 200.
  • the moving body 200 of the movable machine 1000 can realize movements, rotations, and flips.
  • the moving body 200 can drive the holding device 100 to different positions or different angles to hold objects.
  • the holding device 100 can also be relatively
  • the moving body 200 moves or rotates.
  • the movable machine 1000 may be an unmanned vehicle, an unmanned ship, or an unmanned aerial vehicle, or the movable machine 1000 is one of an unmanned vehicle, an unmanned ship, or an unmanned aerial vehicle in one form, and in another form Below are other types of drones, drones, or drones.
  • the movable machine 1000 may also be various forms of robots, robot arms, robot animals, toys, and the like.
  • the embodiment of the present invention is described by taking the movable machine 1000 as an unmanned vehicle as an example. It can be understood that the specific form of the movable machine 1000 is not limited to the unmanned vehicle, and is not limited herein.
  • the movable machine 1000 may include a rotating wheel 300, and the rotating of the rotating wheel 300 may move the moving body 200 and further move the clamping device 100.
  • the clamping device 100 includes a main body 10, a driving portion 20, and a plurality of clamping portions 30.
  • the driving portion 20 and the plurality of clamping portions 30 are each provided on the body 10.
  • the clamping portion 30 includes a first link group 31, a clamping lever 32, and a second link group 33.
  • One end of the first link group 31 is rotatably connected to the body 10 through an elastic member 40.
  • the clamping rod 32 includes an inner end 321 and an outer end 322.
  • the inner end 321 of the clamping lever 32 is rotatably connected to the other end of the first link group 31.
  • One end of the second link group 33 is rotatably connected to the body 10, and the other end is rotatably connected to the outer end 322 of the clamping rod 32.
  • the elastic member 40 is used to apply an elastic force to the first link group 31, so that the first link group 31 drives the inner end 321 of the clamping lever 32 to move; the driving portion 20 is used to drive the second link group 33 to move, The second link group 33 drives the outer end 322 of the clamping rod 32 to move.
  • the elastic member 40 can apply an elastic force to the first link group 31 to drive the inner end 321 of the clamping rod 32 to move.
  • the elastic member 40 and the driving portion 20 may At the same time, the force is provided to ensure that the plurality of clamping portions 30 can stably clamp the object, and after the force of the driving portion 20 is removed, the plurality of clamping portions 30 can also clamp the object by the effect of the force provided by the elastic member 40.
  • the driving part 20 is not required to continuously provide a force, which saves energy consumed when clamping an object.
  • the clamping device 100 includes a main body 10, a driving portion 20, and a plurality of clamping portions 30.
  • the main body 10 can be used for connection with the moving main body 200.
  • the driving portion 20 and the plurality of clamping portions 30 are all disposed on the main body 10.
  • the body 10 is detachably connected to the mobile body 200. After the body 10 is removed from the movable body 200, the entire clamping device 100 can be removed from the mobile body 200 to facilitate maintenance or replacement ⁇ 100 ⁇ The device 100.
  • the main body 10 may be provided with a mounting structure for mounting the driving portion 20 and the clamping portion 30.
  • the main body 10 may be formed with a connection port 11 to facilitate the electrical connection between the clamping device 100 and an external device (such as the mobile main body 200), and Power is supplied to the driving section 20.
  • a plurality of clamping portions 30 are mounted on the body 10, and each clamping portion 30 can be detached or assembled from the body 10 separately.
  • the multiple clamping portions 30 are at least two clamping portions 30, such as two, three, four, six, eight, etc., and when multiple objects need to be clamped, the multiple clamping portions 30 can be controlled for common use. For gripping an object, some of the plurality of gripping portions 30 may be controlled for gripping the object, while others are not used for movement or gripping the object.
  • the plurality of clamping portions 30 may be distributed at equal angular intervals in the circumferential direction of the body 10, so that when the plurality of clamping portions 30 collectively clamp an object, the clamping force received by the object is more dispersed and uniform.
  • the two clamping portions 30 may be oppositely disposed, or the angle between the two clamping portions 30 is about one hundred and eighty.
  • the clamping force is applied to the object 2000 from the opposite sides of the object 2000 when the object 2000 is clamped, so that the clamping is more stable.
  • the included angle between the adjacent clamping portions 30 can be set to about one hundred and twenty degrees.
  • the clamping force is applied in at least three directions of the object 2000, so that the clamping is more stable, and the object 2000 is not easy to come out.
  • the included angle between two adjacent clamping portions 30 may be set to about 360 / N degrees.
  • the embodiment of the present invention is described by taking the number of the clamping portions 30 as two. It can be understood that the number of the clamping portions 30 may also be three or more, which is not limited herein.
  • Each clamping portion 30 includes a first link group 31, a clamping rod 32 and a second link group 33.
  • One end of the first link group 31 is rotatably connected to the body 10 through an elastic member 40.
  • the first link group 31 and the body 10 can be rotatably connected in a hinged manner, and the elastic member 40 can be disposed on the first link group 31.
  • the elastic member 40 can be connected to both the body 10 and the first link group 31.
  • the elastic member 40 can apply elastic force to the first link group 31.
  • the elastic member The elastic force applied to the first link group 31 by 40 may be different. Specifically, as shown in FIG.
  • the elastic member 40 includes a torsion spring.
  • One arm of the torsion spring may be connected to the first link group 31, and the other arm of the torsion spring may be connected to the main body 10. Under the tendency of the torsion spring to return to its natural state, Elastic forces are applied to the body 10 and the first link group 31 through two arms, respectively.
  • the specific form of the elastic member 40 is not limited to a torsion spring, and may also be other feasible forms.
  • the specific form of the elastic member 40 may also be a tension spring, and two ends of the tension spring are respectively connected to the body 10 and The first link group 31 is configured to apply an elastic force to the first link group 31, so that the first link group 31 always has an action tendency to clamp an object.
  • the first link group 31 includes a first inner rod 311 and a second inner rod 312.
  • One end of the first inner rod 311 is rotatably connected to the body 10 through the elastic member 40, the other end is rotatably connected to one end of the second inner rod 312, and the other end of the second inner rod 312 is rotatably connected to the inner end 321 of the clamping rod 32.
  • the elastic member 40 applies an elastic force to the entire first link group 31 by applying an elastic force to the first inner lever 311. Both ends of the first inner rod 311 are rotatably connected to the body 10 and the second inner rod 312, respectively.
  • Both ends of the second inner lever 312 are rotatably connected to the first inner lever 311 and the clamping lever 32 respectively.
  • the elastic force received by the first inner lever 311 is transmitted to the second inner lever 312 and then further transmitted to the clamping lever 32.
  • the clamping device 100 can clamp the object in different postures, and the angle between the second inner rod 312 and the first inner rod 311 can also be changed within a certain range.
  • the first inner rod 311, the second inner rod 312, and the clamping rod 32 may form an angle of 180 degrees or less to form an embracing object to be clamped.
  • the first inner lever 311 is 180 degrees from the second inner lever 312, and the second inner lever 312 is 100 degrees from the clamping member 323 of the clamping lever 32. It can be understood that, in other embodiments, the above-mentioned angle may be changed according to requirements.
  • an elastic member 40 may be provided at the connection between the first inner rod 311 and the second inner rod 312.
  • the elastic member 40 applies elastic force to the first inner rod 311 and the second inner rod 312, respectively. In this way, the first link group 31 always has a movement tendency to clamp an object.
  • the first link group 31 further includes an inner limiter 313.
  • the inner limiter 313 may be disposed on the first inner rod 311, or may be disposed on the second inner rod 312, or may be disposed on the first inner rod 311 and the second inner rod 312 at the same time.
  • the inner limiter 313 is used to restrict the relative angle between the first inner rod 311 and the second inner rod 312 to be within a preset angle range, so as to prevent the first inner rod 311 and the second inner rod 312 from moving outside the preset angle range. To enhance the stability of the first link group 31.
  • the inner limiter 313 is disposed on the first inner lever 311, and the inner limiter 313 is close to a position where the first inner lever 311 and the second inner lever 312 are rotationally connected.
  • the preset angle range can be set according to different clamping needs.
  • the preset angle range can be set such that the included angle between the inside of the first inner rod 311 and the inside of the second inner rod 312 is less than or equal to one hundred and eighteen. Ten degrees and so on.
  • the specific composition of the first link group 31 is not limited to the above discussion, and there may be other composition methods, for example, the first link group 31 may include only one link, and both ends of the link may be rotated to connect the body 10 respectively. And the clamping lever 32; or the first link group 31 includes three links that are connected in turn in turn, and is not limited to the above-mentioned example.
  • the clamping rod 32 may be a rod body farthest from the body 10 on the clamping portion 30.
  • the clamping rod 32 includes an inner end 321 and an outer end 322.
  • the inner end 321 of the clamping rod 32 is rotatably connected to one end of the first link group 31.
  • the elastic force of the elastic member 40 is transmitted to the inner end 321 through the first link group 31, so that the first link group 31 drives the inner end 321. motion.
  • the outer end 322 of the clamping rod 32 is rotatably connected to one end of the second link group 33, and the second link group 33 can be driven and moved by the driving part 20, so that the second link group 33 drives the outer end 322 to move.
  • the clamping rod 32 can realize various movement modes, such as rotating around the inner end 321, turning around the outer end 322, and moving horizontally.
  • the clamping rod 32 may further be formed with a clamping member 323, which is used to contact the object when the clamping device 100 clamps the object, and when the clamping member 323 clamps the object, the clamping member 323 323 deforms elastically to exert elastic force on the object.
  • the clamping member 323 may be formed on the inner side of the clamping rod 32, and the clamping member 323 may be made of a material with better elasticity such as rubber or silicone.
  • the two clamping rods 32 of the two clamping portions 30 are opposite to each other. In at least one working state, the two clamping rods 32 are opposed to each other. . Specifically, the two clamping rods 32 abut against each other may be that the inner surfaces of the two clamping rods 32 abut against each other. In this way, it means that the inner surfaces of the two clamping rods 32 can be used to clamp the Small or thin objects, such as those used to hold paper or thin threads.
  • the clamping device 100 further includes a limiting portion 50.
  • the limiting portion 50 is disposed on the outer end 322 of the clamping rod 32, or the limiting portion 50 is disposed on the first link group 31, or the limiting portion 50 is set on the outer end 322 of the clamping rod 32 and the first link group 31 at the same time.
  • the limiting portion 50 is configured to abut the outer end 322 of the clamping rod 32 and the first link group 31 when the outer end 322 of the clamping rod 32 approaches the first link group 31 by a predetermined distance.
  • the limiting portion 50 is used to keep the outer end 322 and the first link group 31 at least a predetermined distance, thereby avoiding the problem of poor stability of the two clamping levers 32 when they are against each other or near each other. In the embodiment shown in FIG. 3, the limiting portion 50 is disposed on the second inner lever 312.
  • the rounded corner of the rear end 324 of the clamping rod 32 may be set smaller, for example, less than 5 mm, etc., so that when the two clamping rods 32 are in opposition, The gap between the tail ends 324 of the two clamping rods 32 is small, and the two tail ends 324 can also hold thin objects together.
  • one end of the second link group 33 is rotatably connected to the body 10, and the other end is rotatably connected to the outer end 322 of the clamping rod 32.
  • the second link group 33 may be disposed outside the first link group 31.
  • the second link group 33 includes a first outer rod 331, a second outer rod 332, and a third outer rod 333.
  • One end of the first outer rod 331 is rotatably connected to the driving portion 20, and the other end is rotatably connected to the second outer rod 332.
  • the second outer rod 332 includes a first end 3321, a second end 3322, and a third end 3323.
  • the first end 3321 is rotatably connected to the body 10.
  • the second end 3322 is rotatably connected to one end of the first outer rod 331.
  • the third end 3323 Rotate with one end of the third outer rod 333.
  • a portion of the material of the second outer rod 332 may be hollowed out to reduce the weight of the second outer rod 332.
  • the first end 3321, the second end 3322, and the third end 3323 may not be on the same straight line, and the third end 3323 may be located outside the first end 3321.
  • One end of the third outer rod 333 is rotatably connected to the third end 3323, and the other end is rotatably connected to the outer end 322 of the clamping rod 32.
  • the first outer rod 331 moves under the driving of the driving portion 20 and drives the second end 3322 to move, so that the second outer rod 332 rotates around the first end 3321 as a whole, and the third end 3323 rotates to drive the third outer rod 333
  • the third outer rod 333 moves to drive the outer end 322 of the clamping rod 32 to move.
  • the end of the first outer rod 331 connected to the driving portion 20 can move in at least two directions, and then the third outer rod 333 can be driven to move in at least two ways, so that the clamping portion 30 At least two actions of clamping and releasing can be realized.
  • the second link group 33 further includes an outer limiter 334.
  • the outer limiter 334 is provided on the second outer lever 332, or the outer limiter 334 is provided on the third outer lever 333, or the outer limiter 334 is provided on the second outer lever 332 and the third outer lever 333 at the same time .
  • the outer limiter 334 is used to restrict the relative angle between the second outer lever 332 and the third outer lever 333 to be within a predetermined angle range.
  • the outer limiter 334 is disposed on the third outer rod 333, and the outer limiter 334 is disposed near the third end 3323.
  • the predetermined angle range can be set according to different clamping needs. For example, the predetermined angle range can be set to the line between the second end 3322 and the third end 3323, and the angle between the third end 3333 and the third outer rod 333 is not small. A certain angle, such as not less than 80 degrees.
  • the second link group 33 includes a telescopic rod 335.
  • One end of the telescopic rod 335 is rotatably connected to the body 10, and the other end of the telescopic rod 335 is rotatably connected to the outer end 322 of the clamping rod 32.
  • the driving portion 20 is used to drive the telescopic rod 335 to extend or contract.
  • the driving portion 20 drives the telescopic movement of the telescopic rod 335 to push the outer end 322 of the clamping rod 32 to move.
  • the driving portion 20 is disposed on the main body 10.
  • the driving portion 20 is configured to drive the clamping portion 30 to operate.
  • the driving unit 20 includes a power module 21 and a driving module 22.
  • the driving component 22 is rotatably connected to an end of the first outer rod 331 far from the second outer rod 332.
  • the driving component 22 is used to move under the action of the power component 21 to drive the first outer rod 331 away from the second outer rod 332. Pan at one end.
  • the driving assembly 22 may be connected to a plurality of first outer rods 331. When the driving assembly 22 moves, the plurality of first outer rods 331 may be simultaneously moved to drive the plurality of clamping portions 30 to move.
  • the power assembly 21 of this embodiment includes a motor 211 and a reduction box 212.
  • the type of the motor 211 can be a brushless motor, a stepping motor, etc.
  • the reduction gear box 212 is connected to the motor 211.
  • the input shaft of the reduction gear box 212 is connected to the rotating shaft of the motor 211.
  • the reduction gear box 212 can be composed of multiple gear pairs to reduce speed.
  • the material of the box 212 can be plastic to reduce the weight of the entire clamping device, and the reduction box 212 can increase the output torque of the power assembly 21.
  • the clamping unit 30 By controlling the forward rotation or reverse rotation of the motor 211, the clamping unit 30 can be controlled to hold or release the object, and by controlling the amount of torque output by the motor 211, the clamping when the clamping unit 30 is clamping the object can be controlled Holding power.
  • the driving assembly 22 includes a rotating member 221 and a moving member 222.
  • the rotating member 221 is used to rotate under the driving of the power assembly 21. Specifically, the rotating member 221 is connected to the output shaft of the reduction gear box 212, and the torque output by the reduction gear box 212 can be transmitted to the rotating member 221.
  • the rotating member 221 may be disposed on the same side of the reduction box 212 as the motor 211 to reduce the overall size of the driving portion 20 and facilitate the setting of the driving portion 20 on the body 10.
  • the moving member 222 is rotatably connected to the rotating member 221. The rotation of the rotating member 221 can drive the moving member 222 to move.
  • the moving member 222 is rotatably connected to an end of the first outer rod 331 far from the second outer rod 332.
  • the rotating member 221 includes a screw rod 2211.
  • the moving part 222 includes a screw rod nut 2221 and a driving rod 2222 which are fixedly connected.
  • the screw rod nut 2221 is rotatably connected to the screw rod 2211.
  • the driving rod 2222 is rotatably connected to an end of the first outer rod 331 far from the second outer rod 332.
  • the screw rod 2211 is rotated to drive the screw nut 2221 and the driving rod 2222 to move. 2222 moves along the axial direction of the screw rod 2211.
  • the threaded rod 2211 is formed with external threads
  • the threaded rod nut 2221 is formed with internal threads.
  • the driving rod 2222 can be rotatably connected with the first outer rods 331 of the plurality of clamping portions 30.
  • the driving rod 2222 moves to drive the plurality of first outer rods 331 to move at the same time, so as to drive the plurality of clamping portions 30 to simultaneously hold objects.
  • the screw rod 2211 and the screw rod nut 2221 are threadedly matched, when the screw rod 2211 rotates and stabilizes at a certain angle, the positions of the screw rod nut 2221 and the driving rod 2222 are fixed, that is, the clamping of the clamping portion 30 The holding action is also fixed. Therefore, even if the power assembly 21 no longer outputs power externally, as long as the screw rod 2211 is not rotated, the clamping portion 30 can be maintained in the current clamping action and self-locking can be achieved.
  • the specific form of the power module 21 of the driving unit 20 is not limited to the example shown in FIG. 5, and other settings can also be made according to requirements, for example, the cylinder of the power module 21 that can be driven by hydraulic or pneumatic pressure, and the drive module 22 It may be a movable rod of the cylinder body.
  • the movable rod may be rotatably connected to an end of the first outer rod 331 far from the second outer rod 332.
  • the movable rod is driven by the driving force of the power assembly 21 and drives the first outer rod 331. An end remote from the second outer rod 332 is translated.
  • the rotation member 221 can be driven to rotate by the power assembly 21, and the rotation of the rotation member 221 drives the driving rod 2222 to move in the first direction, so that the clamping device 100 is opened.
  • the power assembly 21 needs to perform work to offset the elastic force of the elastic member 40.
  • the clamping device 100 or the object 2000 to be clamped is moved so that the object 2000 is located between the plurality of clamping portions 30.
  • the driving member 221 can be rotated to drive the driving rod 2222 to move in the second direction, so that the clamping device 100 starts to clamp the object 2000, according to the size of the object 2000 and the clamping force of the clamping portion 30.
  • the manner in which the clamping device 100 clamps the object 2000 may be different.
  • the clamping device 100 can clamp the object 2000 in a parallel clamping manner, that is, the clamping portion 30 individually abuts the object 2000 through the clamping lever 32 and applies a clamping force.
  • the elastic member 40 and the power assembly 21 together serve as a power source for the clamping lever 32 to drive the clamping lever 32 to clamp the object 2000.
  • the clamping lever 32 can always be translated in the direction from the outside to the inside, and the angle between the clamping lever 32 and the second inner lever 312 and the angle between the first inner lever 311 and the second inner lever 312 can be maintained. .
  • the clamping device 100 can also clamp the object 2000 by holding the clamp, that is, the clamping portion 30 simultaneously opposes the object 2000 by the second inner lever 312 and the clamping lever 32 and applies the clamp.
  • the holding force can be more stable when holding a round object 2000 on the side, the object 2000 is not easy to fall or fall during the shaking or rapid acceleration of the holding device 100, and it is also easy to hold the weak object 2000. Will not damage objects.
  • the elastic member 40 and the power assembly 21 together serve as a power source for the second inner rod 312 and the clamping rod 32 to drive the second inner rod 312 and the clamping rod 32 to clamp an object.
  • the second inner rod 312 may first collide with the object 2000; then the clamping rod 32 may rotate around the inner end 321, and the angle between the clamping rod 32 and the second inner rod 312 gradually decreases until the clamping The rod 32 also collides with the object 2000.
  • the included angle between the first inner rod 311 and the second inner rod 312 may remain unchanged.
  • the clamping device 100 may also clamp the object 2000 by another clamping method, that is, the clamping portion 30 passes the first inner rod 311, the second inner rod 312, and the clamping rod. 32 simultaneously collides with the object 2000 and exerts a clamping force.
  • the elastic member 40 and the power assembly 21 together serve as a power source for the first inner rod 311, the second inner rod 312, and the clamping rod 32 to drive the first inner rod 311, the second inner rod 312, and the clamping rod. 32 Holding objects.
  • the first inner rod 311 may first collide with the object 2000; then the second inner rod 312 is rotated relative to the first inner rod 311, so that the angle between the second inner rod 312 and the first inner rod 311 is gradually reduced.
  • the clamping rod 32 can rotate around the inner end 321, and the angle between the clamping rod 32 and the second inner rod 312 gradually decreases until the clamping rod 32 also Conflicts with object 2000.
  • the first inner rod 311, the second inner rod 312, and the clamping rod 32 collectively abutting and clamping the object 2000, the clamping force exerted on the object 2000 is dispersed, and it will not be damaged when clamping the fragile object 2000.
  • An object has higher clamping stability, and the object 2000 is less likely to fall or fall during the shaking or rapid acceleration of the clamping device 100.
  • the above-mentioned rotational connection methods may all be hinges, and the hinged shaft may be a plastic shaft to reduce the overall weight of the clamping device 100.
  • first and second are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as “first” and “second” may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality” is at least two, for example, two, three, unless specifically defined otherwise.

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Abstract

A clamping device (100) and a movable machine (1000) having same. The clamping device (100) comprises a body (10), a driving part (20), and a plurality of clamping parts (30). The driving part (20) and the clamping parts (30) are all provided on the body (10). The clamping part (30) comprises a first connecting rod set (31), a clamping rod (32), and a second connecting rod set (33). One end of the first connecting rod set (31) is rotatably connected to the body (10) by means of an elastic member (40). The clamping rod (32) comprises an inner end (321) and an outer end (322), and the inner end (321) is rotatably connected to the other end of the first connecting rod set (31). One end of the second connecting rod set (33) is rotatably connected to the body (10), and the other end is rotatably connected to the outer end (322). The elastic member (40) is used for applying elastic force to the first connecting rod set (31), so that the first connecting rod set (31) drives the inner end (321) to move. The driving part (20) is used for driving the second connecting rod set (33) to move, so that the second connecting rod set (33) drives the outer end (322) to move. The driving part (20) comprises a power assembly (21) and a driving assembly (22). The driving assembly (22) comprises a rotating member (221) and a moving member (222). The rotating member (221) comprises a screw rod (2211). The moving member (222) comprises a screw nut (2221) and a driving rod (2222). The clamping part (30) can clamp an object by means of the force provided by the elastic member (40), and thus the driving part (20) is not required to provide force, thereby saving energy consumed in clamping the object. The screw nut (2221) is in screw-thread fit to the driving rod (2222) to realize self-locking.

Description

夹持装置及可移动机器Holding device and movable machine 技术领域Technical field
本公开涉及机器手技术领域，特别涉及一种夹持装置及可移动机器。The present disclosure relates to the technical field of robot hands, and in particular, to a clamping device and a movable machine.
背景技术Background technique
机器手在工业和生活中都有广泛的应用，能够进行夹持、移动、提取、放置等功能。而传统的机械手通过至少一个动力源驱动机器手指夹持物体，在夹持的过程中，动力源需要持续不断地向机器手指提供较大的动力以使夹持更稳固，然而，仅通过动力源持续提供较大的动力将耗费较大的能量。Robot hands have a wide range of applications in industry and life, capable of holding, moving, extracting, and placing functions. Traditional robots use at least one power source to drive the robotic fingers to grip objects. During the clamping process, the power source needs to continuously provide greater power to the robotic fingers to make the gripping more stable. However, only by the power source Continuously providing more power will consume more energy.
发明内容Summary of the Invention
本发明的实施方式提供了一种夹持装置及可移动机器。Embodiments of the present invention provide a clamping device and a movable machine.
本发明实施方式的夹持装置包括本体、驱动部及多个夹持部，所述驱动部及多个所述夹持部均设置在所述本体上。所述夹持部包括第一连杆组、夹持杆及第二连杆组。所述第一连杆组的一端与所述本体通过弹性件转动连接。所述夹持杆包括内端及外端，所述夹持杆的内端与所述第一连杆组的另一端转动连接。所述第二连杆组的一端与所述本体转动连接，另一端与所述夹持杆的外端转动连接。所述弹性件用于向所述第一连杆组施加弹力，以使所述第一连杆组带动所述夹持杆的内端运动，所述驱动部用于驱动所述第二连杆组运动，以使所述第二连杆组带动所述夹持杆的外端运动。A clamping device according to an embodiment of the present invention includes a main body, a driving portion, and a plurality of clamping portions, and the driving portion and the plurality of clamping portions are all disposed on the body. The clamping portion includes a first link group, a clamping rod, and a second link group. One end of the first link group is rotatably connected to the body through an elastic member. The clamping lever includes an inner end and an outer end, and the inner end of the clamping lever is rotatably connected to the other end of the first link group. One end of the second link group is rotatably connected to the body, and the other end is rotatably connected to an outer end of the clamping rod. The elastic member is configured to apply an elastic force to the first link group, so that the first link group drives an inner end of the clamping rod to move, and the driving portion is configured to drive the second link Group movement, so that the second link group drives the outer end of the clamping rod to move.
本发明实施方式的可移动机器包括移动主体及上述实施方式所述的夹持装置。所述夹持装置安装在所述移动主体上。A movable machine according to an embodiment of the present invention includes a moving body and a holding device according to the above embodiment. The holding device is mounted on the moving body.
本发明实施方式的夹持装置及可移动机器中，弹性件能够向第一连杆组施加弹力以带动夹持杆的内端运动，在夹持物体时，弹性件和驱动部可同时提供力的作用以保证多个夹持部稳定地夹持物体，且当驱动部的力撤消后，多个夹持部依靠弹性件提供的力的作用也能夹持住物体，不要求驱动部持续提供力的作用，节约夹持物体时耗费的能量。In the clamping device and the movable machine according to the embodiments of the present invention, the elastic member can apply an elastic force to the first link group to drive the inner end of the clamping rod. When the object is clamped, the elastic member and the driving portion can provide force at the same time. Function to ensure that multiple gripping parts hold objects stably, and after the force of the driving part is withdrawn, the multiple gripping parts can also grip the object by the force provided by the elastic member, and the driving part is not required to continuously provide The effect of force saves the energy consumed when holding objects.
本发明的实施方式的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本发明的实施方式的实践了解到。Additional aspects and advantages of the embodiments of the present invention will be given in part in the following description, part of which will become apparent from the following description, or be learned through practice of the embodiments of the present invention.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
本发明的上述和/或附加的方面和优点从结合下面附图对实施方式的描述中将变得明显和容易理解，其中：The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:
图1是本发明实施方式的可移动机器的结构示意图；1 is a schematic structural diagram of a movable machine according to an embodiment of the present invention;
图2是本发明实施方式的夹持装置的立体装配示意图；2 is a perspective assembly schematic view of a clamping device according to an embodiment of the present invention;
图3是本发明实施方式的夹持装置的平面装置示意图；3 is a schematic plan view of a planar device of a clamping device according to an embodiment of the present invention;
图4是本发明实施方式的夹持装置的立体分解示意图；4 is an exploded perspective view of a clamping device according to an embodiment of the present invention;
图5是图3所示的夹持装置中V部分的放大示意图；5 is an enlarged schematic view of a V portion in the clamping device shown in FIG. 3;
图6及图7是本发明实施方式的夹持部夹持物体的原理示意图；6 and 7 are schematic diagrams of the principle of the object being clamped by the clamping part according to the embodiment of the present invention;
图8至图11是本发明实施方式的夹持装置夹持物体的原理示意图。8 to 11 are schematic diagrams of the principle of the object being held by the holding device according to the embodiment of the present invention.
主要元件及符号说明：Description of main components and symbols:
可移动机器1000、主体200、夹持装置100、转轮300、本体10、连接口11、驱动部20、动力组件21、电机211、减速箱212、驱动组件22、转动件221、丝杆2211、移动件222、丝杆螺母2221、驱动杆2222、夹持部30、第一连杆组31、第一内杆311、第二内杆312、内限位件313、夹持杆32、内端321、外端322、夹持件323、尾端324、第二连杆组33、第一外杆331、第二外杆332、第一端3321、第二端3322、第三端3323、第三外杆333、外限位件334、伸缩杆335、弹性件40、限位部50、物体2000。 Movable machine 1000, main body 200, clamping device 100, runner 300, main body 10, connection port 11, driving unit 20, power unit 21, motor 211, reduction gear box 212, drive unit 22, rotating member 221, lead screw 2211 , Moving part 222, screw nut 2221, driving lever 2222, clamping part 30, first link group 31, first inner lever 311, second inner lever 312, inner limiter 313, clamping lever 32, inner End 321, outer end 322, clamp 323, tail end 324, second link group 33, first outer rod 331, second outer rod 332, first end 3321, second end 3322, third end 3323, The third outer rod 333, the outer limiter 334, the telescopic rod 335, the elastic member 40, the limiter 50, and the object 2000.
具体实施方式detailed description
以下结合附图对本发明的实施方式作进一步说明。附图中相同或类似的标号自始至终表示相同或类似的元件或具有相同或类似功能的元件。The following further describes the embodiments of the present invention with reference to the accompanying drawings. The same or similar reference numerals in the drawings represent the same or similar elements or elements having the same or similar functions throughout.
另外，下面结合附图描述的本发明的实施方式是示例性的，仅用于解释本发明的实施方式，而不能理解为对本发明的限制。In addition, the embodiments of the present invention described below with reference to the accompanying drawings are exemplary and are only used to explain the embodiments of the present invention, and should not be construed as limiting the present invention.
在本发明中，除非另有明确的规定和限定，第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触，或第一和第二特征通过中间媒介间接接触。而且，第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”可以是第一特征在第二特征正下方或斜下方，或仅仅表示第一特征水平高度小于第二特征。In the present invention, unless explicitly stated and defined otherwise, the first feature "on" or "down" of the second feature may be the first and second features in direct contact, or the first and second features indirectly through an intermediate medium. contact. Moreover, the first feature is "above", "above", and "above" the second feature. The first feature is directly above or obliquely above the second feature, or only indicates that the first feature is higher in level than the second feature. The first feature is “below”, “below”, and “below” of the second feature. The first feature may be directly below or obliquely below the second feature, or it may simply indicate that the first feature is less horizontal than the second feature.
请参阅图1，本发明实施方式的可移动机器1000包括移动主体200及夹持装置100，夹持装置100安装在移动主体200上。可移动机器1000的移动主体200可以实现移动、转动、翻转等动作，移动主体200可以带动夹持装置100运动到不同的位置或者不同的角度以夹持物体，同时，夹持装置100也可以相对于移动主体200移动或转动。可移动机器1000可以是无人车、无人船或无人飞行器等，或者可移动机器1000在一种形态下为无人车、无人船或无人飞行器中的一种，在另外的形态下为无人车、无人船或无人飞行器中的其他种 类。可移动机器1000还可以是各种形式的机器人、机器臂、机器动物、玩具等。Referring to FIG. 1, a movable machine 1000 according to an embodiment of the present invention includes a moving body 200 and a clamping device 100. The clamping device 100 is mounted on the moving body 200. The moving body 200 of the movable machine 1000 can realize movements, rotations, and flips. The moving body 200 can drive the holding device 100 to different positions or different angles to hold objects. At the same time, the holding device 100 can also be relatively The moving body 200 moves or rotates. The movable machine 1000 may be an unmanned vehicle, an unmanned ship, or an unmanned aerial vehicle, or the movable machine 1000 is one of an unmanned vehicle, an unmanned ship, or an unmanned aerial vehicle in one form, and in another form Below are other types of drones, drones, or drones. The movable machine 1000 may also be various forms of robots, robot arms, robot animals, toys, and the like.
如图1所示，本发明实施例以可移动机器1000是无人车为例进行说明，可以理解，可移动机器1000的具体形式不限于无人车，在此不作限制。可移动机器1000可以包括转轮300，转轮300转动可带动移动主体200运动，并进一步带动夹持装置100运动。As shown in FIG. 1, the embodiment of the present invention is described by taking the movable machine 1000 as an unmanned vehicle as an example. It can be understood that the specific form of the movable machine 1000 is not limited to the unmanned vehicle, and is not limited herein. The movable machine 1000 may include a rotating wheel 300, and the rotating of the rotating wheel 300 may move the moving body 200 and further move the clamping device 100.
请参阅图2至图5，夹持装置100包括本体10、驱动部20及多个夹持部30。驱动部20及多个夹持部30均设置在本体10上。夹持部30包括第一连杆组31、夹持杆32及第二连杆组33。第一连杆组31的一端与本体10通过弹性件40转动连接。夹持杆32包括内端321及外端322。夹持杆32的内端321与第一连杆组31的另一端转动连接。第二连杆组33的一端与本体10转动连接，另一端与夹持杆32的外端322转动连接。Referring to FIGS. 2 to 5, the clamping device 100 includes a main body 10, a driving portion 20, and a plurality of clamping portions 30. The driving portion 20 and the plurality of clamping portions 30 are each provided on the body 10. The clamping portion 30 includes a first link group 31, a clamping lever 32, and a second link group 33. One end of the first link group 31 is rotatably connected to the body 10 through an elastic member 40. The clamping rod 32 includes an inner end 321 and an outer end 322. The inner end 321 of the clamping lever 32 is rotatably connected to the other end of the first link group 31. One end of the second link group 33 is rotatably connected to the body 10, and the other end is rotatably connected to the outer end 322 of the clamping rod 32.
弹性件40用于向第一连杆组31施加弹力，以使第一连杆组31带动夹持杆32的内端321运动；驱动部20用于驱动第二连杆组33运动，以使第二连杆组33带动夹持杆32的外端322运动。The elastic member 40 is used to apply an elastic force to the first link group 31, so that the first link group 31 drives the inner end 321 of the clamping lever 32 to move; the driving portion 20 is used to drive the second link group 33 to move, The second link group 33 drives the outer end 322 of the clamping rod 32 to move.
本发明实施方式的可移动机器1000中，弹性件40能够向第一连杆组31施加弹力以带动夹持杆32的内端321运动，在夹持物体时，弹性件40和驱动部20可同时提供力的作用以保证多个夹持部30稳定地夹持物体，且当驱动部20的力撤消后，多个夹持部30依靠弹性件40提供的力的作用也能夹持住物体，不要求驱动部20持续提供力的作用，节约夹持物体时耗费的能量。In the movable machine 1000 according to the embodiment of the present invention, the elastic member 40 can apply an elastic force to the first link group 31 to drive the inner end 321 of the clamping rod 32 to move. When the object is clamped, the elastic member 40 and the driving portion 20 may At the same time, the force is provided to ensure that the plurality of clamping portions 30 can stably clamp the object, and after the force of the driving portion 20 is removed, the plurality of clamping portions 30 can also clamp the object by the effect of the force provided by the elastic member 40. The driving part 20 is not required to continuously provide a force, which saves energy consumed when clamping an object.
具体地，夹持装置100包括本体10、驱动部20及多个夹持部30。Specifically, the clamping device 100 includes a main body 10, a driving portion 20, and a plurality of clamping portions 30.
请参阅图1及图2，本体10可用于与移动主体200进行连接，驱动部20及多个夹持部30均设置在本体10上。在一个例子中，本体10与移动主体200可拆卸地连接，将本体10从可移动主体200中拆下后，整个夹持装置100则可以从移动主体200中拆除，以便于维修或更换夹持装置100。本体10上可以设置有用于安装驱动部20及夹持部30的安装结构，本体10上可以形成有连接口11，以便于夹持装置100与外部设备(例如移动主体200)进行电连接，并给驱动部20供电。Please refer to FIGS. 1 and 2. The main body 10 can be used for connection with the moving main body 200. The driving portion 20 and the plurality of clamping portions 30 are all disposed on the main body 10. In one example, the body 10 is detachably connected to the mobile body 200. After the body 10 is removed from the movable body 200, the entire clamping device 100 can be removed from the mobile body 200 to facilitate maintenance or replacement装置 100。 The device 100. The main body 10 may be provided with a mounting structure for mounting the driving portion 20 and the clamping portion 30. The main body 10 may be formed with a connection port 11 to facilitate the electrical connection between the clamping device 100 and an external device (such as the mobile main body 200), and Power is supplied to the driving section 20.
多个夹持部30均安装在本体10上，每个夹持部30可以单独从本体10中拆卸或组装。多个夹持部30即为至少两个夹持部30，例如两个、三个、四个、六个、八个等，在需要夹持物体时，可以控制多个夹持部30共同用于夹持物体，或者可以控制多个夹持部30中的某些用于夹持物体，而另一些不做运动或不用于夹持物体。A plurality of clamping portions 30 are mounted on the body 10, and each clamping portion 30 can be detached or assembled from the body 10 separately. The multiple clamping portions 30 are at least two clamping portions 30, such as two, three, four, six, eight, etc., and when multiple objects need to be clamped, the multiple clamping portions 30 can be controlled for common use. For gripping an object, some of the plurality of gripping portions 30 may be controlled for gripping the object, while others are not used for movement or gripping the object.
多个夹持部30可以沿本体10的周向等角度间隔分布，以使得多个夹持部30共同夹持物体时，物体受到的夹持力较分散且较均匀。在图6所示的例子中，当夹持部30的数量为两个时，两个夹持部30可以相对设置，或者说两个夹持部30之间的夹角为大约一百八十度，以在夹持物体2000时从物体2000的相背的两侧对物体2000施加夹持力，使得夹持较 稳固。在图7所示的例子中，当夹持部30的数量为三个时，相邻的夹持部30之间的夹角可以设置为大约一百二十度，在夹持物体2000时从物体2000的至少三个方向施加夹持力，使得夹持较稳固，物体2000不易脱出。当然，以此类推，当多个夹持部30的数量为N个时，相邻两个夹持部30之间的夹角可以设置为大约360/N度。本发明实施例以夹持部30的数量是两个为例进行说明，可以理解，夹持部30的数量也可以是三个或三个以上，在此不作限制。The plurality of clamping portions 30 may be distributed at equal angular intervals in the circumferential direction of the body 10, so that when the plurality of clamping portions 30 collectively clamp an object, the clamping force received by the object is more dispersed and uniform. In the example shown in FIG. 6, when the number of the clamping portions 30 is two, the two clamping portions 30 may be oppositely disposed, or the angle between the two clamping portions 30 is about one hundred and eighty. The clamping force is applied to the object 2000 from the opposite sides of the object 2000 when the object 2000 is clamped, so that the clamping is more stable. In the example shown in FIG. 7, when the number of the clamping portions 30 is three, the included angle between the adjacent clamping portions 30 can be set to about one hundred and twenty degrees. The clamping force is applied in at least three directions of the object 2000, so that the clamping is more stable, and the object 2000 is not easy to come out. Of course, by analogy, when the number of the plurality of clamping portions 30 is N, the included angle between two adjacent clamping portions 30 may be set to about 360 / N degrees. The embodiment of the present invention is described by taking the number of the clamping portions 30 as two. It can be understood that the number of the clamping portions 30 may also be three or more, which is not limited herein.
请参阅图2至图4，每个夹持部30包括第一连杆组31、夹持杆32及第二连杆组33。Please refer to FIGS. 2 to 4. Each clamping portion 30 includes a first link group 31, a clamping rod 32 and a second link group 33.
第一连杆组31的一端与本体10通过弹性件40转动连接，具体地，第一连杆组31与本体10可以通过铰接的方式转动连接，弹性件40可以设置在第一连杆组31与本体10连接的位置。弹性件40可以与本体10及第一连杆组31均连接，弹性件40可以给第一连杆组31施加弹力，当第一连杆组31相对于本体10转动到不同角度时，弹性件40施加给第一连杆组31的弹力也可以不同。具体地，如图3所示，在本发明实施例中，当第一连杆组31相对于本体10张开的角度较大时，弹性件40施加给第一连杆组31的弹力较大，当第一连杆组31相对于本体10张开的角度较小时，弹性件40施加给第一连杆组31的弹力较小。在一个例子中，弹性件40包括扭簧，扭簧的一个臂可以与第一连杆组31连接，扭簧的另一个臂可以与本体10连接，扭簧在恢复自然状态的趋势下，会分别通过两个臂向本体10及第一连杆组31施加弹力。当然，弹性件40的具体形式不限于扭簧，还可以是其他可行的形式，例如在另一个例子中，弹性件40的具体形式也可以是拉簧，拉簧的两端分别连接本体10与第一连杆组31，以向第一连杆组31施加弹力，使得第一连杆组31始终具有夹持物体的动作趋势。One end of the first link group 31 is rotatably connected to the body 10 through an elastic member 40. Specifically, the first link group 31 and the body 10 can be rotatably connected in a hinged manner, and the elastic member 40 can be disposed on the first link group 31. A position connected to the body 10. The elastic member 40 can be connected to both the body 10 and the first link group 31. The elastic member 40 can apply elastic force to the first link group 31. When the first link group 31 is rotated to different angles with respect to the body 10, the elastic member The elastic force applied to the first link group 31 by 40 may be different. Specifically, as shown in FIG. 3, in the embodiment of the present invention, when the opening angle of the first link group 31 relative to the body 10 is large, the elastic force applied by the elastic member 40 to the first link group 31 is large. When the opening angle of the first link group 31 relative to the body 10 is small, the elastic force applied by the elastic member 40 to the first link group 31 is small. In one example, the elastic member 40 includes a torsion spring. One arm of the torsion spring may be connected to the first link group 31, and the other arm of the torsion spring may be connected to the main body 10. Under the tendency of the torsion spring to return to its natural state, Elastic forces are applied to the body 10 and the first link group 31 through two arms, respectively. Of course, the specific form of the elastic member 40 is not limited to a torsion spring, and may also be other feasible forms. For example, in another example, the specific form of the elastic member 40 may also be a tension spring, and two ends of the tension spring are respectively connected to the body 10 and The first link group 31 is configured to apply an elastic force to the first link group 31, so that the first link group 31 always has an action tendency to clamp an object.
本发明实施例中，第一连杆组31包括第一内杆311及第二内杆312。第一内杆311的一端与本体10通过弹性件40转动连接，另一端与第二内杆312的一端转动连接，第二内杆312的另一端与夹持杆32的内端321转动连接。弹性件40通过向第一内杆311施加弹力以将弹力施加给整个第一连杆组31。第一内杆311的两端分别与本体10及第二内杆312转动连接。In the embodiment of the present invention, the first link group 31 includes a first inner rod 311 and a second inner rod 312. One end of the first inner rod 311 is rotatably connected to the body 10 through the elastic member 40, the other end is rotatably connected to one end of the second inner rod 312, and the other end of the second inner rod 312 is rotatably connected to the inner end 321 of the clamping rod 32. The elastic member 40 applies an elastic force to the entire first link group 31 by applying an elastic force to the first inner lever 311. Both ends of the first inner rod 311 are rotatably connected to the body 10 and the second inner rod 312, respectively.
第二内杆312的两端分别与第一内杆311、夹持杆32转动连接，第一内杆311受到的弹力传递到第二内杆312后，再进一步传递到夹持杆32。依据物体的大小及形状等差异，夹持装置100可以用不同的姿态夹持物体，同时第二内杆312与第一内杆311的夹角也可以在一定的范围内改变。具体的，第一內杆311和第二內杆312以及夹持杆32可以两两成小于等于180度的角度，以对所要夹持的物体形成环抱。例如图3所示的实施例，第一內杆311与第二內杆312成180度，第二內杆312与夹持杆32的夹持件323成100度。可以理解的是，在其他实施例中，上述角度可以根据需求改变。Both ends of the second inner lever 312 are rotatably connected to the first inner lever 311 and the clamping lever 32 respectively. The elastic force received by the first inner lever 311 is transmitted to the second inner lever 312 and then further transmitted to the clamping lever 32. According to the difference in the size and shape of the object, the clamping device 100 can clamp the object in different postures, and the angle between the second inner rod 312 and the first inner rod 311 can also be changed within a certain range. Specifically, the first inner rod 311, the second inner rod 312, and the clamping rod 32 may form an angle of 180 degrees or less to form an embracing object to be clamped. For example, in the embodiment shown in FIG. 3, the first inner lever 311 is 180 degrees from the second inner lever 312, and the second inner lever 312 is 100 degrees from the clamping member 323 of the clamping lever 32. It can be understood that, in other embodiments, the above-mentioned angle may be changed according to requirements.
进一步地，在某些实施例中，第一内杆311与第二内杆312的连接处也可以设置有弹性件40，弹性件40分别向第一内杆311及第二内杆312施加弹力以使第一连杆组31始终具有夹持物体的动作趋势。Further, in some embodiments, an elastic member 40 may be provided at the connection between the first inner rod 311 and the second inner rod 312. The elastic member 40 applies elastic force to the first inner rod 311 and the second inner rod 312, respectively. In this way, the first link group 31 always has a movement tendency to clamp an object.
请参阅图3及图4，在一个例子中，第一连杆组31还包括内限位件313。内限位件313可以设置在第一内杆311上，也可以设置在第二内杆312上，也可以同时设置在第一内杆311及第二内杆312上。内限位件313用于限制第一内杆311与第二内杆312的相对角度处于预设的角度范围内，以防止第一內杆311与第二內杆312在预设角度范围外活动，增强第一连杆组31的稳定性。在本发明实施例中，内限位件313设置在第一内杆311上，且内限位件313靠近第一内杆311与第二内杆312转动连接的位置。预设的角度范围可以依据不同的夹持需求进行设定，例如预设的角度范围可以设定为第一内杆311的内侧与第二内杆312的内侧的夹角小于或等于一百八十度等。Please refer to FIG. 3 and FIG. 4. In one example, the first link group 31 further includes an inner limiter 313. The inner limiter 313 may be disposed on the first inner rod 311, or may be disposed on the second inner rod 312, or may be disposed on the first inner rod 311 and the second inner rod 312 at the same time. The inner limiter 313 is used to restrict the relative angle between the first inner rod 311 and the second inner rod 312 to be within a preset angle range, so as to prevent the first inner rod 311 and the second inner rod 312 from moving outside the preset angle range. To enhance the stability of the first link group 31. In the embodiment of the present invention, the inner limiter 313 is disposed on the first inner lever 311, and the inner limiter 313 is close to a position where the first inner lever 311 and the second inner lever 312 are rotationally connected. The preset angle range can be set according to different clamping needs. For example, the preset angle range can be set such that the included angle between the inside of the first inner rod 311 and the inside of the second inner rod 312 is less than or equal to one hundred and eighteen. Ten degrees and so on.
当然，第一连杆组31的具体组成不限于上述的讨论，也可以有其他组成方式，例如第一连杆组31可以只包括一个连杆，该连杆的两端可以分别转动连接本体10及夹持杆32；或者第一连杆组31包括三个依次转动连接的连杆等组成方式，不限于上述举例的方式。Of course, the specific composition of the first link group 31 is not limited to the above discussion, and there may be other composition methods, for example, the first link group 31 may include only one link, and both ends of the link may be rotated to connect the body 10 respectively. And the clamping lever 32; or the first link group 31 includes three links that are connected in turn in turn, and is not limited to the above-mentioned example.
请参阅图2至图4，夹持杆32可以是夹持部30上最远离本体10的杆体，夹持杆32包括内端321及外端322。夹持杆32的内端321与第一连杆组31的一端转动连接，弹性件40的弹力通过第一连杆组31传递到内端321，以使第一连杆组31带动内端321运动。夹持杆32的外端322与第二连杆组33的一端转动连接，第二连杆组33可由驱动部20驱动运动，以使第二连杆组33带动外端322运动。在内端321及外端322被带动的过程中，夹持杆32可以实现多种运动方式，例如绕内端321转动、绕外端322转动，水平移动等。Please refer to FIGS. 2 to 4. The clamping rod 32 may be a rod body farthest from the body 10 on the clamping portion 30. The clamping rod 32 includes an inner end 321 and an outer end 322. The inner end 321 of the clamping rod 32 is rotatably connected to one end of the first link group 31. The elastic force of the elastic member 40 is transmitted to the inner end 321 through the first link group 31, so that the first link group 31 drives the inner end 321. motion. The outer end 322 of the clamping rod 32 is rotatably connected to one end of the second link group 33, and the second link group 33 can be driven and moved by the driving part 20, so that the second link group 33 drives the outer end 322 to move. During the process of the inner end 321 and the outer end 322 being driven, the clamping rod 32 can realize various movement modes, such as rotating around the inner end 321, turning around the outer end 322, and moving horizontally.
在一个例子中，夹持杆32还可以形成有夹持件323，夹持件323用于在夹持装置100夹持物体时与物体接触，在夹持件323夹持物体时，夹持件323发生弹性形变以对物体施加弹力。具体地，夹持件323可以形成在夹持杆32的内侧，夹持件323可以由橡胶、硅胶等弹性较佳的材料制成。在夹持件323夹持物体时，夹持件323发生凹陷，夹持件323对物体施加弹力，同时增大夹持件323与物体的接触面积，增加摩擦力，使夹持件323夹持物体时更稳定。In one example, the clamping rod 32 may further be formed with a clamping member 323, which is used to contact the object when the clamping device 100 clamps the object, and when the clamping member 323 clamps the object, the clamping member 323 323 deforms elastically to exert elastic force on the object. Specifically, the clamping member 323 may be formed on the inner side of the clamping rod 32, and the clamping member 323 may be made of a material with better elasticity such as rubber or silicone. When the gripper 323 grips the object, the gripper 323 is depressed, the gripper 323 exerts an elastic force on the object, and at the same time increases the contact area of the gripper 323 with the object, increases the friction force, and makes the gripper 323 grip Object is more stable.
以本发明实施例中夹持部30的数量是两个为例，两个夹持部30的两个夹持杆32相对设置，在至少一个工作状态下，两个夹持杆32相互抵持。具体地，两个夹持杆32相互抵持可以是两个夹持杆32的内侧面相互抵靠，如此，也就意味着两个夹持杆32的内侧面之间可以用于夹持较小或较薄的物体，例如用于夹持纸张或细线等物体。Taking the number of the clamping portions 30 in the embodiment of the present invention as an example, the two clamping rods 32 of the two clamping portions 30 are opposite to each other. In at least one working state, the two clamping rods 32 are opposed to each other. . Specifically, the two clamping rods 32 abut against each other may be that the inner surfaces of the two clamping rods 32 abut against each other. In this way, it means that the inner surfaces of the two clamping rods 32 can be used to clamp the Small or thin objects, such as those used to hold paper or thin threads.
请参阅图3，夹持装置100还包括限位部50，限位部50设置在夹持杆32的外端322，或者限位部50设置在第一连杆组31上，或者限位部50同时设置在夹持杆32的外端322 及第一连杆组31上。限位部50用于在夹持杆32的外端322靠近第一连杆组31预定距离时，抵持夹持杆32的外端322及第一连杆组31。在两个夹持杆32相互抵持，或者两个夹持杆32之间的距离较小并接近相互抵持时，如果此时夹持杆32受到来自外界的绕内端321转动的转矩的作用，夹持杆32容易绕内端321转动，外端322容易抵持到第一连杆组31，且导致两个夹持杆32的内侧面不能很好地贴合。限位部50用于使得外端322与第一连杆组31至少保持预定距离，从而避免两个夹持杆32在相互抵持时或接近相互抵持时的稳定性差的问题。在如图3所示的实施例中，限位部50设置在第二内杆312上。Referring to FIG. 3, the clamping device 100 further includes a limiting portion 50. The limiting portion 50 is disposed on the outer end 322 of the clamping rod 32, or the limiting portion 50 is disposed on the first link group 31, or the limiting portion 50 is set on the outer end 322 of the clamping rod 32 and the first link group 31 at the same time. The limiting portion 50 is configured to abut the outer end 322 of the clamping rod 32 and the first link group 31 when the outer end 322 of the clamping rod 32 approaches the first link group 31 by a predetermined distance. When the two clamping levers 32 resist each other, or the distance between the two clamping levers 32 is small and close to each other, if the clamping lever 32 receives a torque from the outside around the inner end 321 at this time As a result, the clamping rod 32 is easy to rotate around the inner end 321, and the outer end 322 is easy to abut against the first link group 31, and the inner side surfaces of the two clamping rods 32 cannot fit well. The limiting portion 50 is used to keep the outer end 322 and the first link group 31 at least a predetermined distance, thereby avoiding the problem of poor stability of the two clamping levers 32 when they are against each other or near each other. In the embodiment shown in FIG. 3, the limiting portion 50 is disposed on the second inner lever 312.
进一步地，请参阅图3，在一个例子中，夹持杆32的尾端324的圆角可以设置得较小，例如小于5毫米等，以使得在两个夹持杆32相抵持时，两个夹持杆32的尾端324之间的间隙较小，两个尾端324也可以共同夹持较薄的物体。Further, referring to FIG. 3, in an example, the rounded corner of the rear end 324 of the clamping rod 32 may be set smaller, for example, less than 5 mm, etc., so that when the two clamping rods 32 are in opposition, The gap between the tail ends 324 of the two clamping rods 32 is small, and the two tail ends 324 can also hold thin objects together.
请参阅图2及图4，第二连杆组33的一端与本体10转动连接，另一端与夹持杆32的外端322转动连接。具体地，在本发明实施例中，第二连杆组33可以设置在第一连杆组31的外侧。第二连杆组33包括第一外杆331、第二外杆332及第三外杆333。第一外杆331的一端与驱动部20转动连接，另一端与第二外杆332转动连接。第二外杆332包括第一端3321、第二端3322及第三端3323，第一端3321与本体10转动连接，第二端3322与第一外杆331的一端转动连接，第三端3323与第三外杆333的一端转动。第二外杆332的中间可以掏空部分材料以减轻第二外杆332的重量。第一端3321、第二端3322及第三端3323可以不在同一直线上，第三端3323可以位于第一端3321的外侧。第三外杆333的一端与第三端3323转动连接，另一端与夹持杆32的外端322转动连接。Referring to FIGS. 2 and 4, one end of the second link group 33 is rotatably connected to the body 10, and the other end is rotatably connected to the outer end 322 of the clamping rod 32. Specifically, in the embodiment of the present invention, the second link group 33 may be disposed outside the first link group 31. The second link group 33 includes a first outer rod 331, a second outer rod 332, and a third outer rod 333. One end of the first outer rod 331 is rotatably connected to the driving portion 20, and the other end is rotatably connected to the second outer rod 332. The second outer rod 332 includes a first end 3321, a second end 3322, and a third end 3323. The first end 3321 is rotatably connected to the body 10. The second end 3322 is rotatably connected to one end of the first outer rod 331. The third end 3323 Rotate with one end of the third outer rod 333. A portion of the material of the second outer rod 332 may be hollowed out to reduce the weight of the second outer rod 332. The first end 3321, the second end 3322, and the third end 3323 may not be on the same straight line, and the third end 3323 may be located outside the first end 3321. One end of the third outer rod 333 is rotatably connected to the third end 3323, and the other end is rotatably connected to the outer end 322 of the clamping rod 32.
第一外杆331在驱动部20的驱动下运动，并带动第二端3322运动，使得第二外杆332整体绕第一端3321转动，此时第三端3323转动以带动第三外杆333运动，第三外杆333运动以带动夹持杆32的外端322运动。在驱动部20的驱动作用下，第一外杆331与驱动部20连接的一端至少可以沿两个方向运动，进而可以带动第三外杆333以至少两个方式运动，以使得夹持部30可以至少实现夹紧与松开两个动作。The first outer rod 331 moves under the driving of the driving portion 20 and drives the second end 3322 to move, so that the second outer rod 332 rotates around the first end 3321 as a whole, and the third end 3323 rotates to drive the third outer rod 333 The third outer rod 333 moves to drive the outer end 322 of the clamping rod 32 to move. Under the driving action of the driving portion 20, the end of the first outer rod 331 connected to the driving portion 20 can move in at least two directions, and then the third outer rod 333 can be driven to move in at least two ways, so that the clamping portion 30 At least two actions of clamping and releasing can be realized.
在如图3及图4所示的实施例中，第二连杆组33还包括外限位件334。外限位件334设置在第二外杆332上，或者外限位件334设置在第三外杆333上，或者外限位件334同时设置在第二外杆332及第三外杆333上。外限位件334用于限制第二外杆332与第三外杆333的相对角度处于预定的角度范围内。在本发明实施例中，外限位件334设置在第三外杆333上，外限位件334设置在靠近第三端3323的位置。预定的角度范围可以依据不同的夹持需求进行设定，例如预定的角度范围可以设定为第二端3322与第三端3323的连线、与第三外杆333之间的夹角不小一定的角度，如不小于80度等。In the embodiments shown in FIGS. 3 and 4, the second link group 33 further includes an outer limiter 334. The outer limiter 334 is provided on the second outer lever 332, or the outer limiter 334 is provided on the third outer lever 333, or the outer limiter 334 is provided on the second outer lever 332 and the third outer lever 333 at the same time . The outer limiter 334 is used to restrict the relative angle between the second outer lever 332 and the third outer lever 333 to be within a predetermined angle range. In the embodiment of the present invention, the outer limiter 334 is disposed on the third outer rod 333, and the outer limiter 334 is disposed near the third end 3323. The predetermined angle range can be set according to different clamping needs. For example, the predetermined angle range can be set to the line between the second end 3322 and the third end 3323, and the angle between the third end 3333 and the third outer rod 333 is not small. A certain angle, such as not less than 80 degrees.
当然，第二连杆组33的具体组成不限于上述的讨论，也可以有其他组成方式，例如第 二连杆组33可以包括四个或更多个连杆，多个连杆的结合方式也不限于上述举例的方式。例如如图8所示，第二连杆组33包括伸缩杆335，伸缩杆335的一端与本体10转动连接，伸缩杆335的另一端与夹持杆32的外端322转动连接。驱动部20用于驱动伸缩杆335伸长或缩短。驱动部20驱动伸缩杆335的伸缩运动，推动夹持杆32的外端322运动。Of course, the specific composition of the second link group 33 is not limited to the above discussion, and there may be other composition methods, for example, the second link group 33 may include four or more links, and the combination of multiple links is also It is not limited to the above examples. For example, as shown in FIG. 8, the second link group 33 includes a telescopic rod 335. One end of the telescopic rod 335 is rotatably connected to the body 10, and the other end of the telescopic rod 335 is rotatably connected to the outer end 322 of the clamping rod 32. The driving portion 20 is used to drive the telescopic rod 335 to extend or contract. The driving portion 20 drives the telescopic movement of the telescopic rod 335 to push the outer end 322 of the clamping rod 32 to move.
请参阅图2至图4，驱动部20设置在本体10上，驱动部20用于驱动夹持部30动作。驱动部20包括动力组件21及驱动组件22。驱动组件22与第一外杆331的远离第二外杆332的一端转动连接，驱动组件22用于在动力组件21的作用下运动，以带动第一外杆331的远离第二外杆332的一端平移。具体地，驱动组件22可与多个第一外杆331连接，驱动组件22运动时，可同时带动多个第一外杆331运动以带动多个夹持部30运动。Please refer to FIGS. 2 to 4. The driving portion 20 is disposed on the main body 10. The driving portion 20 is configured to drive the clamping portion 30 to operate. The driving unit 20 includes a power module 21 and a driving module 22. The driving component 22 is rotatably connected to an end of the first outer rod 331 far from the second outer rod 332. The driving component 22 is used to move under the action of the power component 21 to drive the first outer rod 331 away from the second outer rod 332. Pan at one end. Specifically, the driving assembly 22 may be connected to a plurality of first outer rods 331. When the driving assembly 22 moves, the plurality of first outer rods 331 may be simultaneously moved to drive the plurality of clamping portions 30 to move.
请参阅图5，本实施例的动力组件21包括电机211及减速箱212。电机211的类型可以是无刷电机、步进电机等，减速箱212与电机211连接，具体为减速箱212的输入轴与电机211的转轴连接，减速箱212可以由多个齿轮副组成，减速箱212的材料可以是塑胶以减轻夹持装置整体的重量，减速箱212可以起到增大动力组件21的输出扭矩的作用。通过控制电机211正转或反转，则可以控制夹持部30夹持物体或放开物体，而通过控制电机211输出的转矩的大小，则可以控制夹持部30夹持物体时的夹持力的大小。Referring to FIG. 5, the power assembly 21 of this embodiment includes a motor 211 and a reduction box 212. The type of the motor 211 can be a brushless motor, a stepping motor, etc. The reduction gear box 212 is connected to the motor 211. Specifically, the input shaft of the reduction gear box 212 is connected to the rotating shaft of the motor 211. The reduction gear box 212 can be composed of multiple gear pairs to reduce speed. The material of the box 212 can be plastic to reduce the weight of the entire clamping device, and the reduction box 212 can increase the output torque of the power assembly 21. By controlling the forward rotation or reverse rotation of the motor 211, the clamping unit 30 can be controlled to hold or release the object, and by controlling the amount of torque output by the motor 211, the clamping when the clamping unit 30 is clamping the object can be controlled Holding power.
驱动组件22包括转动件221及移动件222。转动件221用于在动力组件21的驱动下转动，具体为转动件221与减速箱212的输出轴连接，减速箱212输出的转矩可以传递到转动件221上。转动件221可以与电机211设置在减速箱212的同一侧，以减小驱动部20的整体尺寸，便于将驱动部20设置在本体10上。移动件222与转动件221转动连接，转动件221转动能够带动移动件222移动，移动件222与第一外杆331的远离第二外杆332的一端转动连接。The driving assembly 22 includes a rotating member 221 and a moving member 222. The rotating member 221 is used to rotate under the driving of the power assembly 21. Specifically, the rotating member 221 is connected to the output shaft of the reduction gear box 212, and the torque output by the reduction gear box 212 can be transmitted to the rotating member 221. The rotating member 221 may be disposed on the same side of the reduction box 212 as the motor 211 to reduce the overall size of the driving portion 20 and facilitate the setting of the driving portion 20 on the body 10. The moving member 222 is rotatably connected to the rotating member 221. The rotation of the rotating member 221 can drive the moving member 222 to move. The moving member 222 is rotatably connected to an end of the first outer rod 331 far from the second outer rod 332.
在本发明实施例中，转动件221包括丝杆2211。移动件222包括固定连接的丝杆螺母2221及驱动杆2222。丝杆螺母2221与丝杆2211转动连接，驱动杆2222与第一外杆331的远离第二外杆332的一端转动连接，丝杆2211转动以带动丝杆螺母2221及驱动杆2222移动，驱动杆2222沿丝杆2211的轴线方向移动。具体地，丝杆2211形成有外螺纹，丝杆螺母2221形成有内螺纹，丝杆2211相对于丝杆螺母2221转动时，丝杆2211带动丝杆螺母2221及驱动杆2222沿丝杆2211的轴线方向移动。驱动杆2222可以与多个夹持部30的第一外杆331转动连接，驱动杆2222移动带动多个第一外杆331同时运动，以带动多个夹持部30同时用于夹持物体。另外，由于丝杆2211与丝杆螺母2221通过螺纹配合，当丝杆2211转动并稳定在某个角度时，丝杆螺母2221及驱动杆2222的位置则固定下来，也就是夹持部30的夹持动作也固定了下来，因此，即使动力组件21不再向外输出动力，只要不转动丝杆2211，则夹持部30可以保持在当前的夹持动作，即可实现自锁。In the embodiment of the present invention, the rotating member 221 includes a screw rod 2211. The moving part 222 includes a screw rod nut 2221 and a driving rod 2222 which are fixedly connected. The screw rod nut 2221 is rotatably connected to the screw rod 2211. The driving rod 2222 is rotatably connected to an end of the first outer rod 331 far from the second outer rod 332. The screw rod 2211 is rotated to drive the screw nut 2221 and the driving rod 2222 to move. 2222 moves along the axial direction of the screw rod 2211. Specifically, the threaded rod 2211 is formed with external threads, and the threaded rod nut 2221 is formed with internal threads. When the threaded rod 2211 rotates relative to the threaded rod nut 2221, the threaded rod 2211 drives the threaded rod nut 2221 and the driving rod 2222 along the axis of the threaded rod 2211 Move in the direction. The driving rod 2222 can be rotatably connected with the first outer rods 331 of the plurality of clamping portions 30. The driving rod 2222 moves to drive the plurality of first outer rods 331 to move at the same time, so as to drive the plurality of clamping portions 30 to simultaneously hold objects. In addition, because the screw rod 2211 and the screw rod nut 2221 are threadedly matched, when the screw rod 2211 rotates and stabilizes at a certain angle, the positions of the screw rod nut 2221 and the driving rod 2222 are fixed, that is, the clamping of the clamping portion 30 The holding action is also fixed. Therefore, even if the power assembly 21 no longer outputs power externally, as long as the screw rod 2211 is not rotated, the clamping portion 30 can be maintained in the current clamping action and self-locking can be achieved.
当然，驱动部20的动力组件21的具体形式不限于如图5所示的举例，还可以依据需求进行其他设置，例如例如动力组件21可以通过液压或气压的方式驱动的缸体，驱动组件22可以是该缸体的活动杆，活动杆可以与第一外杆331的远离第二外杆332的一端转动连接，活动杆在动力组件21的驱动作用下移动，并带动第一外杆331的远离第二外杆332的一端平移。Of course, the specific form of the power module 21 of the driving unit 20 is not limited to the example shown in FIG. 5, and other settings can also be made according to requirements, for example, the cylinder of the power module 21 that can be driven by hydraulic or pneumatic pressure, and the drive module 22 It may be a movable rod of the cylinder body. The movable rod may be rotatably connected to an end of the first outer rod 331 far from the second outer rod 332. The movable rod is driven by the driving force of the power assembly 21 and drives the first outer rod 331. An end remote from the second outer rod 332 is translated.
下面将结合图9至图11对夹持装置100夹持物体的过程进行示例性描述。The process of holding the object by the holding device 100 will be described exemplarily with reference to FIGS. 9 to 11.
具体地，在夹持物体前，可以通过动力组件21驱动转动件221转动，转动件221转动带动驱动杆2222向第一方向移动，以使得夹持装置100张开，在张开的过程中，动力组件21需要做功以抵消弹性件40的弹力。夹持装置100张开角度达到要求时，移动夹持装置100或待夹持的物体2000，使物体2000处于多个夹持部30之间。然后可以通过驱动转动件221转动，以带动驱动杆2222向第二方向移动，以使得夹持装置100开始夹持物体2000，依据被夹持的物体2000的大小及夹持部30的夹持力作用部位的不同，夹持装置100夹持物体2000的方式也可能不同。Specifically, before the object is clamped, the rotation member 221 can be driven to rotate by the power assembly 21, and the rotation of the rotation member 221 drives the driving rod 2222 to move in the first direction, so that the clamping device 100 is opened. During the opening process, The power assembly 21 needs to perform work to offset the elastic force of the elastic member 40. When the opening angle of the clamping device 100 reaches a requirement, the clamping device 100 or the object 2000 to be clamped is moved so that the object 2000 is located between the plurality of clamping portions 30. Then, the driving member 221 can be rotated to drive the driving rod 2222 to move in the second direction, so that the clamping device 100 starts to clamp the object 2000, according to the size of the object 2000 and the clamping force of the clamping portion 30. Depending on the location of action, the manner in which the clamping device 100 clamps the object 2000 may be different.
在图9所示的例子中，夹持装置100可以通过平行夹的方式夹持物体2000，即，夹持部30单独通过夹持杆32与物体2000抵触并施加夹持力。在这个过程中，弹性件40及动力组件21共同作为夹持杆32的动力源以驱动夹持杆32夹持物体2000。夹持杆32可以始终沿由外侧向内侧的方向平移运动，夹持杆32与第二内杆312的夹角、第一内杆311与第二内杆312之间的夹角可以保持不变。In the example shown in FIG. 9, the clamping device 100 can clamp the object 2000 in a parallel clamping manner, that is, the clamping portion 30 individually abuts the object 2000 through the clamping lever 32 and applies a clamping force. In this process, the elastic member 40 and the power assembly 21 together serve as a power source for the clamping lever 32 to drive the clamping lever 32 to clamp the object 2000. The clamping lever 32 can always be translated in the direction from the outside to the inside, and the angle between the clamping lever 32 and the second inner lever 312 and the angle between the first inner lever 311 and the second inner lever 312 can be maintained. .
在图10所示的例子中，夹持装置100也可以通过抱夹的方式夹持物体2000，即，夹持部30通过第二内杆312及夹持杆32同时与物体2000抵触并施加夹持力，以在夹持侧面为圆形的物体2000时也能较稳定，在夹持装置100晃动或急加速过程中物体2000不易掉落或翻倒，在夹持较脆弱的物体2000时也不会损坏物体。在这个过程中，弹性件40及动力组件21共同作为第二内杆312及夹持杆32的动力源，以驱动第二内杆312及夹持杆32夹持物体。在一个例子中，第二内杆312可以先与物体2000抵触；然后夹持杆32可以绕内端321转动运动、夹持杆32与第二内杆312的夹角逐渐减小，直至夹持杆32也与物体2000抵触。第一内杆311与第二内杆312之间的夹角可以保持不变。In the example shown in FIG. 10, the clamping device 100 can also clamp the object 2000 by holding the clamp, that is, the clamping portion 30 simultaneously opposes the object 2000 by the second inner lever 312 and the clamping lever 32 and applies the clamp. The holding force can be more stable when holding a round object 2000 on the side, the object 2000 is not easy to fall or fall during the shaking or rapid acceleration of the holding device 100, and it is also easy to hold the weak object 2000. Will not damage objects. In this process, the elastic member 40 and the power assembly 21 together serve as a power source for the second inner rod 312 and the clamping rod 32 to drive the second inner rod 312 and the clamping rod 32 to clamp an object. In one example, the second inner rod 312 may first collide with the object 2000; then the clamping rod 32 may rotate around the inner end 321, and the angle between the clamping rod 32 and the second inner rod 312 gradually decreases until the clamping The rod 32 also collides with the object 2000. The included angle between the first inner rod 311 and the second inner rod 312 may remain unchanged.
在图11所示的例子中，夹持装置100也可以通过另一种抱夹的方式夹持物体2000，即，夹持部30通过第一内杆311、第二内杆312及夹持杆32同时与物体2000抵触并施加夹持力。在这个过程中，弹性件40及动力组件21共同作为第一内杆311、第二内杆312及夹持杆32动力源，以驱动第一内杆311、第二内杆312及夹持杆32夹持物体。在一个例子中，第一内杆311可以先与物体2000抵触；然后第二内杆312相对于第一内杆311转动，以使第二内杆312与第一内杆311的夹角逐渐减小，直至第二内杆312也与物体2000 抵触；接着夹持杆32可以绕内端321转动运动、夹持杆32与第二内杆312的夹角逐渐减小，直至夹持杆32也与物体2000抵触。通过第一内杆311、第二内杆312及夹持杆32共同抵触并夹持物体2000，施加在物体2000上的夹持力较为分散，在夹持较脆弱的物体2000时也不会损坏物体，且夹持稳定性更高，在夹持装置100晃动或急加速过程中物体2000不易掉落或翻倒。In the example shown in FIG. 11, the clamping device 100 may also clamp the object 2000 by another clamping method, that is, the clamping portion 30 passes the first inner rod 311, the second inner rod 312, and the clamping rod. 32 simultaneously collides with the object 2000 and exerts a clamping force. In this process, the elastic member 40 and the power assembly 21 together serve as a power source for the first inner rod 311, the second inner rod 312, and the clamping rod 32 to drive the first inner rod 311, the second inner rod 312, and the clamping rod. 32 Holding objects. In one example, the first inner rod 311 may first collide with the object 2000; then the second inner rod 312 is rotated relative to the first inner rod 311, so that the angle between the second inner rod 312 and the first inner rod 311 is gradually reduced. Small until the second inner rod 312 also interferes with the object 2000; then the clamping rod 32 can rotate around the inner end 321, and the angle between the clamping rod 32 and the second inner rod 312 gradually decreases until the clamping rod 32 also Conflicts with object 2000. By the first inner rod 311, the second inner rod 312, and the clamping rod 32 collectively abutting and clamping the object 2000, the clamping force exerted on the object 2000 is dispersed, and it will not be damaged when clamping the fragile object 2000. An object has higher clamping stability, and the object 2000 is less likely to fall or fall during the shaking or rapid acceleration of the clamping device 100.
上述的转动连接的方式均可以是铰接，铰接的轴可以是塑胶轴以降低夹持装置100整体的重量。The above-mentioned rotational connection methods may all be hinges, and the hinged shaft may be a plastic shaft to reduce the overall weight of the clamping device 100.
在本说明书的描述中，参考术语“某些实施方式”、“一个实施方式”、“一些实施方式”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。In the description of this specification, the description with reference to the terms "certain embodiments", "one embodiment", "some embodiments", "examples", "specific examples", or "some examples", etc., means in combination with the implementation The specific features, structures, materials, or characteristics described in the examples or examples are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms are not necessarily directed to the same embodiment or example. Moreover, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. In addition, without any contradiction, those skilled in the art may combine and combine different embodiments or examples and features of the different embodiments or examples described in this specification.
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个所述特征。在本发明的描述中，“多个”的含义是至少两个，例如两个，三个，除非另有明确具体的限定。In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as “first” and “second” may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, for example, two, three, unless specifically defined otherwise.
尽管上面已经示出和描述了本发明的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本发明的限制，本领域的普通技术人员在本发明的范围内可以对上述实施例进行变化、修改、替换和变型，本发明的范围由权利要求及其等同物限定。Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limitations on the present invention. Those skilled in the art can interpret the above within the scope of the present invention. The embodiments are subject to change, modification, replacement, and modification, and the scope of the present invention is defined by the claims and their equivalents.

Claims (31)

  1. 一种夹持装置，其特征在于，包括本体、驱动部及多个夹持部，所述驱动部及多个所述夹持部均设置在所述本体上，所述夹持部包括：A clamping device is characterized in that it comprises a main body, a driving portion, and a plurality of clamping portions. The driving portion and the plurality of clamping portions are both disposed on the body. The clamping portion includes:
    第一连杆组，所述第一连杆组的一端与所述本体通过弹性件转动连接；A first link group, one end of which is rotatably connected with the body through an elastic member;
    夹持杆，所述夹持杆包括内端及外端，所述夹持杆的内端与所述第一连杆组的另一端转动连接；及A clamping lever comprising an inner end and an outer end, the inner end of the clamping lever being rotatably connected to the other end of the first link group; and
    第二连杆组，所述第二连杆组的一端与所述本体转动连接，另一端与所述夹持杆的外端转动连接；A second link group, one end of which is rotatably connected to the body, and the other end of which is rotatably connected to the outer end of the clamping rod;
    所述弹性件用于向所述第一连杆组施加弹力，以使所述第一连杆组带动所述夹持杆的内端运动，所述驱动部用于驱动所述第二连杆组运动，以使所述第二连杆组带动所述夹持杆的外端运动。The elastic member is configured to apply an elastic force to the first link group, so that the first link group drives an inner end of the clamping rod to move, and the driving portion is configured to drive the second link Group movement, so that the second link group drives the outer end of the clamping rod to move.
  2. 根据权利要求1所述的夹持装置，其特征在于，所述弹性件包括扭簧和/或拉簧。The clamping device according to claim 1, wherein the elastic member comprises a torsion spring and / or a tension spring.
  3. 根据权利要求1所述的夹持装置，其特征在于，所述第一连杆组包括第一内杆及第二内杆，所述第一内杆的一端与所述本体通过所述弹性件转动连接，另一端与所述第二内杆的一端转动连接，所述第二内杆的另一端与所述夹持杆的内端转动连接。The clamping device according to claim 1, wherein the first link group includes a first inner rod and a second inner rod, and one end of the first inner rod and the body pass through the elastic member. The other end is rotatably connected to one end of the second inner rod, and the other end is rotatably connected to the inner end of the clamping rod.
  4. 根据权利要求1所述的夹持装置，其特征在于，所述第一连杆组还包括内限位件，所述内限位件设置在所述第一内杆及/或所述第二内杆上，所述内限位件用于限制所述第一内杆与所述第二内杆的相对角度处于预设的角度范围内。The clamping device according to claim 1, wherein the first link group further comprises an inner limiter, and the inner limiter is disposed on the first inner rod and / or the second On the inner lever, the inner limiter is used to limit the relative angle between the first inner lever and the second inner lever within a preset angle range.
  5. 根据权利要求1所述的夹持装置，其特征在于，所述夹持杆形成有夹持件，所述夹持件用于在所述夹持装置夹持物体时与物体接触，在所述夹持件夹持物体时，所述夹持件发生弹性形变以对物体施加弹力。The gripping device according to claim 1, wherein the gripping lever is formed with a gripping member for contacting an object when the gripping device grips the object, and When the clamping member clamps the object, the clamping member is elastically deformed to apply an elastic force to the object.
  6. 根据权利要求1所述的夹持装置，其特征在于，多个所述夹持部沿所述本体的周向等角度间隔分布。The clamping device according to claim 1, wherein a plurality of the clamping portions are distributed at equal angular intervals in a circumferential direction of the body.
  7. 根据权利要求1所述的夹持装置，其特征在于，所述夹持部的数量为两个，两个所述夹持部的两个所述夹持杆相对设置，在至少一个工作状态下，两个所述夹持杆相互抵持。The clamping device according to claim 1, wherein the number of the clamping portions is two, and the two clamping rods of the two clamping portions are oppositely disposed, and in at least one working state , The two clamping rods abut against each other.
  8. 根据权利要求1至7任意一项所述的夹持装置，其特征在于，所述第二连杆组包括第一外杆、第二外杆及第三外杆，The clamping device according to any one of claims 1 to 7, wherein the second link group includes a first outer rod, a second outer rod, and a third outer rod,
    所述第二外杆包括第一端、第二端及第三端，所述第一端与所述本体转动连接，所述第二端与所述第一外杆的一端转动连接，所述第三端与所述第三外杆的一端转动连接；The second outer rod includes a first end, a second end, and a third end. The first end is rotatably connected to the body. The second end is rotatably connected to one end of the first outer rod. The third end is rotationally connected with one end of the third outer rod;
    所述第一外杆的另一端与所述驱动部转动连接；The other end of the first outer rod is rotatably connected with the driving portion;
    所述第三外杆的另一端与所述夹持杆的外端转动连接。The other end of the third outer rod is rotatably connected to the outer end of the clamping rod.
  9. 根据权利要求8所述的夹持装置，其特征在于，所述第二连杆组还包括外限位件，所述外限位件设置在所述第二外杆及/或所述第三外杆上，所述外限位件用于限制所述第二外杆与所述第三外杆的相对角度处于预定的角度范围内。The clamping device according to claim 8, wherein the second link group further comprises an outer limiter, and the outer limiter is disposed on the second outer lever and / or the third On the outer rod, the outer limiter is used to limit the relative angle between the second outer rod and the third outer rod within a predetermined angle range.
  10. 根据权利要求8所述的夹持装置，其特征在于，所述驱动部包括：The clamping device according to claim 8, wherein the driving section comprises:
    动力组件；及Power components; and
    驱动组件，所述驱动组件与所述第一外杆的远离所述第二外杆的一端转动连接，所述驱动组件用于在所述动力组件的作用下运动，以带动所述第一外杆的远离所述第二外杆的一端平移。A driving component that is rotatably connected to an end of the first outer rod remote from the second outer rod, and the driving component is configured to move under the action of the power component to drive the first outer rod An end of the rod remote from the second outer rod is translated.
  11. 根据权利要求10所述的夹持装置，其特征在于，所述驱动组件包括：The clamping device according to claim 10, wherein the driving assembly comprises:
    转动件，所述转动件用于在所述动力组件的驱动下转动；及A rotating member for rotating under the driving of the power assembly; and
    移动件，所述移动件与所述转动件转动连接，所述转动件转动能够带动所述移动件移动，所述移动件与所述第一外杆的远离所述第二外杆的一端转动连接。A moving member, the moving member is rotatably connected to the rotating member, and the rotating member can rotate the moving member, and the moving member and an end of the first outer rod far from the second outer rod are rotated connection.
  12. 根据权利要求11所述的夹持装置，其特征在于，所述动力组件包括电机及减速箱，所述减速箱的输入轴与所述电机的转轴连接，所述减速箱的输出轴与所述转动件连接。The clamping device according to claim 11, wherein the power assembly includes a motor and a reduction gear box, an input shaft of the reduction gear box is connected to a rotating shaft of the motor, and an output shaft of the reduction gear box is connected to the Rotating parts are connected.
  13. 根据权利要求11所述的夹持装置，其特征在于，所述转动件包括丝杆，所述移动件包括固定连接的丝杆螺母及驱动杆，所述丝杆螺母与所述丝杆转动连接，所述驱动杆与所述第一外杆的远离所述第二外杆的一端转动连接，所述丝杆转动以带动所述丝杆螺母及所述驱动杆移动，所述驱动杆沿所述丝杠的轴线方向移动。The clamping device according to claim 11, wherein the rotating member includes a screw rod, the moving member includes a screw rod nut and a driving rod that are fixedly connected, and the screw rod nut is rotatably connected to the screw rod. The driving rod is rotatably connected to an end of the first outer rod remote from the second outer rod. The screw rod rotates to drive the screw nut and the driving rod to move. The screw moves in the axial direction.
  14. 根据权利要求1至7任意一项所述的夹持装置，其特征在于，所述第二连杆组包 括伸缩杆，所述伸缩杆的一端与所述本体转动连接，所述伸缩杆的另一端与所述夹持杆的外端转动连接，所述驱动部用于驱动所述伸缩杆伸长或缩短。The clamping device according to any one of claims 1 to 7, wherein the second link group includes a telescopic rod, one end of the telescopic rod is rotatably connected to the body, and the other of the telescopic rod is One end is rotatably connected to the outer end of the clamping rod, and the driving portion is configured to drive the telescopic rod to extend or contract.
  15. 根据权利要求1至7任意一项所述的夹持装置，其特征在于，所述夹持装置还包括限位部，所述限位部设置在所述夹持杆的外端及/或所述第一连杆组上，所述限位部用于在所述夹持杆的外端靠近所述第一连杆组预定距离时，抵持所述夹持杆的外端及所述第一连杆组。The clamping device according to any one of claims 1 to 7, wherein the clamping device further comprises a limiting portion, and the limiting portion is provided at an outer end of the clamping rod and / or On the first link group, the limiting portion is configured to resist the outer end of the clamping lever and the first end when the outer end of the clamping lever approaches a predetermined distance from the first link group. A set of connecting rods.
  16. 一种可移动机器，其特征在于，包括：A movable machine, comprising:
    移动主体；以及Moving subject; and
    夹持装置，所述夹持装置安装在所述移动主体上，所述夹持装置包括本体、驱动部及多个夹持部，所述驱动部及多个所述夹持部均设置在所述本体上，所述夹持部包括：A clamping device is mounted on the moving body. The clamping device includes a body, a driving portion, and a plurality of clamping portions, and the driving portion and the plurality of clamping portions are provided at all locations. On the body, the clamping portion includes:
    第一连杆组，所述第一连杆组的一端与所述本体通过弹性件转动连接；A first link group, one end of which is rotatably connected with the body through an elastic member;
    夹持杆，所述夹持杆包括内端及外端，所述夹持杆的内端与所述第一连杆组的另一端转动连接；及A clamping lever comprising an inner end and an outer end, the inner end of the clamping lever being rotatably connected to the other end of the first link group; and
    第二连杆组，所述第二连杆组的一端与所述本体转动连接，另一端与所述夹持杆的外端转动连接；A second link group, one end of which is rotatably connected to the body, and the other end of which is rotatably connected to the outer end of the clamping rod;
    所述弹性件用于向所述第一连杆组施加弹力，以使所述第一连杆组带动所述夹持杆的内端运动，所述驱动部用于驱动所述第二连杆组运动，以使所述第二连杆组带动所述夹持杆的外端运动。The elastic member is configured to apply an elastic force to the first link group, so that the first link group drives an inner end of the clamping rod to move, and the driving portion is configured to drive the second link Group movement, so that the second link group drives the outer end of the clamping rod to move.
  17. 根据权利要求16所述的可移动机器，其特征在于，所述可移动机器包括如下至少一种：无人车、无人船及无人飞行器。The movable machine according to claim 16, wherein the movable machine comprises at least one of the following: an unmanned vehicle, an unmanned ship, and an unmanned aerial vehicle.
  18. 根据权利要求16所述的可移动机器，其特征在于，所述弹性件包括扭簧和/或拉簧。The movable machine according to claim 16, wherein the elastic member comprises a torsion spring and / or a tension spring.
  19. 根据权利要求16所述的可移动机器，其特征在于，所述第一连杆组包括第一内杆及第二内杆，所述第一内杆的一端与所述本体通过所述弹性件转动连接，另一端与所述第二内杆的一端转动连接，所述第二内杆的另一端与所述夹持杆的内端转动连接。The movable machine according to claim 16, wherein the first link group includes a first inner rod and a second inner rod, and one end of the first inner rod and the body pass through the elastic member. The other end is rotatably connected to one end of the second inner rod, and the other end is rotatably connected to the inner end of the clamping rod.
  20. 根据权利要求16所述的可移动机器，其特征在于，所述第一连杆组还包括内限位件，所述内限位件设置在所述第一内杆及/或所述第二内杆上，所述内限位件用于限制所述 第一内杆与所述第二内杆的相对角度处于预设的角度范围内。The movable machine according to claim 16, wherein the first link group further comprises an inner limiter, and the inner limiter is disposed on the first inner lever and / or the second On the inner lever, the inner limiter is used to limit the relative angle between the first inner lever and the second inner lever within a preset angle range.
  21. 根据权利要求16所述的可移动机器，其特征在于，所述夹持杆形成有夹持件，所述夹持件用于在所述夹持装置夹持物体时与物体接触，在所述夹持件夹持物体时，所述夹持件发生弹性形变以对物体施加弹力。The movable machine according to claim 16, wherein the clamping lever is formed with a clamping member for contacting the object when the clamping device clamps the object, and When the clamping member clamps the object, the clamping member is elastically deformed to apply an elastic force to the object.
  22. 根据权利要求16所述的可移动机器，其特征在于，多个所述夹持部沿所述本体的周向等角度间隔分布。The movable machine according to claim 16, wherein a plurality of the clamping portions are distributed at equal angular intervals in a circumferential direction of the body.
  23. 根据权利要求16所述的可移动机器，其特征在于，所述夹持部的数量为两个，两个所述夹持部的两个所述夹持杆相对设置，在至少一个工作状态下，两个所述夹持杆相互抵持。The movable machine according to claim 16, wherein the number of the clamping portions is two, and two of the clamping rods of the two clamping portions are oppositely disposed, and in at least one working state , The two clamping rods abut against each other.
  24. 根据权利要求16至23任意一项所述的可移动机器，其特征在于，所述第二连杆组包括第一外杆、第二外杆及第三外杆，The movable machine according to any one of claims 16 to 23, wherein the second link group includes a first outer rod, a second outer rod, and a third outer rod,
    所述第二外杆包括第一端、第二端及第三端，所述第一端与所述本体转动连接，所述第二端与所述第一外杆的一端转动连接，所述第三端与所述第三外杆的一端转动连接；The second outer rod includes a first end, a second end, and a third end. The first end is rotatably connected to the body. The second end is rotatably connected to one end of the first outer rod. The third end is rotationally connected with one end of the third outer rod;
    所述第一外杆的另一端与所述驱动部转动连接；The other end of the first outer rod is rotatably connected with the driving portion;
    所述第三外杆的另一端与所述夹持杆的外端转动连接。The other end of the third outer rod is rotatably connected to the outer end of the clamping rod.
  25. 根据权利要求24所述的可移动机器，其特征在于，所述第二连杆组还包括外限位件，所述外限位件设置在所述第二外杆及/或所述第三外杆上，所述外限位件用于限制所述第二外杆与所述第三外杆的相对角度处于预定的角度范围内。The movable machine according to claim 24, wherein the second link group further comprises an outer limiter, and the outer limiter is disposed on the second outer lever and / or the third On the outer rod, the outer limiter is used to limit the relative angle between the second outer rod and the third outer rod within a predetermined angle range.
  26. 根据权利要求24所述的可移动机器，其特征在于，所述驱动部包括：The movable machine according to claim 24, wherein the driving section comprises:
    动力组件；及Power components; and
    驱动组件，所述驱动组件与所述第一外杆的远离所述第二外杆的一端转动连接，所述驱动组件用于在所述动力组件的作用下运动，以带动所述第一外杆的远离所述第二外杆的一端平移。A driving component that is rotatably connected to an end of the first outer rod remote from the second outer rod, and the driving component is configured to move under the action of the power component to drive the first outer rod An end of the rod remote from the second outer rod is translated.
  27. 根据权利要求26所述的可移动机器，其特征在于，所述驱动组件包括：The movable machine according to claim 26, wherein the drive assembly includes:
    转动件，所述转动件用于在所述动力组件的驱动下转动；及A rotating member for rotating under the driving of the power assembly; and
    移动件，所述移动件与所述转动件转动连接，所述转动件转动能够带动所述移动件移动，所述移动件与所述第一外杆的远离所述第二外杆的一端转动连接。A moving member, the moving member is rotatably connected to the rotating member, and the rotating member can rotate the moving member, and the moving member and an end of the first outer rod far from the second outer rod rotate connection.
  28. 根据权利要求27所述的可移动机器，其特征在于，所述动力组件包括电机及减速箱，所述减速箱的输入轴与所述电机的转轴连接，所述减速箱的输出轴与所述转动件连接。The movable machine according to claim 27, wherein the power assembly includes a motor and a reduction gear box, an input shaft of the reduction gear box is connected to a rotating shaft of the motor, and an output shaft of the reduction gear box is connected to the Rotating parts are connected.
  29. 根据权利要求27所述的可移动机器，其特征在于，所述转动件包括丝杆，所述移动件包括固定连接的丝杆螺母及驱动杆，所述丝杆螺母与所述丝杆转动连接，所述驱动杆与所述第一外杆的远离所述第二外杆的一端转动连接，所述丝杆转动以带动所述丝杆螺母及所述驱动杆移动，所述驱动杆沿所述丝杠的轴线方向移动。The movable machine according to claim 27, wherein the rotating member includes a screw rod, the moving member includes a screw rod nut and a driving rod that are fixedly connected, and the screw rod nut is rotatably connected to the screw rod. The driving rod is rotatably connected to an end of the first outer rod remote from the second outer rod. The screw rod rotates to drive the screw nut and the driving rod to move. The screw moves in the axial direction.
  30. 根据权利要求16至23任意一项所述的可移动机器，其特征在于，所述第二连杆组包括伸缩杆，所述伸缩杆的一端与所述本体转动连接，所述伸缩杆的另一端与所述夹持杆的外端转动连接，所述驱动部用于驱动所述伸缩杆伸长或缩短。The movable machine according to any one of claims 16 to 23, wherein the second link group includes a telescopic rod, one end of the telescopic rod is rotatably connected to the body, and the other of the telescopic rod is One end is rotatably connected to the outer end of the clamping rod, and the driving portion is configured to drive the telescopic rod to extend or contract.
  31. 根据权利要求16至23任意一项所述的可移动机器，其特征在于，所述夹持装置还包括限位部，所述限位部设置在所述夹持杆的外端及/或所述第一连杆组上，所述限位部用于在所述夹持杆的外端靠近所述第一连杆组预定距离时，抵持所述夹持杆的外端及所述第一连杆组。The movable machine according to any one of claims 16 to 23, wherein the clamping device further comprises a limiting portion, and the limiting portion is provided at an outer end of the clamping rod and / or On the first link group, the limiting portion is configured to resist the outer end of the clamping lever and the first end when the outer end of the clamping lever approaches a predetermined distance from the first link group. A set of connecting rods.
PCT/CN2018/102936 2018-08-29 2018-08-29 Clamping device and movable machine WO2020042007A1 (en)

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