WO2023201463A1

WO2023201463A1 - Clamp and robotic arm

Info

Publication number: WO2023201463A1
Application number: PCT/CN2022/087368
Authority: WO
Inventors: 朱伟; 何凯; 方海涛; 纪园
Original assignee: 中国科学院深圳先进技术研究院
Priority date: 2022-04-18
Filing date: 2022-04-18
Publication date: 2023-10-26

Abstract

The present application relates to the technical field of clamping devices, and provided are a clamp and a robotic arm. The clamp comprises a base (100), a rotary driving member (210), a rotary transmission member (220), a first guide gear (310) and two first clamping members (410). The rotary transmission member (220) is mounted on an output shaft (211) of the rotary driving member (210), and is provided with limiting recesses (221). The first guide gear (310) is provided with elastic transmission members (320), and the elastic ends (321) of the elastic transmission members (320) are elastically embedded in the limiting recesses (221). When the acting force applied to the elastic transmission members (320) by the rotary transmission member (220) is greater than or equal to a preset force value, the elastic ends (321) of the elastic transmission members (320) elastically disengage from the limiting recesses (221) and keep abutting against the rotary transmission member (220).

Description

夹具及机器手Fixtures and robots

技术领域Technical field

本申请涉及夹持装置技术领域，尤其是涉及一种夹具及机器手。The present application relates to the technical field of clamping devices, and in particular to a clamp and a robot hand.

背景技术Background technique

这里的陈述仅提供与本申请有关的背景信息，而不必然构成现有技术。机器人夹爪是一种可以实现类似人手功能的机器人部件，用来握持工件或工具的部件，是重要的执行机构之一。根据机器人所握持的工件形状不同，夹爪可分为多种类型，主要可分为搬运用、加工用和测量用三类。搬运用的夹爪，又称为机械夹钳，包括两个至五个不等的夹指和若干个变形指。加工用的夹爪包括磁吸盘、焊枪等的特殊手爪。测量用的夹爪是装有测量头或传感器的附加装置，用来进行测量及检验作业。The statements herein merely provide background information relevant to the present application and do not necessarily constitute prior art. The robot gripper is a robot component that can perform functions similar to those of a human hand. It is a component used to hold workpieces or tools and is one of the important actuators. According to the shape of the workpiece held by the robot, the gripper can be divided into various types, mainly divided into three categories: transportation, processing and measurement. Clamps for handling, also known as mechanical clamps, include two to five clamping fingers and several deformed fingers. Grippers for processing include special grippers such as magnetic chucks and welding guns. The measuring gripper is an additional device equipped with a measuring head or sensor, which is used for measuring and inspection operations.

现有的机器人夹爪在夹持物体时，其夹持力不可控，容易因夹持力过大而损坏被夹持物体。When the existing robot gripper clamps an object, its clamping force is uncontrollable, and it is easy to damage the clamped object due to excessive clamping force.

技术问题technical problem

本申请的目的在于提供一种夹具及机器手，旨在解决现有的机器人夹爪的夹持力不可控的技术问题。The purpose of this application is to provide a clamp and a robot hand, aiming to solve the technical problem of uncontrollable clamping force of existing robot clamping claws.

技术解决方案Technical solutions

为解决上述技术问题，本申请实施例采用的技术方案是：In order to solve the above technical problems, the technical solutions adopted in the embodiments of this application are:

第一方面，本申请提供了一种夹具，包括：In a first aspect, this application provides a clamp, including:

基座；base;

旋转驱动件，所述旋转驱动件安装于所述基座；a rotary drive member, the rotary drive member is installed on the base;

旋转传动件，所述旋转传动件安装于所述旋转驱动件的输出轴，所述旋转传动件设有限位槽；A rotary transmission member, the rotary transmission member is installed on the output shaft of the rotary drive member, and the rotary transmission member is provided with a limiting groove;

第一导向齿轮，所述第一导向齿轮可旋转地安装于所述基座，所述第一导向齿轮安装有弹性传动件，所述弹性传动件的弹性端弹性嵌入所述限位槽内，所述弹性端在所述旋转传动件施加于所述弹性端的作用力大于或等于预设力值时脱离所述限位槽而保持抵压于所述旋转传动件；A first guide gear, the first guide gear is rotatably installed on the base, the first guide gear is equipped with an elastic transmission member, and the elastic end of the elastic transmission member is elastically embedded in the limiting groove, When the force exerted by the rotary transmission member on the elastic end is greater than or equal to the preset force value, the elastic end breaks away from the limiting groove and remains pressed against the rotary transmission member;

相对设置的两个第一夹持件，所述第一夹持件连接有第一导向齿条，所述第一导向齿条与所述第一导向齿轮相啮合，从而所述第一导向齿轮旋转能带动两个所述第一夹持件相向运动或背向运动。Two first clamping parts are arranged oppositely. The first clamping parts are connected with a first guide rack. The first guide rack meshes with the first guide gear, so that the first guide gear Rotation can drive the two first clamping parts to move toward or away from each other.

在其中一个实施例中，所述第一导向齿轮的中部具有容纳孔，所述旋转传动件位于所述容纳孔内，所述限位槽位于所述旋转传动件的侧面，所述弹性传动件沿所述第一导向齿轮的径向布置，所述弹性传动件安装于所述容纳孔的侧壁，所述弹性端弹性嵌入位于所述旋转传动件的侧面的所述限位槽内。In one embodiment, the first guide gear has a receiving hole in the middle, the rotating transmission member is located in the receiving hole, the limiting groove is located on the side of the rotating transmission member, and the elastic transmission member Arranged along the radial direction of the first guide gear, the elastic transmission member is installed on the side wall of the accommodation hole, and the elastic end is elastically embedded in the limiting groove located on the side of the rotation transmission member.

在其中一个实施例中，所述限位槽的数量为两个以上。In one embodiment, the number of the limiting grooves is more than two.

在其中一个实施例中，两个以上所述限位槽沿所述旋转传动件的周向间隔分布。In one embodiment, two or more of the limiting grooves are distributed at intervals along the circumference of the rotary transmission member.

在其中一个实施例中，所述第一导向齿轮安装有两个以上所述弹性传动件。In one embodiment, the first guide gear is equipped with more than two elastic transmission members.

在其中一个实施例中，所述弹性传动件的数量小于或等于所述限位槽的数量。In one embodiment, the number of elastic transmission members is less than or equal to the number of limiting slots.

在其中一个实施例中，所述旋转传动件的表面设有多个沿其周向分布的轮齿，相邻两个所述轮齿之间形成的齿槽为所述限位槽。In one embodiment, the surface of the rotary transmission member is provided with a plurality of gear teeth distributed along its circumference, and the tooth groove formed between two adjacent gear teeth is the limiting groove.

在其中一个实施例中，所述第一夹持件滑动安装于所述基座。In one embodiment, the first clamping member is slidably mounted on the base.

在其中一个实施例中，所述旋转驱动件安装于所述基座的第一侧面，所述基座的第二侧面安装有第一导轨，所述第一夹持件滑动安装于所述第一导轨。In one embodiment, the rotary driving member is installed on the first side of the base, the first guide rail is installed on the second side of the base, and the first clamping member is slidably installed on the third side. One guide rail.

在其中一个实施例中，所述第一导轨的数量为两个。In one embodiment, the number of the first guide rails is two.

在其中一个实施例中，两个所述第一导轨沿所述第二方向依次间隔分布。In one embodiment, the two first guide rails are spaced apart in sequence along the second direction.

在其中一个实施例中，所述第一导向齿轮位于两个所述第一导轨之间。In one embodiment, the first guide gear is located between the two first guide rails.

在其中一个实施例中，所述第一夹持件与两个所述第一导轨均滑动配合。In one embodiment, the first clamping member is in sliding fit with both of the first guide rails.

在其中一个实施例中，所述夹具还包括第二导向齿轮和相对设置的两个第二夹持件，所述第二导向齿轮可旋转地安装于所述基座，所述第二导向齿轮安装有所述弹性传动件，所述第二夹持件连接有第二导向齿条，所述第二导向齿条与所述第二导向齿轮相啮合，从而所述第二导向齿轮旋转能带动两个所述第二夹持件相向运动或背向运动。In one embodiment, the clamp further includes a second guide gear and two opposite second clamping members, the second guide gear is rotatably mounted on the base, and the second guide gear The elastic transmission member is installed, the second clamping member is connected to a second guide rack, and the second guide rack meshes with the second guide gear, so that the rotation of the second guide gear can drive The two second clamping parts move toward or away from each other.

在其中一个实施例中，两个所述第一夹持件沿第一方向间隔分布，两个所述第二夹持件沿第二方向间隔分布，所述第一方向和所述第二方向不同。In one embodiment, two of the first clamping members are spaced apart along the first direction, and the two second clamping members are spaced apart along the second direction. The first direction and the second direction different.

在其中一个实施例中，所述第一导向齿轮和所述第二导向齿轮沿第三方向间隔分布、且同轴设置，所述第三方向垂直于所述第一方向和所述第二方向所在的平面。In one embodiment, the first guide gear and the second guide gear are spaced apart and coaxially arranged along a third direction, and the third direction is perpendicular to the first direction and the second direction. The plane on which it is located.

在其中一个实施例中，所述第二夹持件滑动安装于所述基座。In one embodiment, the second clamping member is slidably mounted on the base.

在其中一个实施例中，所述基座的侧部安装有第二导轨，所述第二夹持件滑动安装于所述第二导轨。In one embodiment, a second guide rail is installed on a side of the base, and the second clamping member is slidably installed on the second guide rail.

在其中一个实施例中，所述第二导轨的数量为两个。In one embodiment, the number of the second guide rails is two.

在其中一个实施例中，所述第二导向齿轮位于两个所述第二导轨之间。In one embodiment, the second guide gear is located between the two second guide rails.

在其中一个实施例中，所述第二夹持件与两个所述第二导轨均滑动配合。In one embodiment, the second clamping member is in sliding fit with both of the second guide rails.

在其中一个实施例中，两个所述第二导轨沿所述第一方向依次间隔分布。In one embodiment, the two second guide rails are spaced apart in sequence along the first direction.

在其中一个实施例中，所述第一夹持件包括安装部和滚动部，所述安装部用于与所述第一导向齿条连接，所述滚动部可转动地安装于所述安装部，所述滚动部用于与被夹持物体滚动接触。In one embodiment, the first clamping member includes a mounting portion and a rolling portion, the mounting portion is used to connect with the first guide rack, and the rolling portion is rotatably mounted on the mounting portion. , the rolling part is used for rolling contact with the clamped object.

在其中一个实施例中，所述滚动部的数量为两个以上，两个以上所述滚动部沿垂直于所述第一夹持件的运动方向依次间隔分布。In one embodiment, the number of the rolling parts is more than two, and the two or more rolling parts are spaced apart in sequence along a direction perpendicular to the movement direction of the first clamping member.

第二方面，本申请提供了一种机器手，包括机械臂和上述任意一项所述的夹具，所述基座安装于所述机械臂的末端。In a second aspect, the present application provides a robot hand, including a robot arm and any one of the clamps described above, and the base is installed at the end of the robot arm.

有益效果beneficial effects

本申请实施例提供的夹具的有益效果在于：第一导向齿轮通过弹性传动件与旋转传动件实现力的传递，当旋转驱动件带动旋转传动件旋转时，第一导向齿轮同步旋转，并通过第一导向齿条带动两个第一夹持件相向运动而夹持物体、或者背向运动而松开物体；其中，在两个第一夹持件相向运动过程中，对物体的夹持力不断增大，旋转传动件施加于弹性传动件的作用力也不断增大，直至该作用力大于或等于预设力值时，弹性传动件的弹性端弹性脱离限位槽且保持抵压旋转传动件，此时，旋转传动件施加于弹性传动件的作用力恒定等于该预设力值，如果该作用力降低，则弹性端会弹性嵌入限位槽内，如果该作用力增大，则弹性端会弹性脱离限位槽，因此，两个第一夹持件不再继续相向运动，且保持恒定夹持力，实现恒力夹持和过载保护，解决了现有的机器人夹爪的夹持力不可控的技术问题，从而提高了夹持物体的安全性。The beneficial effect of the clamp provided by the embodiment of the present application is that: the first guide gear realizes force transmission through the elastic transmission member and the rotation transmission member. When the rotation drive member drives the rotation transmission member to rotate, the first guide gear rotates synchronously and passes through the third guide gear. A guide rack drives the two first clamping members to move toward each other to clamp the object, or to move backward to release the object; wherein, during the relative movement of the two first clamping members, the clamping force on the object is continuously exerted. increases, the force exerted by the rotating transmission member on the elastic transmission member also continues to increase, until the force is greater than or equal to the preset force value, the elastic end of the elastic transmission member elastically breaks away from the limiting groove and remains pressed against the rotating transmission member, At this time, the force exerted by the rotating transmission member on the elastic transmission member is always equal to the preset force value. If the force decreases, the elastic end will elastically embed in the limiting groove. If the force increases, the elastic end will Therefore, the two first clamping parts no longer continue to move toward each other and maintain a constant clamping force, achieving constant force clamping and overload protection, which solves the problem of insufficient clamping force of existing robot clamping claws. Technical problems of control, thereby improving the safety of clamped objects.

附图说明Description of the drawings

为了更清楚地说明本申请实施例中的技术方案，下面将对实施例或示范性技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其它的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments or exemplary technologies will be briefly introduced below. Obviously, the drawings in the following description are only for the purpose of the present application. For some embodiments, for those of ordinary skill in the art, other drawings can be obtained based on these drawings without exerting creative efforts.

图1为本申请实施例提供的夹具的结构示意图；Figure 1 is a schematic structural diagram of a clamp provided by an embodiment of the present application;

图2为图1中的夹具沿A-A线的剖视图；Figure 2 is a cross-sectional view of the clamp in Figure 1 along line A-A;

图3为图2中的A处局部放大图；Figure 3 is a partial enlarged view of point A in Figure 2;

图4为图1中的夹具的***视图；Figure 4 is an exploded view of the fixture in Figure 1;

图5为图1中的夹具的又一视角图；Figure 5 is another perspective view of the clamp in Figure 1;

图6为图1中的夹具的安装部和转接架的连接示意图。FIG. 6 is a schematic diagram of the connection between the mounting part of the clamp and the adapter frame in FIG. 1 .

本发明的实施方式Embodiments of the invention

为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本申请，并不用于限定本申请。In order to make the purpose, technical solutions and advantages of the present application more clear, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application and are not used to limit the present application.

需说明的是，当部件被称为“固定于”或“设置于”另一个部件，它可以直接在另一个部件上或者间接在该另一个部件上。当一个部件被称为是“连接于”另一个部件，它可以是直接或者间接连接至该另一个部件上。术语“上”、“下”、“左”、“右”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制，对于本领域的普通技术人员而言，可以根据具体情况理解上述术语的具体含义。术语“第一”、“第二”仅用于便于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明技术特征的数量。“多个”的含义是两个或两个以上，除非另有明确具体的限定。It should be noted that when a component is referred to as being "fixed to" or "disposed on" another component, it can be directly on the other component or indirectly on the other component. When a component is referred to as being "connected to" another component, it may be directly or indirectly connected to the other component. The orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", etc. are based on the orientation or positional relationship shown in the drawings. They are only for convenience of description and do not indicate or imply the device to which they are referred. Or elements must have specific orientations, be constructed and operated in specific orientations, and therefore cannot be construed as limitations to the application. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances. The terms "first" and "second" are only used for convenience of description and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of technical features. "Plural" means two or more, unless otherwise expressly and specifically limited.

为了说明本申请所提供的技术方案，以下结合具体附图及实施例进行详细说明。In order to illustrate the technical solution provided by this application, a detailed description will be given below with reference to specific drawings and embodiments.

现对本申请实施例中的夹具和机器手进行说明。The clamp and robot arm in the embodiment of the present application will now be described.

请参考图1至图3，夹具包括基座100、旋转驱动件210、旋转传动件220、第一导向齿轮310和相对设置的两个第一夹持件410。Please refer to FIGS. 1 to 3 , the clamp includes a base 100 , a rotary driving member 210 , a rotary transmission member 220 , a first guide gear 310 and two first clamping members 410 arranged oppositely.

基座100在夹具中起到支撑的作用。基座100可选为基板，有利于减小体积和简化结构。旋转驱动件210可选为电机、回转气缸或回转油缸。旋转驱动件210安装于基座100。旋转传动件220安装于旋转驱动件210的输出轴211，从而旋转驱动件210能够驱动旋转传动件220旋转。旋转传动件220设有限位槽221。The base 100 plays a supporting role in the clamp. The base 100 can be optionally used as a substrate, which is beneficial to reducing the volume and simplifying the structure. The rotary driving member 210 may be a motor, a rotary cylinder or a rotary oil cylinder. The rotation driving member 210 is installed on the base 100 . The rotation transmission member 220 is installed on the output shaft 211 of the rotation driving member 210, so that the rotation driving member 210 can drive the rotation transmission member 220 to rotate. The rotation transmission member 220 is provided with a limiting groove 221.

请参考图3，第一导向齿轮310可旋转地安装于基座100，第一导向齿轮310安装有弹性传动件320，弹性传动件320的弹性端321弹性嵌入限位槽221内，弹性端321在旋转传动件220施加于弹性端321的作用力大于或等于预设力值时脱离限位槽221而保持抵压于旋转传动件220。Please refer to Figure 3. The first guide gear 310 is rotatably installed on the base 100. The first guide gear 310 is equipped with an elastic transmission member 320. The elastic end 321 of the elastic transmission member 320 is elastically embedded in the limiting groove 221. The elastic end 321 When the force exerted by the rotary transmission member 220 on the elastic end 321 is greater than or equal to the preset force value, it breaks away from the limiting groove 221 and remains pressed against the rotary transmission member 220 .

具体地，弹性传动件320的自身弹力驱动弹性端321弹性嵌入限位槽221内，从而弹性传动件320与旋转传动件220形成连接关系，第一导向齿轮310能够与旋转传动件220同步旋转。当旋转传动件220施加于弹性端321的作用力大于或等于预设力值时，弹性端321克服弹性传动件320施加的弹力而回缩，脱离该限位槽221、但保持抵压于旋转传动件220。换言之，由于弹性端321脱离限位槽221，第一导向齿轮310和旋转传动件220解除传动关系，第一导向齿轮310不与旋转传动件220同步旋转。同时，弹性端321保持抵压于旋转传动件220，弹性端321受到旋转传动件220施加的作用力等于预设力值，且该预设力值与弹性端321受到的弹力达到力的平衡。关于力的平衡，说明如下，如果旋转传动件220施加的作用力小于预设力值，则弹性端321在自身弹力的作用下弹性嵌入限位槽221内；如果旋转传动件220施加的作用力大于预设力值，则弹性端321在作用力的作用下克服自身弹力而弹性回缩、脱离限位槽221，因此，弹性端321保持抵压于旋转传动件220时，弹性端321受到旋转传动件220施加的作用力等于预设力值。Specifically, the elastic force of the elastic transmission member 320 drives the elastic end 321 to elastically embed in the limiting groove 221 , so that the elastic transmission member 320 and the rotation transmission member 220 form a connection relationship, and the first guide gear 310 can rotate synchronously with the rotation transmission member 220 . When the force exerted by the rotating transmission member 220 on the elastic end 321 is greater than or equal to the preset force value, the elastic end 321 overcomes the elastic force exerted by the elastic transmission member 320 and retracts away from the limiting groove 221 but remains pressed against the rotation. Transmission member 220. In other words, since the elastic end 321 is separated from the limiting groove 221, the first guide gear 310 and the rotation transmission member 220 are released from the transmission relationship, and the first guide gear 310 does not rotate synchronously with the rotation transmission member 220. At the same time, the elastic end 321 remains pressed against the rotating transmission member 220 , and the force exerted by the rotating transmission member 220 on the elastic end 321 is equal to the preset force value, and the preset force value and the elastic force on the elastic end 321 reach a force balance. Regarding the balance of forces, the explanation is as follows. If the force exerted by the rotating transmission member 220 is less than the preset force value, the elastic end 321 will be elastically embedded in the limiting groove 221 under the action of its own elastic force; if the force exerted by the rotating transmission member 220 is greater than the preset force value, the elastic end 321 overcomes its own elastic force under the action of the force and elastically retracts and breaks away from the limiting groove 221. Therefore, when the elastic end 321 remains pressed against the rotating transmission member 220, the elastic end 321 is rotated. The force exerted by the transmission member 220 is equal to the preset force value.

可选地，弹性传动件320为弹簧销、弹簧片、弹性材料柱或记忆合金件等具有弹性特性的结构，能够在自身弹力的作用下弹性嵌入限位槽221内，能够在受到旋转传动件220施加的大于或等于自身弹力的作用力时弹性回缩并保持抵压于旋转传动件220，实现力的平衡。Optionally, the elastic transmission member 320 is a structure with elastic characteristics such as a spring pin, a spring leaf, an elastic material column or a memory alloy piece, and can be elastically embedded in the limiting groove 221 under the action of its own elastic force, and can be rotated by the rotating transmission member. When the force exerted by 220 is greater than or equal to its own elastic force, it elastically retracts and remains pressed against the rotating transmission member 220 to achieve force balance.

具体地，弹性传动件320可拆卸地安装于第一导向齿轮310。工作人员通过更换不同种类、不同材料、不同结构、不同规格型号以及不同数量的弹性传动件320，从而调整预设力值。Specifically, the elastic transmission member 320 is detachably installed on the first guide gear 310 . The staff adjusts the preset force value by replacing elastic transmission members 320 of different types, different materials, different structures, different specifications and models, and different quantities.

可以理解，在其他实施例中，弹性传动件320不可拆卸地安装于第一导向齿轮310。It can be understood that in other embodiments, the elastic transmission member 320 is non-detachably mounted on the first guide gear 310 .

具体地，请结合图3，第一导向齿轮310具有安装孔312，弹性传动件320安装于该安装孔312中，弹性传动件320的弹性端321伸出于该安装孔312。Specifically, please refer to FIG. 3 , the first guide gear 310 has a mounting hole 312 , the elastic transmission member 320 is installed in the mounting hole 312 , and the elastic end 321 of the elastic transmission member 320 protrudes from the mounting hole 312 .

可选地，安装孔312为螺纹孔，弹性传动件320螺纹连接于该安装孔312内，便于拆卸。此外，弹性传动件320通过螺纹连接于第一导向齿轮310，还能够便于精确控制弹性传动件320位于安装孔312外部的伸长量，即弹性端321的可收缩量，从而调整预设力值。Optionally, the mounting hole 312 is a threaded hole, and the elastic transmission member 320 is threadedly connected in the mounting hole 312 to facilitate disassembly. In addition, the elastic transmission member 320 is connected to the first guide gear 310 through threads, which can also facilitate precise control of the elongation amount of the elastic transmission member 320 outside the mounting hole 312, that is, the retractable amount of the elastic end 321, thereby adjusting the preset force value. .

例如，当弹簧销、弹簧片、弹性材料柱或记忆合金件等弹性传动件320位于安装孔312外部的长度增大，弹性端321能够嵌入限位槽221内的长度增长，则旋转传动件220施加于弹性端321的作用力需相应增大才能使得弹性端321产生更大的弹性回缩而脱离限位槽221，也就是说，此时的预设力值增大。For example, when the length of the elastic transmission member 320 such as a spring pin, a spring leaf, an elastic material column or a memory alloy member increases outside the mounting hole 312, and the length of the elastic end 321 that can be embedded in the limiting groove 221 increases, the rotation transmission member 220 The force applied to the elastic end 321 needs to be correspondingly increased to cause the elastic end 321 to produce greater elastic retraction and escape from the limiting groove 221 , that is to say, the preset force value at this time increases.

具体地，预设力值为10N~1000N。Specifically, the preset force value is 10N~1000N.

例如，预设力值可选为10N、20N、50N、100N、200N、500N、800N或1000N。For example, the preset force value can be 10N, 20N, 50N, 100N, 200N, 500N, 800N or 1000N.

第一夹持件410连接有第一导向齿条420，第一导向齿条420与第一导向齿轮310相啮合，从而第一导向齿轮310旋转能带动两个第一夹持件410相向运动或背向运动。第一导向齿轮310和第一导向齿条420相配合，实现将第一导向齿轮310的旋转运动转换为第一夹持件410的直线运动，进而实现两个第一夹持件410相向运动而夹持物体或者背向运动而松开物体。The first clamping member 410 is connected to a first guide rack 420, and the first guide rack 420 meshes with the first guide gear 310, so that the rotation of the first guide gear 310 can drive the two first clamping members 410 to move toward each other or Backward movement. The first guide gear 310 and the first guide rack 420 cooperate to convert the rotational motion of the first guide gear 310 into the linear motion of the first clamping member 410, thereby enabling the two first clamping members 410 to move toward each other. Clamp objects or release objects by moving backwards.

例如，请参考图1，旋转驱动件210驱动旋转传动件220顺时针旋转，两个第一夹持件410相向运动，实现夹持物体。旋转驱动件210驱动旋转传动件220逆时针旋转，两个第一夹持件410背向运动，实现松开物体。For example, please refer to FIG. 1 , the rotary driving member 210 drives the rotary transmission member 220 to rotate clockwise, and the two first clamping members 410 move toward each other to clamp the object. The rotary driving member 210 drives the rotary transmission member 220 to rotate counterclockwise, and the two first clamping members 410 move in opposite directions to release the object.

其中，在两个第一夹持件410相向运动过程中，对位于两个第一夹持件410之间的物体的夹持力不断增大，相对应地，旋转传动件220施加于弹性传动件320的作用力也不断增大，直至该作用力大于或等于预设力值时，弹性传动件320的弹性端321弹性脱离限位槽221且保持抵压旋转传动件220，此时，旋转传动件220施加于弹性传动件320的作用力恒定等于该预设力值，两个第一夹持件410不再继续相向运动，且保持恒定夹持力夹持物体，实现恒力夹持和过载保护，提高了夹持物体的安全性。During the relative movement of the two first clamping members 410, the clamping force on the object between the two first clamping members 410 continues to increase. Correspondingly, the rotation transmission member 220 exerts an elastic transmission force on the object. The force of the member 320 also continues to increase, until the force is greater than or equal to the preset force value, the elastic end 321 of the elastic transmission member 320 elastically breaks away from the limiting groove 221 and remains pressed against the rotation transmission member 220. At this time, the rotation transmission The force exerted by the member 220 on the elastic transmission member 320 is constant equal to the preset force value. The two first clamping members 410 no longer continue to move toward each other and maintain a constant clamping force to clamp the object, achieving constant force clamping and overloading. Protection, improving the safety of clamped objects.

具体地，第一导向齿轮310的旋转轴线和旋转传动件220的旋转轴线相同。Specifically, the rotation axis of the first guide gear 310 and the rotation axis of the rotation transmission member 220 are the same.

本实施例中，第一导向齿轮310通过回转轴承可转动地安装于基座100。In this embodiment, the first guide gear 310 is rotatably mounted on the base 100 through a slewing bearing.

在一些实施例中，请参考图1和图4，第一导向齿轮310的中部具有容纳孔311，旋转传动件220位于容纳孔311内，限位槽221位于旋转传动件220的侧面，弹性传动件320沿第一导向齿轮310的径向布置，弹性传动件320安装于容纳孔311的侧壁，弹性端321弹性嵌入位于旋转传动件220的侧面的限位槽221内。当弹性端321嵌入限位槽221内时，第一导向齿轮310和旋转传动件220同步旋转。In some embodiments, please refer to Figures 1 and 4. The first guide gear 310 has a receiving hole 311 in the middle, the rotating transmission member 220 is located in the receiving hole 311, the limiting groove 221 is located on the side of the rotating transmission member 220, and the elastic transmission The member 320 is arranged along the radial direction of the first guide gear 310. The elastic transmission member 320 is installed on the side wall of the receiving hole 311, and the elastic end 321 is elastically embedded in the limiting groove 221 located on the side of the rotation transmission member 220. When the elastic end 321 is embedded in the limiting groove 221, the first guide gear 310 and the rotation transmission member 220 rotate synchronously.

本实施例中，旋转传动件220位于第一导向齿轮310的容纳孔311中，能够减小夹具在Z向上的尺寸，进而减小夹具的体积。In this embodiment, the rotation transmission member 220 is located in the receiving hole 311 of the first guide gear 310, which can reduce the size of the clamp in the Z direction, thereby reducing the volume of the clamp.

具体地，第一导向齿轮310远离旋转驱动件210的一侧面和旋转传动件220远离旋转驱动件210的一侧面齐平。换言之，如图2所示，第一导向齿轮310和旋转传动件220在Z轴的正向上齐平。Specifically, the side of the first guide gear 310 away from the rotational driving member 210 is flush with the side of the rotational transmission member 220 away from the rotational driving member 210 . In other words, as shown in FIG. 2 , the first guide gear 310 and the rotation transmission member 220 are flush in the positive direction of the Z-axis.

可以理解，在其他实施例中，第一导向齿轮310位于旋转传动件220的一侧。例如，第一导向齿轮310位于旋转传动件220靠近旋转驱动件210的一侧面，或者，位于旋转传动件220远离旋转驱动件210的一侧面。此时，第一导向齿轮310靠近旋转传动件220的一侧面安装有弹性传动件320，旋转传动件220靠近第一导向齿轮310的一侧面设有供弹性传动件320弹性嵌入的限位槽221，同样地，第一导向齿轮310能够通过弹性传动件320实现与旋转传动件220之间进行力的传递。It can be understood that in other embodiments, the first guide gear 310 is located on one side of the rotation transmission member 220 . For example, the first guide gear 310 is located on a side of the rotation transmission member 220 close to the rotation driving member 210 , or on a side of the rotation transmission member 220 away from the rotation driving member 210 . At this time, the elastic transmission member 320 is installed on the side of the first guide gear 310 close to the rotating transmission member 220. The limiting groove 221 for the elastic transmission member 320 to be elastically embedded is provided on the side of the rotation transmission member 220 close to the first guide gear 310. , Similarly, the first guide gear 310 can realize force transmission with the rotation transmission member 220 through the elastic transmission member 320 .

需要说明的是，限位槽221的数量不做限制。It should be noted that the number of limiting grooves 221 is not limited.

例如，限位槽221的数量可以是一个，弹性传动件320弹性脱离该限位槽221后，待旋转传动件220顺时针或逆时针旋转整数周后可再嵌入该限位槽221内，以使第一导向齿轮310和旋转传动件220能够再次同步旋转。For example, the number of limiting grooves 221 may be one. After the elastic transmission member 320 elastically breaks away from the limiting groove 221, the rotating transmission member 220 can be inserted into the limiting groove 221 after rotating clockwise or counterclockwise for an integer number of times. The first guide gear 310 and the rotation transmission member 220 can rotate synchronously again.

例如，请参考图4，限位槽221的数量也可以为两个以上。弹性传动件320可弹性嵌入其中一个限位槽221内，当脱离该限位槽221之后，可以就近嵌入任一限位槽221内，使得第一导向齿轮310和旋转传动件220再次同步旋转。For example, please refer to FIG. 4 , the number of limiting grooves 221 may also be more than two. The elastic transmission member 320 can be elastically embedded in one of the limiting grooves 221. After being disengaged from the limiting groove 221, it can be embedded in any nearest limiting groove 221, so that the first guide gear 310 and the rotation transmission member 220 rotate synchronously again.

可选地，两个以上限位槽221沿旋转传动件220的周向间隔分布。例如，请参考图4，两个以上限位槽221位于旋转传动件220的侧壁、且沿旋转传动件220的周向间隔分布。可以理解，在其他示例中，两个以上限位槽221可以位于旋转传动件220靠近旋转驱动件210的一侧面，或者，位于旋转传动件220远离旋转驱动件210的一侧面。Optionally, two or more limiting grooves 221 are distributed at intervals along the circumferential direction of the rotating transmission member 220 . For example, please refer to FIG. 4 , two or more limiting grooves 221 are located on the side walls of the rotating transmission member 220 and are spaced apart along the circumferential direction of the rotating transmission member 220 . It can be understood that in other examples, more than two limiting grooves 221 may be located on a side of the rotation transmission member 220 close to the rotation driving member 210 , or on a side of the rotation transmission member 220 away from the rotation driving member 210 .

可选地，第一导向齿轮310安装有两个以上弹性传动件320。两个以上弹性传动件320可沿第一导向齿轮310的周向间隔分布、甚至均匀分布。例如，如图4所示，第一导向齿轮310安装有两个弹性传动件320。其中，两个弹性传动件320可分布于第一导向齿轮310的同一直径上，有利于第一导向齿轮310均匀受力。Optionally, the first guide gear 310 is installed with more than two elastic transmission members 320 . Two or more elastic transmission members 320 may be spaced apart or evenly distributed along the circumferential direction of the first guide gear 310 . For example, as shown in FIG. 4 , the first guide gear 310 is equipped with two elastic transmission members 320 . Among them, the two elastic transmission members 320 can be distributed on the same diameter of the first guide gear 310, which is beneficial to the first guide gear 310 being evenly stressed.

可以理解，在其他实施例中，第一导向齿轮310安装的弹性传动件320的数量可以是一个、三个或超过三个。同时，第一导向齿轮310通过调整弹性传动件320的安装数量，能够调整预设力值，从而灵活调整两个第一夹持件410之间的最大夹持力。It can be understood that in other embodiments, the number of elastic transmission members 320 installed on the first guide gear 310 may be one, three, or more than three. At the same time, the first guide gear 310 can adjust the preset force value by adjusting the installed number of elastic transmission members 320, thereby flexibly adjusting the maximum clamping force between the two first clamping members 410.

具体地，弹性传动件320的数量小于或等于限位槽221的数量。例如，如图4所示，限位槽221的数量约五十左右，第一导向齿轮310对应的弹性传动件320的数量为两个。Specifically, the number of elastic transmission members 320 is less than or equal to the number of limiting slots 221 . For example, as shown in FIG. 4 , the number of limiting grooves 221 is about fifty, and the number of elastic transmission members 320 corresponding to the first guide gear 310 is two.

具体地，参考图4和图5，旋转传动件220的表面设有多个沿其周向分布的轮齿222，相邻两个轮齿222之间形成的齿槽为限位槽221。在旋转传动件220的表面加工轮齿222，工艺成熟，有利于降低制造成本。Specifically, referring to FIGS. 4 and 5 , the surface of the rotary transmission member 220 is provided with a plurality of gear teeth 222 distributed along its circumferential direction, and the tooth groove formed between two adjacent gear teeth 222 is the limiting groove 221 . Processing the gear teeth 222 on the surface of the rotating transmission part 220 is a mature process, which is beneficial to reducing manufacturing costs.

此外，工作人员可以通过调整轮齿222的压力角，调整旋转传动件220施加于第一导向齿轮310的作用力，进而调整预设力值。In addition, the operator can adjust the force exerted by the rotating transmission member 220 on the first guide gear 310 by adjusting the pressure angle of the gear teeth 222, thereby adjusting the preset force value.

可选地，旋转传动件220为直齿轮、斜齿轮或端面齿盘。Optionally, the rotation transmission member 220 is a spur gear, a helical gear or a face gear.

在一些实施例中，请参考图1和图4，第一夹持件410包括安装部411和滚动部412。安装部411用于与第一导向齿条420连接，滚动部412可转动地安装于安装部411，滚动部412用于与被夹持物体滚动接触。当被夹持的物体与滚动部412不平行或不贴合时，物体在夹持移动过程中，还能够与滚动部412发生相对转动，实现物体微调，从而达到物体和滚动部412相平行或相贴合，大大增加了夹具的可操作性，降低夹具的操作难度。In some embodiments, please refer to FIGS. 1 and 4 , the first clamping part 410 includes a mounting part 411 and a rolling part 412 . The mounting part 411 is used to connect with the first guide rack 420. The rolling part 412 is rotatably installed on the mounting part 411. The rolling part 412 is used for rolling contact with the clamped object. When the clamped object is not parallel to or does not fit the rolling part 412, the object can also rotate relative to the rolling part 412 during the clamping movement to achieve fine adjustment of the object, so that the object and the rolling part 412 are parallel or The fit greatly increases the operability of the fixture and reduces the difficulty of operating the fixture.

可选地，滚动部412的数量为两个以上，两个以上滚动部412沿垂直于第一夹持件410的运动方向依次间隔分布，从而增大了与物体的接触面积。Optionally, the number of rolling portions 412 is more than two, and the two or more rolling portions 412 are sequentially spaced apart along the movement direction perpendicular to the first clamping member 410 , thereby increasing the contact area with the object.

可选地，滚动部412为滚针、滚筒或滚珠。Optionally, the rolling part 412 is a needle roller, a roller or a ball.

具体地，滚动部412可拆卸地安装于安装部411，便于滚动部412的更换。Specifically, the rolling part 412 is detachably installed on the mounting part 411 to facilitate the replacement of the rolling part 412.

在一实施例中，请参考图6，安装部411包括竖板413和两个横板414，两个横板414的一端分别连接于竖板413的上下两端、且位于竖板413的同一侧，竖板413和两个横板414围出用于容纳滚动部412的安装空间415。两个横板414均设有用于供滚动部412插设的插孔416，两个横板414的插孔416位置相对应。如此，滚动部412的上下两端***插孔416内，安装方便，且安装空间415的三侧敞开，便于滚动部412与被夹持的物体滚动接触。In one embodiment, please refer to FIG. 6 . The mounting part 411 includes a vertical plate 413 and two horizontal plates 414 . One ends of the two horizontal plates 414 are respectively connected to the upper and lower ends of the vertical plate 413 and are located on the same side of the vertical plate 413 . On the other side, the vertical plate 413 and the two horizontal plates 414 enclose an installation space 415 for accommodating the rolling part 412 . Both horizontal plates 414 are provided with insertion holes 416 for the rolling portion 412 to be inserted, and the insertion holes 416 of the two horizontal plates 414 are in corresponding positions. In this way, the upper and lower ends of the rolling part 412 are inserted into the socket 416, which facilitates installation, and the installation space 415 is open on three sides, which facilitates rolling contact between the rolling part 412 and the clamped object.

在一些实施例中，请参考图4和图5，第一夹持件410滑动安装于基座100。基座100能够对第一夹持件410起到滑动支撑作用。In some embodiments, please refer to FIGS. 4 and 5 , the first clamping member 410 is slidably mounted on the base 100 . The base 100 can provide sliding support to the first clamping member 410 .

参见图4，旋转驱动件210安装于基座100的第一侧面，基座100的第二侧面安装有第一导轨510，第一夹持件410滑动安装于第一导轨510。换言之，旋转驱动件210和第一夹持件410分别位于基座100的不同侧面，充分利用基座100的安装空间415，有利于减小整个夹具的体积。Referring to FIG. 4 , the rotation driving member 210 is installed on the first side of the base 100 , the first guide rail 510 is installed on the second side of the base 100 , and the first clamping member 410 is slidably installed on the first guide rail 510 . In other words, the rotary driving member 210 and the first clamping member 410 are respectively located on different sides of the base 100, making full use of the installation space 415 of the base 100, which is beneficial to reducing the volume of the entire clamp.

可选地，第一导轨510的数量为两个。本实施例中，第一夹持件410与两个第一导轨510均滑动配合。Optionally, the number of first guide rails 510 is two. In this embodiment, the first clamping member 410 and both first guide rails 510 are slidably engaged.

可以理解，在其他实施例中，其中一个第一夹持件410与其中一个第一导轨510滑动配合，另一个第一夹持件410与另一个第一导轨510滑动配合。It can be understood that in other embodiments, one of the first clamping parts 410 is in sliding fit with one of the first guide rails 510 , and the other first clamping part 410 is in sliding fit with the other first guide rail 510 .

参见图5，两个第一夹持件410沿第一方向X间隔分布，每一第一导轨510沿第一方向X延伸，两个第一导轨510沿第二方向Y依次间隔分布，从而两个第一夹持件410能够沿第一方向X做相向运动或背向运动。Referring to Figure 5, two first clamping members 410 are spaced apart along the first direction X, each first guide rail 510 extends along the first direction X, and the two first guide rails 510 are spaced apart along the second direction Y, so that the two The first clamping members 410 can move toward each other or backward along the first direction X.

其中，第一导向齿轮310位于两个第一导轨510之间。第一夹持件410与第一导轨510滑动配合，从而能够就近地通过第一导向齿条420与位于两个第一导轨510之间的第一导向齿轮310传动连接。The first guide gear 310 is located between the two first guide rails 510 . The first clamping member 410 is slidably engaged with the first guide rail 510 and can be connected to the first guide gear 310 located between the two first guide rails 510 through the first guide rack 420 .

在一些实施例中，请参考图6，第一夹持件410通过转接架450与第一导轨510滑动配合、且连接第一导向齿条420。In some embodiments, please refer to FIG. 6 , the first clamping member 410 is slidably engaged with the first guide rail 510 through the adapter frame 450 and is connected to the first guide rack 420 .

例如，请参考图5和图6，转接架450包括第一杆件451以及两个第二杆件452。第一夹持件410，例如安装部411，安装于第一杆件451的中部，第一杆件451的两端分别连接于第二杆件452，两个第二杆件452分别与两个第一导轨510一一对应滑动配合，其中一个第二杆件452连接第一导向齿条420。第一杆件451与第二杆件452相垂直。For example, please refer to FIGS. 5 and 6 , the adapter frame 450 includes a first rod 451 and two second rods 452 . The first clamping member 410, such as the mounting portion 411, is installed in the middle of the first rod 451. Both ends of the first rod 451 are connected to the second rods 452 respectively. The two second rods 452 are respectively connected to the two second rods 452. The first guide rails 510 are in a one-to-one sliding fit, and a second rod 452 is connected to the first guide rack 420 . The first rod 451 is perpendicular to the second rod 452 .

可选地，转接架450还包括第三杆件453和第四杆件454，第三杆件453的一端连接于其中一个第二杆件452的末端，即远离第一杆件451的一端，第三杆件453的另一端沿平行于第一杆件451且朝靠近另一个第二杆件452的方向延伸。第四杆件454连接于第三杆件453的另一端且平行于第二杆件452设置，第四杆件454用于安装第一导向齿条420。Optionally, the adapter frame 450 also includes a third rod 453 and a fourth rod 454. One end of the third rod 453 is connected to the end of one of the second rods 452, that is, the end away from the first rod 451. , the other end of the third rod 453 extends in a direction parallel to the first rod 451 and close to the other second rod 452 . The fourth rod 454 is connected to the other end of the third rod 453 and is arranged parallel to the second rod 452 . The fourth rod 454 is used to install the first guide rack 420 .

其中，第四杆件454与第二杆件452相错开，使得第四杆件454能够在第一方向X上延伸，便于第一导向齿条420的安装，也便于安装大尺寸的第一导向齿条420，满足夹具的大行程运动需求。Among them, the fourth rod 454 and the second rod 452 are staggered so that the fourth rod 454 can extend in the first direction X, which facilitates the installation of the first guide rack 420 and also facilitates the installation of the large-sized first guide. Rack 420 meets the large stroke movement requirements of the fixture.

在夹具闲置时，两个第一夹持件410相向运动，两个第一夹持件410连接的转接架450相互合拢并接触。具体地，其中一个转接架450的第二杆件452的端部与另一个转接架450的第二杆件452的端部直接接触，达到在收纳是体积最小。When the clamp is idle, the two first clamping parts 410 move toward each other, and the adapter frames 450 connected to the two first clamping parts 410 close and contact each other. Specifically, the end of the second rod 452 of one of the adapter racks 450 is in direct contact with the end of the second rod 452 of the other adapter rack 450, so that the storage volume is minimized.

在一些实施例中，请参考图1、图2和图4，夹具还包括第二导向齿轮330和相对设置的两个第二夹持件430。第二导向齿轮330可旋转地安装于基座100，第二导向齿轮330安装有弹性传动件320，第二夹持件430连接有第二导向齿条440，第二导向齿条440与第二导向齿轮330相啮合，从而第二导向齿轮330旋转能带动两个第二夹持件430相向运动或背向运动。In some embodiments, please refer to FIG. 1 , FIG. 2 and FIG. 4 , the clamp further includes a second guide gear 330 and two second clamping members 430 arranged oppositely. The second guide gear 330 is rotatably installed on the base 100. The second guide gear 330 is equipped with an elastic transmission member 320. The second clamping member 430 is connected with a second guide rack 440. The second guide rack 440 is connected to the second guide gear 330. The guide gears 330 are in mesh, so that the rotation of the second guide gear 330 can drive the two second clamping parts 430 to move toward or away from each other.

具体地，两个第一夹持件410沿第一方向X间隔分布，两个第二夹持件430沿第二方向Y间隔分布，第一方向X和第二方向Y不同。Specifically, the two first clamping members 410 are spaced apart along the first direction X, and the two second clamping members 430 are spaced apart along the second direction Y. The first direction X and the second direction Y are different.

例如，第一方向X和第二方向Y相垂直。For example, the first direction X and the second direction Y are perpendicular.

具体地，第一导向齿轮310和第二导向齿轮330沿第三方向Z间隔分布、且同轴设置，第三方向Z垂直于第一方向X和第二方向Y所在的平面。Specifically, the first guide gear 310 and the second guide gear 330 are spaced apart and coaxially arranged along the third direction Z, and the third direction Z is perpendicular to the plane where the first direction X and the second direction Y are located.

本实施例中，第二夹持件430滑动安装于基座100。基座100的侧部安装有第二导轨520，第二夹持件430滑动安装于第二导轨520。第二导轨520的数量为两个。第二导向齿轮330位于两个第二导轨520之间。第二夹持件430与两个第二导轨520均滑动配合。两个第二导轨520沿第一方向X依次间隔分布。In this embodiment, the second clamping member 430 is slidably installed on the base 100 . A second guide rail 520 is installed on the side of the base 100 , and the second clamping member 430 is slidably installed on the second guide rail 520 . The number of second guide rails 520 is two. The second guide gear 330 is located between the two second guide rails 520 . The second clamping member 430 is slidably engaged with both second guide rails 520 . The two second guide rails 520 are spaced apart in sequence along the first direction X.

其中，第二导轨520安装于基座100的侧部，充分利用基座100的安装空间，有利于减小夹具的体积。Among them, the second guide rail 520 is installed on the side of the base 100, making full use of the installation space of the base 100, which is beneficial to reducing the size of the clamp.

可选地，第一夹持件410和第二夹持件430的结构相同，有利于简化部件的种类和制造成本。例如，第二夹持件430同样包括安装部411和滚动部412。Optionally, the first clamping member 410 and the second clamping member 430 have the same structure, which is beneficial to simplifying the types of components and manufacturing costs. For example, the second clamping part 430 also includes a mounting part 411 and a rolling part 412.

类似地，第二夹持件430通过转接架450与第二导轨520滑动配合。第一导向齿轮310和第二导向齿轮330的结构相同。Similarly, the second clamping member 430 is slidably matched with the second guide rail 520 through the adapter frame 450 . The first guide gear 310 and the second guide gear 330 have the same structure.

需要说明的是，根据申请人了解到的相关技术，机械人手爪存在以下问题：It should be noted that, according to the relevant technology learned by the applicant, the robot gripper has the following problems:

第一，重量大；夹紧大体积、轻量物体时不得不选用大型号手爪，其对应的重量随之增加，带来的问题是为满足相应的负载，整套机器人型号随之增大，容易造成空间不足、资源浪费。First, it is heavy. When clamping large and light objects, large-sized grippers have to be used, and the corresponding weight increases. The problem is that in order to meet the corresponding load, the entire robot model increases. It is easy to cause insufficient space and waste of resources.

第二，灵活性差；相关技术中的机器人手爪一旦夹紧便无法调整物***置，夹紧时容易造成物体扭转或偏移，因此，需要提高了机器人手爪的精度要求，保证机器人手爪的重心与物体的重心位置一致，才开始进行夹持操作。Second, the flexibility is poor; once the robot gripper in the related technology is clamped, it cannot adjust the position of the object, and it is easy to cause the object to twist or shift when clamped. Therefore, the accuracy requirements of the robot gripper need to be improved to ensure the accuracy of the robot gripper. Only when the center of gravity is consistent with the center of gravity of the object can the clamping operation begin.

第三，成本高；相关技术的力控电动手爪加紧方式需要力传感器来控制手爪的位移量，以避免夹持损坏物体。Third, the cost is high; the force-controlled electric gripper tightening method in related technologies requires a force sensor to control the displacement of the gripper to avoid damaging objects during clamping.

本实施例提供的夹具能够解决以上机器人手爪存在的问题。The clamp provided by this embodiment can solve the above problems existing in the robot gripper.

在一个具体实施例中，请参考图1、图2和图4，基座100为基板，基板的中部具有通孔101，第一导向齿轮310和第二导向齿轮330上下设置、且位于基板的顶面。旋转驱动件210安装于基板的底部，旋转驱动件210的输出轴211穿过该通孔101后与旋转传动件220固定连接。旋转传动件220位于第一导向齿轮310和第二导向齿轮330的容纳孔311中，旋转传动件220的顶面与第一导向齿轮310的顶面齐平，旋转传动件220的底面与第二导向齿轮330的底面齐平。两个第一导轨510位于基板的顶面，且位于第一导向齿轮310的两侧，两个第二导轨520位于基板的相对的两侧部，两个相对设置的第一夹持件410均通过转接架450与第一导轨510滑动配合以及与第一导向齿条420连接，两个相对设置的第二夹持件430同样通过转接架450与第二导轨520滑动配合以及与第二导向齿条440连接，第一夹持件410连接的转接架450位于第二夹持件430连接的转接架450的上方。如此，上述夹具充分利用基板的安装空间415，使得整体体积小，结构轻。当旋转驱动件210逆时针转动时带动旋转传动件220逆时针转动，第一导向齿轮310和第二导向齿轮330通过弹性传动件320随旋转传动件220逆时针转动。第一导向齿条420带动两个第一夹持件410相向运动，第二导向齿条440带动两个第二夹持件430相向运动，即向旋转传动件220的中心收拢，完成夹紧动作。同理，当旋转驱动件210顺时针转动时，两个第一夹持件410背向运动、两个第二夹持件430背向运动，即向四周散开，完成松弛动作。In a specific embodiment, please refer to Figures 1, 2 and 4. The base 100 is a base plate with a through hole 101 in the middle. The first guide gear 310 and the second guide gear 330 are arranged up and down and located on the base plate. top surface. The rotary driving member 210 is installed at the bottom of the base plate. The output shaft 211 of the rotary driving member 210 passes through the through hole 101 and is fixedly connected to the rotary transmission member 220 . The rotary transmission member 220 is located in the receiving hole 311 of the first guide gear 310 and the second guide gear 330. The top surface of the rotary transmission member 220 is flush with the top surface of the first guide gear 310. The bottom surface of the rotary transmission member 220 is flush with the second guide gear 310. The bottom surface of the guide gear 330 is flush. Two first guide rails 510 are located on the top surface of the base plate and on both sides of the first guide gear 310. Two second guide rails 520 are located on opposite sides of the base plate. The two opposite first clamping members 410 are The adapter frame 450 is in sliding fit with the first guide rail 510 and is connected to the first guide rack 420 . The two opposite second clamping members 430 are also in sliding fit with the second guide rail 520 through the adapter frame 450 and are connected with the second guide rack 420 . The guide rack 440 is connected, and the adapter frame 450 connected to the first clamping member 410 is located above the adapter frame 450 connected to the second clamping member 430 . In this way, the above-mentioned clamp makes full use of the installation space 415 of the substrate, making the overall volume small and the structure light. When the rotation driving member 210 rotates counterclockwise, the rotation transmission member 220 is driven to rotate counterclockwise. The first guide gear 310 and the second guide gear 330 rotate counterclockwise with the rotation transmission member 220 through the elastic transmission member 320 . The first guide rack 420 drives the two first clamping members 410 to move toward each other, and the second guide rack 440 drives the two second clamping members 430 to move toward each other, that is, toward the center of the rotating transmission member 220 to complete the clamping action. . In the same way, when the rotary driving member 210 rotates clockwise, the two first clamping members 410 move backwards and the two second clamping members 430 move backwards, that is, they spread out in all directions to complete the relaxing action.

其中，第一夹持件410由第一导向齿轮310控制运动，第二夹持件430有第二导向齿轮330控制运动，即独立控制，故夹具可以抓取任意长宽比例的物体。在夹取规则的矩形物体时，由于第一夹持件410和第二夹持件430向旋转传动件220中心的位移量始终是相同的，故可以达到自适应定心的目的，即被夹持物体的重心在夹持过程中被推动至与夹具的重心位于同一竖直线上。如果第一夹持件410或第二夹持件430与被夹物体边缘有一定角度时，即物体与滚动部412不贴合或不平行，则在夹取过程中物体与滚动部412会发生相对转动，实现微调，在不损伤物体的条件下使物体与滚动部412的位置保持一致，大大增加了夹具的可操控性，降低了夹具的操作难度。Among them, the movement of the first clamping member 410 is controlled by the first guide gear 310, and the movement of the second clamping member 430 is controlled by the second guide gear 330, that is, independently controlled, so the clamp can grasp objects with any length-to-width ratio. When clamping a regular rectangular object, since the displacement amount of the first clamping member 410 and the second clamping member 430 toward the center of the rotating transmission member 220 is always the same, the purpose of adaptive centering can be achieved, that is, the clamped object The center of gravity of the object being held is pushed to the same vertical line as the center of gravity of the clamp during the clamping process. If the first clamping member 410 or the second clamping member 430 has a certain angle with the edge of the object to be clamped, that is, the object and the rolling part 412 do not fit or are not parallel, then the object and the rolling part 412 will be in contact with each other during the clamping process. Relative rotation enables fine-tuning, keeping the position of the object consistent with the rolling part 412 without damaging the object, greatly increasing the controllability of the clamp and reducing the difficulty of operating the clamp.

在夹紧过程中，弹性传动件320嵌入旋转传动件220的限位槽221内，实现传动，随着旋转驱动件210的逆时针旋转，旋转传动件220与弹性传动件320的弹性端321的相互作用力不断增大，当该作用力达到预设力值时，弹性端321脱离限位槽221，第一导向齿轮310或第二导向齿轮330不再随旋转传动件220同步旋转，从而达到恒力夹紧的目的。During the clamping process, the elastic transmission member 320 is embedded in the limiting groove 221 of the rotation transmission member 220 to realize transmission. As the rotation driving member 210 rotates counterclockwise, the elastic end 321 of the rotation transmission member 220 and the elastic transmission member 320 contacts each other. The interaction force continues to increase. When the force reaches the preset force value, the elastic end 321 breaks away from the limiting groove 221, and the first guide gear 310 or the second guide gear 330 no longer rotates synchronously with the rotating transmission member 220, thereby achieving The purpose of constant force clamping.

当夹具需要夹紧更大体积物件时，工作人员只需要增大第一导轨510和第一导向齿条420的尺寸，或者增大第二导轨520和第二导向齿条440的尺寸即可，不需增大其他部件的尺寸，预设力值可通过调节旋转传动件220的轮齿222的压力角，弹性传动件320的材料、种类、数量或规格，弹性传动件320位于限位槽221内的初始长度等参数灵活调整，满足不同场景的使用需求。When the clamp needs to clamp a larger object, the worker only needs to increase the size of the first guide rail 510 and the first guide rack 420, or increase the size of the second guide rail 520 and the second guide rack 440. There is no need to increase the size of other components. The preset force value can be adjusted by adjusting the pressure angle of the gear teeth 222 of the rotating transmission member 220, the material, type, quantity or specification of the elastic transmission member 320. The elastic transmission member 320 is located in the limiting groove 221. The initial length and other parameters within can be flexibly adjusted to meet the needs of different scenarios.

因此，本实施例提供的夹具具有可自适应定心；可恒力维持、过载保护；通过滚动部412可对被夹物***置进行微调；在不明显改变自重条件下，可灵活增大第一夹持件410和第二夹持件430的行程等优点。Therefore, the clamp provided by this embodiment has adaptive centering; constant force maintenance and overload protection; the position of the clamped object can be fine-tuned through the rolling part 412; and the first weight can be flexibly increased without significantly changing the self-weight. The advantages include the stroke of the clamping member 410 and the second clamping member 430.

上述实施例提供的任意一种夹具可以应用于机械手或者其他加工设备中。Any clamp provided in the above embodiments can be applied to a robot or other processing equipment.

例如，本申请还提供了一种机械手。该机械手包括机械臂和上述任意一项的夹具，基座100安装于机械臂的末端。机械手通过两个第一夹持件410能够实现恒力夹持和过载保护。For example, this application also provides a robot hand. The manipulator includes a manipulator arm and any of the above-mentioned clamps, and the base 100 is installed at the end of the manipulator arm. The robot arm can achieve constant force clamping and overload protection through the two first clamping parts 410 .

可选地，旋转驱动件210位于机械臂的内部空间，第一夹持件410位于基座100远离机械臂的一侧。Optionally, the rotation driving member 210 is located in the internal space of the robotic arm, and the first clamping member 410 is located on a side of the base 100 away from the robotic arm.

以上仅为本申请的可选实施例而已，并不用于限制本申请。对于本领域的技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的权利要求范围之内。The above are only optional embodiments of the present application and are not used to limit the present application. Various modifications and variations may be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of this application shall be included in the scope of the claims of this application.

Claims

一种夹具，其特征在于，包括：A clamp, characterized in that it includes:

基座（100）；base(100);

旋转驱动件（210），所述旋转驱动件（210）安装于所述基座（100）；Rotary driving part (210), the rotating driving part (210) is installed on the base (100);

旋转传动件（220），所述旋转传动件（220）安装于所述旋转驱动件（210）的输出轴（211），所述旋转传动件（220）设有限位槽（221）；Rotary transmission member (220), the rotation transmission member (220) is installed on the output shaft (211) of the rotation drive member (210), and the rotation transmission member (220) is provided with a limiting groove (221);

第一导向齿轮（310），所述第一导向齿轮（310）可旋转地安装于所述基座（100），所述第一导向齿轮（310）安装有弹性传动件（320），所述弹性传动件（320）的弹性端（321）弹性嵌入所述限位槽（221）内，所述弹性端（321）在所述旋转传动件（220）施加于所述弹性端（321）的作用力大于或等于预设力值时脱离所述限位槽（221）而保持抵压于所述旋转传动件（220）；A first guide gear (310), the first guide gear (310) is rotatably installed on the base (100), the first guide gear (310) is equipped with an elastic transmission member (320), the The elastic end (321) of the elastic transmission member (320) is elastically embedded in the limiting groove (221). The elastic end (321) is applied to the elastic end (321) when the rotation transmission member (220) When the force is greater than or equal to the preset force value, it breaks away from the limiting groove (221) and remains pressed against the rotating transmission member (220);

相对设置的两个第一夹持件（410），所述第一夹持件（410）连接有第一导向齿条（420），所述第一导向齿条（420）与所述第一导向齿轮（310）相啮合，从而所述第一导向齿轮（310）旋转能带动两个所述第一夹持件（410）相向运动或背向运动。Two first clamping parts (410) are arranged oppositely. The first clamping parts (410) are connected with a first guide rack (420). The first guide rack (420) and the first The guide gears (310) mesh, so that the rotation of the first guide gear (310) can drive the two first clamping parts (410) to move toward or away from each other.
根据权利要求1所述的夹具，其特征在于：所述第一导向齿轮（310）的中部具有容纳孔（311），所述旋转传动件（220）位于所述容纳孔（311）内，所述限位槽（221）位于所述旋转传动件（220）的侧面，所述弹性传动件（320）沿所述第一导向齿轮（310）的径向布置，所述弹性传动件（320）安装于所述容纳孔（311）的侧壁，所述弹性端（321）弹性嵌入位于所述旋转传动件（220）的侧面的所述限位槽（221）内。The clamp according to claim 1, characterized in that: the first guide gear (310) has a receiving hole (311) in the middle, and the rotation transmission member (220) is located in the receiving hole (311), so The limiting groove (221) is located on the side of the rotation transmission member (220). The elastic transmission member (320) is arranged along the radial direction of the first guide gear (310). The elastic transmission member (320) Installed on the side wall of the accommodation hole (311), the elastic end (321) is elastically embedded in the limiting groove (221) located on the side of the rotation transmission member (220).
根据权利要求1所述的夹具，其特征在于：所述限位槽（221）的数量为两个以上，两个以上所述限位槽（221）沿所述旋转传动件（220）的周向间隔分布。The clamp according to claim 1, characterized in that: the number of the limiting grooves (221) is more than two, and the two or more limiting grooves (221) are along the circumference of the rotating transmission member (220). Distributed to intervals.
根据权利要求3所述的夹具，其特征在于：所述第一导向齿轮（310）安装有两个以上所述弹性传动件（320）；所述弹性传动件（320）的数量小于或等于所述限位槽（221）的数量。The clamp according to claim 3, characterized in that: the first guide gear (310) is equipped with more than two elastic transmission members (320); the number of the elastic transmission members (320) is less than or equal to Describe the number of limiting slots (221).
根据权利要求1所述的夹具，其特征在于：所述旋转传动件（220）的表面设有多个沿其周向分布的轮齿（222），相邻两个所述轮齿（222）之间形成的齿槽为所述限位槽（221）。The clamp according to claim 1, characterized in that: the surface of the rotary transmission member (220) is provided with a plurality of gear teeth (222) distributed along its circumference, and two adjacent gear teeth (222) The tooth space formed therebetween is the limiting groove (221).
根据权利要求1所述的夹具，其特征在于：所述第一夹持件（410）滑动安装于所述基座（100）。The clamp according to claim 1, characterized in that the first clamping member (410) is slidably installed on the base (100).
根据权利要求6所述的夹具，其特征在于：所述旋转驱动件（210）安装于所述基座（100）的第一侧面，所述基座（100）的第二侧面安装有第一导轨（510），所述第一夹持件（410）滑动安装于所述第一导轨（510）。The clamp according to claim 6, characterized in that: the rotation driving member (210) is installed on the first side of the base (100), and the first side of the base (100) is installed on the second side of the base (100). Guide rail (510), the first clamping member (410) is slidably installed on the first guide rail (510).
根据权利要求7所述的夹具，其特征在于：所述第一导轨（510）的数量为两个。The clamp according to claim 7, characterized in that the number of the first guide rails (510) is two.
根据权利要求8所述的夹具，其特征在于：所述第一导向齿轮（310）位于两个所述第一导轨（510）之间，所述第一夹持件（410）与两个所述第一导轨（510）均滑动配合。The clamp according to claim 8, characterized in that: the first guide gear (310) is located between the two first guide rails (510), and the first clamping member (410) is connected to the two first guide rails (510). The first guide rails (510) are all in sliding fit.
根据权利要求1所述的夹具，其特征在于：所述夹具还包括第二导向齿轮（330）和相对设置的两个第二夹持件（430），所述第二导向齿轮（330）可旋转地安装于所述基座（100），所述第二导向齿轮（330）安装有所述弹性传动件（320），所述第二夹持件（430）连接有第二导向齿条（440），所述第二导向齿条（440）与所述第二导向齿轮（330）相啮合，从而所述第二导向齿轮（330）旋转能带动两个所述第二夹持件（430）相向运动或背向运动；The clamp according to claim 1, characterized in that: the clamp further includes a second guide gear (330) and two second clamping parts (430) arranged oppositely, and the second guide gear (330) can Rotally installed on the base (100), the second guide gear (330) is installed with the elastic transmission member (320), and the second clamping member (430) is connected with a second guide rack ( 440), the second guide rack (440) meshes with the second guide gear (330), so that the rotation of the second guide gear (330) can drive the two second clamping parts (430) ) Opposite movement or backward movement;

两个所述第一夹持件（410）沿第一方向（X）间隔分布，两个所述第二夹持件（430）沿第二方向（Y）间隔分布，所述第一方向（X）和所述第二方向（Y）不同。The two first clamping parts (410) are spaced apart along the first direction (X), and the two second clamping parts (430) are spaced apart along the second direction (Y). The first direction ( X) and said second direction (Y) are different.
根据权利要求10所述的夹具，其特征在于：所述第一导向齿轮（310）和所述第二导向齿轮（330）沿第三方向（Z）间隔分布、且同轴设置，所述第三方向（Z）垂直于所述第一方向（X）和所述第二方向（Y）所在的平面。The clamp according to claim 10, characterized in that: the first guide gear (310) and the second guide gear (330) are spaced apart along the third direction (Z) and arranged coaxially. The three directions (Z) are perpendicular to the plane where the first direction (X) and the second direction (Y) are located.
根据权利要求10所述的夹具，其特征在于：所述第二夹持件（430）滑动安装于所述基座（100）。The clamp according to claim 10, characterized in that the second clamping member (430) is slidably installed on the base (100).
根据权利要求12所述的夹具，其特征在于：所述基座（100）的侧部安装有第二导轨（520），所述第二夹持件（430）滑动安装于所述第二导轨（520）。The clamp according to claim 12, characterized in that: a second guide rail (520) is installed on the side of the base (100), and the second clamping member (430) is slidably installed on the second guide rail. (520).
根据权利要求13所述的夹具，其特征在于：所述第二导轨（520）的数量为两个，所述第二导向齿轮（330）位于两个所述第二导轨（520）之间，所述第二夹持件（430）与两个所述第二导轨（520）均滑动配合，两个所述第二导轨（520）沿所述第一方向（X）依次间隔分布。The clamp according to claim 13, characterized in that: the number of the second guide rails (520) is two, and the second guide gear (330) is located between the two second guide rails (520), The second clamping member (430) is slidably matched with the two second guide rails (520), and the two second guide rails (520) are spaced apart in sequence along the first direction (X).
根据权利要求1所述的夹具，其特征在于：所述第一夹持件（410）包括安装部（411）和滚动部（412），所述安装部（411）用于与所述第一导向齿条（420）连接，所述滚动部（412）可转动地安装于所述安装部（411），所述滚动部（412）用于与被夹持物体滚动接触。The clamp according to claim 1, characterized in that: the first clamping part (410) includes a mounting part (411) and a rolling part (412), and the mounting part (411) is used to connect with the first The guide rack (420) is connected, and the rolling part (412) is rotatably installed on the mounting part (411). The rolling part (412) is used for rolling contact with the clamped object.
根据权利要求1所述的夹具，其特征在于：所述滚动部（412）的数量为两个以上，两个以上所述滚动部（412）沿垂直于所述第一夹持件（410）的运动方向依次间隔分布。The clamp according to claim 1, characterized in that: the number of the rolling parts (412) is more than two, and the two or more rolling parts (412) are along a direction perpendicular to the first clamping part (410). The directions of motion are distributed at intervals.
一种机器手，其特征在于：包括机械臂和权利要求1至16任意一项所述的夹具，所述基座（100）安装于所述机械臂的末端。A robot hand, characterized by: comprising a mechanical arm and the clamp according to any one of claims 1 to 16, and the base (100) is installed at the end of the mechanical arm.