阅读说明：本技术 夹持装置及可移动机器 (Clamping device and movable machine ) 是由 包玉奇 帅治民 于 2018-08-29 设计创作，主要内容包括：一种夹持装置(100)及包括其的可移动机器(1000)。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),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,另一端与外端(322)转动连接。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)带动外端(322)运动。驱动部(20)包括动力组件(21)和驱动组件(22),驱动组件(22)包括转动件(221)及移动件(222),转动件(221)包括丝杆(2211),移动件(222)包括丝杆螺母(2221)和驱动杆(2222)。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,能节约夹持物体时耗费的能量；丝杆(2221)与丝杆螺母(2221)螺纹配合,可实现自锁。(A clamping device (100) and a movable machine (1000) comprising the 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 part (30) are both arranged on the body (10). Clamping part (30) include first connecting rod group (31), clamping rod (32) and second connecting rod group (33), the one end and body (10) of first connecting rod group (31) are passed through elastic component (40) and are rotated and be connected, clamping rod (32) are including inner (321) and outer end (322), inner (321) are rotated with the other end of first connecting rod group (31) and are connected, the one end and body (10) of second connecting rod group (33) are rotated and are connected, the other end rotates with outer end (322) and is connected. The elastic piece (40) is used for applying elastic force to the first connecting rod group (31) so that the first connecting rod group (31) drives the inner end (321) to move; the driving part (20) is used for driving the second connecting rod group (33) to move so that the second connecting rod group (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 piece (221) and a moving piece (222), the rotating piece (221) comprises a lead screw (2211), and the moving piece (222) comprises a lead screw nut (2221) and a driving rod (2222). The clamping part (30) can clamp the object by the action of force provided by the elastic piece (40), the driving part (20) is not required to continuously provide the action of force, and energy consumed in clamping the object can be saved; the screw rod (2221) is in threaded fit with the screw rod nut (2221), and self-locking can be achieved.)

1. The utility model provides a clamping device, its characterized in that includes body, drive division and a plurality of clamping part, drive division and a plurality of the clamping part all sets up on the body, the clamping part includes:

one end of the first connecting rod group is rotatably connected with the body through an elastic piece;

the clamping rod comprises an inner end and an outer end, and the inner end of the clamping rod is rotatably connected with the other end of the first connecting rod group; and

one end of the second connecting rod group is rotatably connected with the body, and the other end of the second connecting rod group is rotatably connected with the outer end of the clamping rod;

the elastic piece is used for applying elastic force to the first connecting rod group so that the first connecting rod group drives the inner end of the clamping rod to move, and the driving part is used for driving the second connecting rod group to move so that the second connecting rod group drives the outer end of the clamping rod to move.

2. Clamping device according to claim 1, wherein the resilient member comprises a torsion spring and/or a tension spring.

3. The clamping device as claimed in claim 1, wherein the first linkage set comprises a first inner rod and a second inner rod, one end of the first inner rod is rotatably connected with the body through the elastic member, the other end of the first inner rod is rotatably connected with one end of the second inner rod, and the other end of the second inner rod is rotatably connected with the inner end of the clamping rod.

4. The clamping device as claimed in claim 1, wherein the first connecting rod set further comprises an inner limiting member disposed on the first inner rod and/or the second inner rod, and the inner limiting member is configured to limit a relative angle between the first inner rod and the second inner rod within a predetermined angle range.

5. The clamping device of claim 1 wherein said clamping bar is formed with a clamping member for contacting an object when said clamping device clamps the object, said clamping member being elastically deformed to apply a spring force to the object when said clamping member clamps the object.

6. The clamping device of claim 1, wherein a plurality of said clamping portions are equiangularly spaced along a circumference of said body.

7. The clamping device of claim 1, wherein the number of the clamping portions is two, the two clamping bars of the two clamping portions are disposed opposite to each other, and in at least one operating state, the two clamping bars abut against each other.

8. The clamping device of any one of claims 1 to 7, wherein the second linkage comprises a first outer bar, a second outer bar, and a third outer bar,

the second outer rod comprises a first end, a second end and a third end, the first end is rotatably connected with the body, the second end is rotatably connected with one end of the first outer rod, and the third end is rotatably connected with one end of the third outer rod;

the other end of the first outer rod is rotatably connected with the driving part;

the other end of the third outer rod is rotatably connected with the outer end of the clamping rod.

9. The clamping device of claim 8, wherein the second linkage further comprises an outer limiting member disposed on the second outer rod and/or the third outer rod, the outer limiting member being configured to limit a relative angle between the second outer rod and the third outer rod within a predetermined angle range.

10. The clamping device of claim 8, wherein the drive portion comprises:

a power assembly; and

the driving assembly is connected with one end, far away from of the first outer rod, of the second outer rod in a rotating mode, and the driving assembly is used for moving under the action of the power assembly to drive one end, far away from of the first outer rod, of the second outer rod to translate.

11. The clamping device of claim 10, wherein the drive assembly comprises:

the rotating piece is used for rotating under the driving of the power assembly; and

the moving piece, the moving piece with rotate a rotation and be connected, it can drive to rotate a rotation the moving piece removes, the moving piece with the one end of keeping away from of first outer pole the second outer pole rotates and is connected.

12. The clamping device as claimed in claim 11, wherein the power assembly comprises a motor and a reduction gearbox, an input shaft of the reduction gearbox is connected with a rotating shaft of the motor, and an output shaft of the reduction gearbox is connected with the rotating member.

13. The clamping device as claimed in claim 11, wherein the rotating member comprises a lead screw, the moving member comprises a lead screw nut and a driving rod, the lead screw nut is rotatably connected to the lead screw, the driving rod is rotatably connected to an end of the first outer rod, which is away from the second outer rod, the lead screw rotates to drive the lead screw nut and the driving rod to move, and the driving rod moves along an axial direction of the lead screw.

14. The clamping device as claimed in any one of claims 1 to 7, wherein the second linkage comprises a telescopic rod, one end of the telescopic rod is rotatably connected with the body, the other end of the telescopic rod is rotatably connected with the outer end of the clamping rod, and the driving part is used for driving the telescopic rod to extend or contract.

15. The clamping device as claimed in any one of claims 1 to 7, further comprising a limiting portion disposed at an outer end of the clamping rod and/or the first connecting rod set, wherein the limiting portion is configured to abut against the outer end of the clamping rod and the first connecting rod set when the outer end of the clamping rod is close to the first connecting rod set by a predetermined distance.

16. A movable machine, comprising:

a moving body; and

clamping device, clamping device install remove in the main part, clamping device includes body, drive division and a plurality of clamping part, drive division and a plurality of the clamping part all sets up on the body, the clamping part includes:

one end of the first connecting rod group is rotatably connected with the body through an elastic piece;

the clamping rod comprises an inner end and an outer end, and the inner end of the clamping rod is rotatably connected with the other end of the first connecting rod group; and

one end of the second connecting rod group is rotatably connected with the body, and the other end of the second connecting rod group is rotatably connected with the outer end of the clamping rod;

the elastic piece is used for applying elastic force to the first connecting rod group so that the first connecting rod group drives the inner end of the clamping rod to move, and the driving part is used for driving the second connecting rod group to move so that the second connecting rod group drives the outer end of the clamping rod to move.

17. The movable machine of claim 16 wherein the movable machine comprises at least one of: unmanned vehicles, unmanned ships and unmanned vehicles.

18. The movable machine of claim 16 wherein the resilient member comprises a torsion spring and/or a tension spring.

19. The movable machine of claim 16 wherein the first linkage assembly includes a first inner rod and a second inner rod, one end of the first inner rod is pivotally connected to the body via the resilient member, the other end of the first inner rod is pivotally connected to one end of the second inner rod, and the other end of the second inner rod is pivotally connected to an inner end of the clamping rod.

20. The movable machine of claim 16, wherein the first linkage set further comprises an inner stop disposed on the first inner rod and/or the second inner rod, the inner stop configured to limit a relative angle between the first inner rod and the second inner rod within a predetermined angular range.

21. The movable machine of claim 16 wherein the clamp bar is formed with a clamp member for contacting the object when the clamp device clamps the object, the clamp member being elastically deformed to apply an elastic force to the object when the clamp member clamps the object.

22. The movable machine of claim 16 wherein the plurality of clamp portions are equally angularly spaced along a circumference of the body.

23. The movable machine of claim 16 wherein the number of clamp portions is two, the two clamp bars of the two clamp portions being disposed opposite one another, the two clamp bars abutting one another in at least one operating condition.

24. The movable machine of any of claims 16-23, wherein the second linkage includes a first outer bar, a second outer bar, and a third outer bar,

the second outer rod comprises a first end, a second end and a third end, the first end is rotatably connected with the body, the second end is rotatably connected with one end of the first outer rod, and the third end is rotatably connected with one end of the third outer rod;

the other end of the first outer rod is rotatably connected with the driving part;

the other end of the third outer rod is rotatably connected with the outer end of the clamping rod.

25. The movable machine of claim 24, wherein the second linkage further comprises an outer limit stop disposed on the second outer bar and/or the third outer bar, the outer limit stop configured to limit a relative angle of the second outer bar and the third outer bar within a predetermined angular range.

26. The movable machine of claim 24 wherein the drive section comprises:

a power assembly; and

the driving assembly is connected with one end, far away from of the first outer rod, of the second outer rod in a rotating mode, and the driving assembly is used for moving under the action of the power assembly to drive one end, far away from of the first outer rod, of the second outer rod to translate.

27. The movable machine of claim 26 wherein the drive assembly comprises:

the rotating piece is used for rotating under the driving of the power assembly; and

the moving piece, the moving piece with rotate a rotation and be connected, it can drive to rotate a rotation the moving piece removes, the moving piece with the one end of keeping away from of first outer pole the second outer pole rotates and is connected.

28. The movable machine of claim 27 wherein the power assembly includes a motor and a reduction gearbox, an input shaft of the reduction gearbox being connected to a shaft of the motor and an output shaft of the reduction gearbox being connected to the rotating member.

29. The movable machine of claim 27 wherein the rotating member includes a lead screw, the moving member includes a fixedly coupled lead screw nut and a drive rod, the lead screw nut is rotatably coupled to the lead screw, the drive rod is rotatably coupled to an end of the first outer rod remote from the second outer rod, the lead screw rotates to move the lead screw nut and the drive rod, and the drive rod moves along an axis of the lead screw.

30. The movable machine of any one of claims 16-23, wherein the second linkage comprises a telescoping rod, one end of the telescoping rod is rotatably connected to the body, the other end of the telescoping rod is rotatably connected to an outer end of the clamping bar, and the driving portion is configured to drive the telescoping rod to extend or retract.

31. The movable machine of any one of claims 16 to 23, wherein the clamping device further comprises a limiting portion disposed at an outer end of the clamping rod and/or the first linkage, the limiting portion being configured to abut against the outer end of the clamping rod and the first linkage when the outer end of the clamping rod is close to the first linkage by a predetermined distance.

Technical Field

The disclosure relates to the technical field of robots, in particular to a clamping device and a movable machine.

Background

The robot hand has wide application in industry and life, and can perform the functions of clamping, moving, extracting, placing and the like. In the clamping process, the power source needs to continuously provide larger power for the robot finger to enable the clamping to be more stable, however, larger power is continuously provided only through the power source, and larger energy is consumed.

Disclosure of Invention

The embodiment of the invention provides a clamping device and a movable machine.

The clamping device comprises a body, a driving part and a plurality of clamping parts, wherein the driving part and the plurality of clamping parts are arranged on the body. The clamping part comprises a first connecting rod group, a clamping rod and a second connecting rod group. One end of the first connecting rod group is rotatably connected with the body through an elastic piece. The clamping rod comprises an inner end and an outer end, and the inner end of the clamping rod is rotatably connected with the other end of the first connecting rod group. One end of the second connecting rod group is rotatably connected with the body, and the other end of the second connecting rod group is rotatably connected with the outer end of the clamping rod. The elastic piece is used for applying elastic force to the first connecting rod group so that the first connecting rod group drives the inner end of the clamping rod to move, and the driving part is used for driving the second connecting rod group to move so that the second connecting rod group drives the outer end of the clamping rod to move.

The movable machine of the embodiment of the invention comprises a movable body and the clamping device of the embodiment. The clamping device is mounted on the moving body.

In the clamping device and the movable machine, the elastic piece can apply elastic force to the first connecting rod group to drive the inner ends of the clamping rods to move, when the object is clamped, the elastic piece and the driving part can simultaneously provide force to ensure that the plurality of clamping parts stably clamp the object, and after the force of the driving part is cancelled, the plurality of clamping parts can clamp the object by virtue of the force provided by the elastic piece without requiring the driving part to continuously provide force, so that the energy consumed when the object is clamped is saved.

Additional aspects and advantages of embodiments of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of embodiments of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a schematic diagram of a mobile machine according to an embodiment of the present invention;

FIG. 2 is a perspective assembly view of a clamping device according to an embodiment of the present invention;

FIG. 3 is a schematic plan view of a clamping device according to an embodiment of the 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 the V portion of the clamping device shown in FIG. 3;

FIGS. 6 and 7 are schematic views illustrating a clamping portion clamping an object according to an embodiment of the present invention;

fig. 8 to 11 are schematic views illustrating a clamping device clamping an object according to an embodiment of the present invention.

Description of the main elements and symbols:

the movable machine 1000, the main body 200, the clamping device 100, the rotating wheel 300, the main body 10, the connecting port 11, the driving part 20, the power assembly 21, the motor 211, the reduction gearbox 212, the driving assembly 22, the rotating part 221, the lead screw 2211, the moving part 222, the lead screw nut 2221, the driving rod 2222, the clamping part 30, the first link group 31, the first inner rod 311, the second inner rod 312, the inner limit part 313, the clamping rod 32, the inner end 321, the outer end 322, the clamping part 323, the tail end 324, the second link group 33, the first outer rod 331, the second outer rod 332, the first end 3321, the second end 3322, the third end 3323, the third outer rod 333, the outer limit part 334, the telescopic rod 335, the elastic part 40, the limit part 50, and the object 2000.

Detailed Description

The following further describes embodiments of the present invention with reference to the drawings. The same or similar reference numbers in the drawings identify the same or similar elements or elements having the same or similar functionality throughout.

In addition, the embodiments of the present invention described below with reference to the accompanying drawings are exemplary only for the purpose of explaining the embodiments of the present invention, and are not to be construed as limiting the present invention.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

Referring to fig. 1, a mobile machine 1000 according to an embodiment of the present invention includes a mobile body 200 and a clamping device 100, wherein the clamping device 100 is mounted on the mobile body 200. The movable body 200 of the mobile machine 1000 can perform movements such as moving, rotating, and turning, the movable body 200 can drive the clamping device 100 to move to different positions or different angles to clamp an object, and meanwhile, the clamping device 100 can also move or rotate relative to the movable body 200. Mobile machine 1000 may be an unmanned vehicle, an unmanned ship, an unmanned aerial vehicle, or the like, or mobile machine 1000 may be one of an unmanned vehicle, an unmanned ship, or an unmanned aerial vehicle in one form, or another of an unmanned vehicle, an unmanned ship, or an unmanned aerial vehicle in another form. Mobile machine 1000 may also be a variety of forms of robots, robotic arms, robotic animals, toys, and the like.

As shown in fig. 1, the mobile machine 1000 according to the embodiment of the present invention is an unmanned vehicle, and it is understood that the mobile machine 1000 is not limited to an unmanned vehicle in any particular form. The mobile machine 1000 may include a wheel 300, and the rotation of the wheel 300 may drive the moving body 200 to move, and further drive the clamping device 100 to move.

Referring to fig. 2 to 5, the clamping device 100 includes a 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 all provided on the body 10. The clamping portion 30 includes a first linkage 31, a clamping rod 32, and a second linkage 33. One end of the first link group 31 is rotatably connected to the body 10 by an elastic member 40. The clamping bar 32 includes an inner end 321 and an outer end 322. The inner end 321 of the clamping bar 32 is rotatably connected with the other end of the first link group 31. One end of the second linkage 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 for applying an elastic force to the first link group 31 so that the first link group 31 drives the inner end 321 of the clamping rod 32 to move; the driving portion 20 is used for driving the second linkage 33 to move, so that the second linkage 33 drives the outer end 322 of the clamping rod 32 to move.

In the mobile 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 ends 321 of the clamping rods 32 to move, when clamping an object, the elastic member 40 and the driving part 20 can simultaneously provide a force to ensure that the plurality of clamping parts 30 stably clamp the object, and after the force of the driving part 20 is removed, the plurality of clamping parts 30 can clamp the object by the force provided by the elastic member 40 without requiring the driving part 20 to continuously provide the force, thereby saving energy consumed in clamping the object.

Specifically, the clamping device 100 includes a body 10, a driving part 20, and a plurality of clamping parts 30.

Referring to fig. 1 and 2, the main body 10 may be used to connect with a movable main body 200, and the driving portion 20 and the plurality of clamping portions 30 are disposed on the main body 10. In one example, the body 10 is detachably connected to the movable body 200, and after the body 10 is detached from the movable body 200, the entire clamping device 100 can be detached from the movable body 200 to facilitate maintenance or replacement of the clamping device 100. The body 10 may be provided with a mounting structure for mounting the driving part 20 and the clamping part 30, and the body 10 may be formed with a connection port 11 so that the clamping device 100 is electrically connected to an external device (e.g., the moving body 200) and supplies power to the driving part 20.

A plurality of clamping portions 30 are mounted on the body 10, and each clamping portion 30 can be individually detached from or assembled to the body 10. The plurality of clamping portions 30 is at least two clamping portions 30, for example, two, three, four, six, eight, etc., when it is required to clamp an object, the plurality of clamping portions 30 may be controlled to be used together for clamping the object, or some of the plurality of clamping portions 30 may be controlled to be used for clamping the object, while others are not moved or used for clamping the object.

The plurality of clamping portions 30 may be distributed at equal angular intervals along the circumferential direction of the body 10, so that when the plurality of clamping portions 30 clamp an object together, the object is subjected to a relatively dispersed and relatively uniform clamping force. In the example shown in fig. 6, when the number of the clamping portions 30 is two, the two clamping portions 30 may be disposed opposite to each other, or the included angle between the two clamping portions 30 is about one hundred eighty degrees, so as to apply a clamping force to the object 2000 from two opposite sides of the object 2000 when clamping the object 2000, so that the clamping is 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 may be set to about one hundred twenty degrees, and clamping force is applied from at least three directions of the object 2000 when the object 2000 is clamped, so that the clamping is stable and the object 2000 is not easily released. Of course, by analogy, when the number of the plurality of clamping parts 30 is N, the included angle between two adjacent clamping parts 30 may be set to about 360/N degrees. In the embodiment of the present invention, the number of the clamping portions 30 is two for illustration, and it is understood that the number of the clamping portions 30 may be three or more, and is not limited herein.

Referring to fig. 2 to 4, 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 by an elastic member 40, specifically, the first link group 31 is rotatably connected to the body 10 by a hinge, and the elastic member 40 may be disposed at a position where the first link group 31 is connected to the body 10. The elastic member 40 may be connected to both the body 10 and the first link set 31, and the elastic member 40 may apply an elastic force to the first link set 31, and when the first link set 31 rotates to different angles relative to the body 10, the elastic force applied to the first link set 31 by the elastic member 40 may also be different. Specifically, as shown in fig. 3, in the embodiment of the present invention, when the angle at which the first link group 31 is opened with respect to the body 10 is large, the elastic force applied to the first link group 31 by the elastic member 40 is large, and when the angle at which the first link group 31 is opened with respect to the body 10 is small, the elastic force applied to the first link group 31 by the elastic member 40 is small. In one example, the elastic member 40 includes a torsion spring, one arm of which can be connected to the first link set 31, and the other arm of which can be connected to the body 10, and the torsion spring applies elastic force to the body 10 and the first link set 31 through the two arms respectively in a tendency of restoring to a natural state. Of course, the specific form of the elastic member 40 is not limited to the torsion spring, and may be other feasible forms, for example, in another example, the specific form of the elastic member 40 may also be a tension spring, and both ends of the tension spring respectively connect the body 10 and the first link set 31 to apply an elastic force to the first link set 31, so that the first link set 31 always has an action tendency of clamping the object.

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 elastic force to the entire first link group 31 by applying elastic force to the first inner lever 311. The two ends of the first inner rod 311 are respectively connected with the body 10 and the second inner rod 312 in a rotating manner.

Both ends of the second inner rod 312 are rotatably connected to the first inner rod 311 and the clamping rod 32, respectively, and the elastic force applied to the first inner rod 311 is transmitted to the second inner rod 312 and then further transmitted to the clamping rod 32. According to the difference of the size and shape of the object, the clamping device 100 can clamp the object in different postures, and the included angle between the second inner rod 312 and the first inner rod 311 can be changed within a certain range. Specifically, the first inner rod 311, the second inner rod 312 and the clamping rod 32 can be formed at an angle less than or equal to 180 degrees in pairs, so as to form a circular ring for the object to be clamped. Such as the embodiment shown in fig. 3, the first inner rod 311 is positioned 180 degrees from the second inner rod 312, and the second inner rod 312 is positioned 100 degrees from the clamp 323 of the clamp rod 32. It will be appreciated that in other embodiments, the above-described angle may vary as desired.

Further, in some embodiments, the connection portion of the first inner rod 311 and the second inner rod 312 may also be provided with an elastic member 40, and the elastic member 40 applies elastic force to the first inner rod 311 and the second inner rod 312 respectively so that the first rod group 31 always has an action tendency of clamping an object.

Referring to fig. 3 and 4, in an example, the first link set 31 further includes an inner limiting member 313. The inner stopper 313 may be provided on the first inner lever 311, may be provided on the second inner lever 312, or may be provided on both the first inner lever 311 and the second inner lever 312. The inner limiting members 313 are used for limiting the relative angle between the first inner rod 311 and the second inner rod 312 to be within a preset angle range, so that the first inner rod 311 and the second inner rod 312 are prevented from moving outside the preset angle range, and the stability of the first link group 31 is enhanced. In the embodiment of the present invention, the inner limiting member 313 is disposed on the first inner rod 311, and the inner limiting member 313 is close to a position where the first inner rod 311 and the second inner rod 312 are rotatably connected. The preset angle range may be set according to different clamping requirements, for example, the preset angle range may be set to an included angle between the inner side of the first inner rod 311 and the inner side of the second inner rod 312 is less than or equal to one hundred eighty degrees.

Of course, the specific composition of the first link set 31 is not limited to the above discussion, and other compositions are also possible, for example, the first link set 31 may include only one link, and both ends of the link may respectively rotate the connecting body 10 and the clamping rod 32; or the first link group 31 may include three links connected in turn, and the like, but is not limited to the above-mentioned example.

Referring to fig. 2 to 4, the clamping rod 32 can be a rod body of the clamping portion 30 farthest from the body 10, and 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 with one end of the first link group 31, and 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 to move. The outer end 322 of the clamping rod 32 is rotatably connected to one end of the second linkage 33, and the second linkage 33 can be driven by the driving part 20 to move, so that the second linkage 33 drives the outer end 322 to move. During the process of driving the inner end 321 and the outer end 322, the clamping rod 32 can perform a plurality of movements, such as rotating around the inner end 321, rotating around the outer end 322, moving horizontally, and so on.

In one example, the clamping bar 32 may be further formed with a clamping member 323, the clamping member 323 being used to contact the object when the clamping device 100 clamps the object, and the clamping member 323 being elastically deformed to apply an elastic force to the object when the clamping member 323 clamps the object. Specifically, the clamping member 323 may be formed inside the clamping bar 32, and the clamping member 323 may be made of rubber, silicon rubber, or other material having good elasticity. When the clamping member 323 clamps the object, the clamping member 323 is recessed, the clamping member 323 applies elastic force to the object, and simultaneously, the contact area between the clamping member 323 and the object is increased, and friction force is increased, so that the clamping member 323 can clamp the object more stably.

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 disposed opposite to each other, and in at least one working state, the two clamping rods 32 abut against each other. Specifically, the two clamping rods 32 abut against each other, that is, the inner side surfaces of the two clamping rods 32 abut against each other, which means that the inner side surfaces of the two clamping rods 32 can be used for clamping a small or thin object, such as paper or thin line.

Referring to fig. 3, the clamping device 100 further includes a limiting portion 50, the limiting portion 50 is disposed at the outer end 322 of the clamping rod 32, or the limiting portion 50 is disposed on the first connecting rod set 31, or the limiting portion 50 is disposed at both the outer end 322 of the clamping rod 32 and the first connecting rod set 31. The position-limiting portion 50 is used for abutting against the outer end 322 of the clamping rod 32 and the first connecting rod set 31 when the outer end 322 of the clamping rod 32 is close to the first connecting rod set 31 by a predetermined distance. When the two clamping rods 32 abut against each other, or the distance between the two clamping rods 32 is small and close to abut against each other, if the clamping rods 32 receive the external torque from the outside rotating around the inner end 321, the clamping rods 32 easily rotate around the inner end 321, the outer end 322 easily abuts against the first connecting rod group 31, and the inner side surfaces of the two clamping rods 32 cannot be well attached. The limiting portion 50 is used to keep the outer end 322 at least a predetermined distance away from the first connecting rod group 31, so as to avoid the problem of poor stability when the two clamping rods 32 abut against each other or approach each other. In the embodiment shown in fig. 3, the stopper 50 is disposed on the second inner rod 312.

Further, referring to fig. 3, in an example, the rounded corners of the tail ends 324 of the clamping rods 32 may be set to be smaller, for example, smaller than 5 mm, so that when the two clamping rods 32 are abutted against each other, the gap between the tail ends 324 of the two clamping rods 32 is smaller, and the two tail ends 324 can also clamp a thinner object together.

Referring to fig. 2 and 4, one end of the second linkage 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 present embodiment, the second linkage 33 may be disposed outside the first linkage 31. The second linkage 33 includes a first outer bar 331, a second outer bar 332, and a third outer bar 333. The first outer lever 331 has one end rotatably connected to the driving part 20 and the other end rotatably connected to the second outer lever 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, and the third end 3323 is rotatably connected to one end of the third outer rod 333. The second outer rod 332 may be hollowed out of material in the middle 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 aligned, 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 is driven by the driving portion 20 to move and drive the second end 3322 to move, so that the second outer rod 332 integrally rotates around the first end 3321, at this time, the third end 3323 rotates to drive the third outer rod 333 to move, and 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 part 20, one end of the first outer rod 331 connected to the driving part 20 can move in at least two directions, and then can drive the third outer rod 333 to move in at least two ways, so that the clamping part 30 can perform at least two actions of clamping and releasing.

In the embodiment shown in fig. 3 and 4, the second linkage 33 further includes an outer limiting member 334. The outer limiting member 334 is disposed on the second outer rod 332, or the outer limiting member 334 is disposed on the third outer rod 333, or the outer limiting member 334 is disposed on both the second outer rod 332 and the third outer rod 333. The outer limit member 334 is used to limit the relative angle between the second outer rod 332 and the third outer rod 333 within a predetermined angle range. In the embodiment of the present invention, the outer limiting member 334 is disposed on the third outer rod 333, and the outer limiting member 334 is disposed near the third end 3323. The predetermined angle range may be set according to different clamping requirements, for example, the predetermined angle range may be set to an angle between a connecting line between the second end 3322 and the third end 3323 and the third outer rod 333, which is not smaller than a certain angle, such as not smaller than 80 degrees.

Of course, the specific composition of the second linkage 33 is not limited to the above discussion, and other composition manners are possible, for example, the second linkage 33 may include four or more links, and the combination manner of the plurality of links is not limited to the above exemplary manner. For example, as shown in fig. 8, the second linkage 33 comprises 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 holding rod 32. The driving part 20 is used for driving the telescopic rod 335 to extend or contract. The driving part 20 drives the telescopic rod 335 to move in a telescopic manner, so as to push the outer end 322 of the clamping rod 32 to move.

Referring to fig. 2 to 4, the driving portion 20 is disposed on the body 10, and the driving portion 20 is used for driving the clamping portion 30 to operate. The driving unit 20 includes a power unit 21 and a driving unit 22. The driving assembly 22 is rotatably connected to an end of the first outer rod 331 away from the second outer rod 332, and the driving assembly 22 is configured to move under the action of the power assembly 21, so as to drive an end of the first outer rod 331 away from the second outer rod 332 to translate. Specifically, the driving component 22 can be connected to the plurality of first outer rods 331, and when the driving component 22 moves, the plurality of first outer rods 331 can be simultaneously driven to move so as to drive the plurality of clamping portions 30 to move.

Referring to fig. 5, the power assembly 21 of the present embodiment includes a motor 211 and a reduction box 212. The motor 211 can be a brushless motor, a stepping motor and the like, the reduction gearbox 212 is connected with the motor 211, specifically, an input shaft of the reduction gearbox 212 is connected with a rotating shaft of the motor 211, the reduction gearbox 212 can be composed of a plurality of gear pairs, the reduction gearbox 212 can be made of plastic so as to reduce the overall weight of the clamping device, and the reduction gearbox 212 can play a role in increasing the output torque of the power assembly 21. By controlling the motor 211 to rotate forward or backward, the gripping portion 30 can be controlled to grip or release an object, and by controlling the magnitude of the torque output by the motor 211, the gripping force of the gripping portion 30 when gripping an object can be controlled.

The driving assembly 22 includes a rotating member 221 and a moving member 222. The rotating part 221 is used for rotating under the driving of the power assembly 21, specifically, the rotating part 221 is connected with an output shaft of the reduction gearbox 212, and the torque output by the reduction gearbox 212 can be transmitted to the rotating part 221. The rotation member 221 may be disposed on the same side of the reduction case 212 as the motor 211 to reduce the overall size of the driving part 20, facilitating the disposition of the driving part 20 on the body 10. The moving member 222 is rotatably connected to the rotating member 221, the rotating member 221 rotates to drive the moving member 222 to move, and the moving member 222 is rotatably connected to an end of the first outer rod 331, which is far away from the second outer rod 332.

In an embodiment of the present invention, the rotating member 221 includes a lead screw 2211. The moving member 222 includes a lead screw nut 2221 and a driving rod 2222 fixedly connected. The lead screw nut 2221 is rotationally connected with the lead screw 2211, the driving rod 2222 is rotationally connected with one end of the first outer rod 331, which is far away from the second outer rod 332, the lead screw 2211 rotates to drive the lead screw nut 2221 and the driving rod 2222 to move, and the driving rod 2222 moves along the axial direction of the lead screw 2211. Specifically, the lead screw 2211 is formed with an external thread, the lead screw nut 2221 is formed with an internal thread, and when the lead screw 2211 rotates relative to the lead screw nut 2221, the lead screw 2211 drives the lead screw nut 2221 and the driving rod 2222 to move along the axial direction of the lead screw 2211. The driving rod 2222 may be rotatably connected to the first outer rods 331 of the plurality of clamping portions 30, and the driving rod 2222 moves to drive the plurality of first outer rods 331 to move simultaneously, so as to drive the plurality of clamping portions 30 to clamp an object simultaneously. In addition, since the lead screw 2211 is in threaded engagement with the lead screw nut 2221, when the lead screw 2211 rotates and stabilizes at a certain angle, the positions of the lead screw nut 2221 and the driving rod 2222 are fixed, that is, the clamping action of the clamping portion 30 is also fixed, so even if the power assembly 21 does not output power outwards any more, the clamping portion 30 can be kept in the current clamping action as long as the lead screw 2211 is not rotated, and self-locking can be achieved.

Of course, the specific form of the power assembly 21 of the driving portion 20 is not limited to the example shown in fig. 5, and other arrangements may be adopted according to the requirement, for example, the power assembly 21 may be a cylinder body driven by hydraulic pressure or pneumatic pressure, the driving assembly 22 may be a movable rod of the cylinder body, the movable rod may be rotatably connected with one end of the first outer rod 331 away from the second outer rod 332, and the movable rod moves under the driving action of the power assembly 21 and drives one end of the first outer rod 331 away from the second outer rod 332 to translate.

A process of the clamping device 100 clamping an object will be described in an exemplary manner with reference to fig. 9 to 11.

Specifically, before clamping the object, the rotating part 221 may be driven to rotate by the power assembly 21, and the rotating part 221 rotates to drive the driving rod 2222 to move towards the first direction, so as to open the clamping device 100, and during the opening process, the power assembly 21 needs to do work to offset the elastic force of the elastic element 40. When the opening angle of the holding device 100 meets the requirement, the holding device 100 or the object 2000 to be held is moved so that the object 2000 is located between the holding portions 30. Then, the rotating member 221 is driven to rotate to drive the driving rod 2222 to move in the second direction, so that the clamping device 100 starts to clamp the object 2000, and the clamping device 100 may clamp the object 2000 in different manners according to the size of the clamped object 2000 and the clamping force acting portion of the clamping portion 30.

In the example shown in fig. 9, the clamping device 100 can clamp the object 2000 in a parallel clamp manner, i.e., the clamping portion 30 interferes with the object 2000 and applies a clamping force by the clamping rod 32 alone. In this process, the elastic member 40 and the power assembly 21 together serve as a power source for the clamping bar 32 to drive the clamping bar 32 to clamp the object 2000. The clamping rod 32 can always move in a translational manner from the outer side to the inner side, and the included angle between the clamping rod 32 and the second inner rod 312 and the included angle between the first inner rod 311 and the second inner rod 312 can be kept unchanged.

In the example shown in fig. 10, the clamping device 100 can also clamp the object 2000 in a clasping manner, that is, the clamping portion 30 simultaneously abuts against the object 2000 through the second inner rod 312 and the clamping rod 32 and applies a clamping force, so as to be stable when clamping the object 2000 with a circular side surface, the object 2000 is not easy to fall down or overturn during shaking or rapid acceleration of the clamping device 100, and the object is not damaged when clamping the fragile object 2000. 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 the object. In one example, the second inner rod 312 may first interfere with the object 2000; the clamping bar 32 can then be rotated around the inner end 321, and the angle between the clamping bar 32 and the second inner bar 312 is gradually reduced until the clamping bar 32 also abuts against the object 2000. The angle between the first inner bar 311 and the second inner bar 312 may be kept constant.

In the example shown in fig. 11, the clamping device 100 can clamp the object 2000 in another way of clasping, that is, the clamping portion 30 simultaneously collides with the object 2000 through the first inner rod 311, the second inner rod 312 and the clamping rod 32 to exert a clamping force. In the process, the elastic member 40 and the power assembly 21 are used as power sources for the first inner rod 311, the second inner rod 312 and the clamping rod 32, so as to drive the first inner rod 311, the second inner rod 312 and the clamping rod 32 to clamp the object. In one example, the first inner bar 311 may first collide with the object 2000; then, the second inner rod 312 rotates relative to the first inner rod 311, so that the included angle between the second inner rod 312 and the first inner rod 311 is gradually reduced until the second inner rod 312 is also abutted to the object 2000; then, the clamping rod 32 can rotate around the inner end 321, and the included angle between the clamping rod 32 and the second inner rod 312 gradually decreases until the clamping rod 32 also abuts against the object 2000. Through the mutual conflict of first interior pole 311, second interior pole 312 and clamping rod 32 and centre gripping object 2000, the clamping-force of exerting on object 2000 is dispersion, also can not damage the object when the more fragile object 2000 of centre gripping, and the centre gripping stability is higher, rocks or suddenly accelerates in-process object 2000 at clamping device 100 and is difficult for dropping or overturning.

The above-mentioned rotation connection may be a hinge, and the hinge may be a plastic shaft to reduce the overall weight of the clamping device 100.

In the description herein, reference to the description of the terms "certain embodiments," "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, unless specifically limited otherwise.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and those skilled in the art can make changes, modifications, substitutions and alterations to the above embodiments within the scope of the present invention, which is defined by the claims and their equivalents.