WO2017028509A1

WO2017028509A1 - Grasping mechanism, grasping device and robot

Info

Publication number: WO2017028509A1
Application number: PCT/CN2016/073222
Authority: WO
Inventors: 刘培超
Original assignee: 深圳市越疆科技有限公司
Priority date: 2015-08-16
Filing date: 2016-02-02
Publication date: 2017-02-23
Also published as: WO2017028507A1; WO2017028508A1; CN204868855U

Abstract

Disclosed are a grasping mechanism, a grasping device and a robot. The grasping mechanism comprises a pair of grasping mounting plates (10) disposed oppositely, a grasping actuator (20), a rotary arm (30) and a pair of clamping arm assemblies (40), wherein the grasping actuator (20) comprises an actuator body (21) fixed on one grasping mounting plate (10), and a rotary shaft (22) disposed on the actuator body (21); the rotary arm (30) comprises a body part (31) disposed opposite to the grasping mounting plates (10), and an intermediate connection part (32) which protrudes towards one side of the grasping actuator (20) along the body part (31) and is fixedly connected to the rotary shaft (22); the pair of clamping arm assemblies (40) are disposed oppositely; and a clamping claw (41) is slidably connected to a guide rail structure (43) via a sliding groove (4321), and the guide rail structure (43) defines the movement path of the clamping claw (41) to enable the clamping claw (41) to only move along the guide rail structure (43) with respect to the grasping mounting plate (10) and to move linearly, which enables the movement path of a clamping mechanism (412) to also be a linear motion, such that there is no height difference between the clamping claw (41) in a clamping state and the clamping claw (41) in a pre-clamping state, thereby avoiding the case where the clamping claw (41) cannot clamp a clamping balance point of the article.

Description

Title of Invention: Grab Mechanism, Grab Device and Robot

Technical field

[0001] The present invention belongs to the field of robots, and more particularly to a gripping mechanism, a gripping device having the gripping mechanism, and a robot.

Background technique

[0002] The execution end of the desktop type robot has a gripping mechanism for grasping an object, and the gripper of the gripping mechanism is usually folded around a rotation point, so that the movement track of the clamping portion of the jaw is a curve , the clamping portion of the clamping jaw has a certain height difference between the clamping state and the state before clamping, and the height difference of the object to be clamped may cause the clamping jaw to not clamp the object. Corresponding clamping points are not conducive to picking up objects.

[0003] In addition, the gripping mechanism often adopts a gear assembly to realize the clamping of the jaws, but in order to ensure the normal operation of the gear member, an active clearance for the meshing between the gear teeth of the gear is required, and a certain interval may occur between the gears. Displacement, which causes the jaws to sway during use.

Summary of invention

technical problem

[0004] An object of the present invention is to overcome the above-mentioned deficiencies of the prior art, and to provide a gripping mechanism for aligning a clamping portion of a jaw in a state of being clamped with a height difference in a state before clamping. To facilitate the solution of the object problem

Technical solution

[0005] The present invention is achieved in this way, a grasping mechanism, comprising:

[0006] a pair of gripping mounting plates disposed opposite each other;

[0007] a gripping drive, the gripping drive comprising a driver body fixed to a gripping mounting plate and a rotating shaft disposed on the driver body;

a rotating arm, the rotating arm includes a body portion disposed opposite to the grasping mounting plate, and an intermediate connecting portion protruding along a side of the body portion toward the grasping driver and fixedly connected to the rotating shaft; [0009] a pair of clamp arm assemblies, the pair of clamp arm assemblies are oppositely disposed, and each of the clamp arm assemblies includes a jaw for holding the article, one end is hinged to the rotating arm and the other end is hinged to the clip a connecting rod on the claw and being mounted on the corresponding gripping mounting plate and located between the gripping mounting plate and the clamping jaw to slide the clamping jaw relative to the gripping mounting plate to open or close Rail structure.

[0010] Optionally, the rotating arm further includes a side connecting portion on both sides of the intermediate connecting portion and hinged with one end of the connecting rod, and at least one of the sides of the intermediate connecting portion is provided The side connection portion is described.

[0011] Optionally, the side connecting portions on both sides of the intermediate connecting portion are symmetrically disposed around the intermediate connecting portion.

[0012] Optionally, each of the rail structures includes a rail fixedly mounted to the corresponding grab mounting plate and mounted on the jaw and cooperating with the rail to cause the jaw to be opposite to the a guide member for moving the guide rail, the guide member is provided with a sliding slot that is slidably engaged with the guide rail.

[0013] Optionally, the jaw comprises a clamping portion hinged with the link and a clamping portion extending along one end of the clamping portion for grasping an object.

[0014] Optionally, each of the clip arm assemblies further includes a collet detachably coupled to the grip portion and for abutting the object, the clips being disposed facing each other.

[0015] Optionally, each of the clamping arm assemblies further includes a first magnetic connecting member mounted on the clamping portion and a first portion disposed on the clamping head and magnetically connected to the first magnetic connecting member Two magnetic connectors.

[0016] Optionally, the clamping portion is provided with a card slot for accommodating the first magnetic connecting portion, and the clamping head is configured to fix the second magnetic connecting portion and cooperate with the card slot The card is convex.

[0017] Optionally, the gripping mechanism includes a horizontal rotary drive coupled to a gripping mounting plate for driving the gripping mounting plate to rotate horizontally.

[0018] Optionally, the horizontal rotation driving device comprises a horizontal rotation mounting bracket and a horizontal rotation driver disposed on the horizontal rotation mounting bracket, and an output end of the horizontal rotation driver is installed through the connecting shaft and the grabbing Board connection

[0019] the horizontal rotary drive device includes an upper flange and a lower flange disposed in the horizontal rotary mount, and the upper flange is fixedly connected to an output end of the horizontal rotary drive, The lower flange is fixedly connected to the connecting shaft, and the upper flange and the lower flange are fixedly connected by the first fastener.

[0020] Optionally, the horizontal rotary driving device further includes an annular platform disposed in the horizontal rotating mounting frame, The opposite side walls of the horizontal rotating mounting frame are respectively provided with a notch, and the annular table is sleeved on the upper part of the connecting shaft and the outer side abuts against the side edge of the notch.

[0021] Optionally, the horizontal rotary drive is a steering gear or a motor, and the steering gear or the motor is disposed at a top end portion of the horizontal rotary mount and fixed to the horizontal rotary mount by a second fastener connection.

[0022] The present invention provides a robot including a mechanical arm and an actuator coupled to an end of the robot arm, the robot further including the grasping mechanism, and the grasping mechanism is mounted on the actuator.

[0023] The present invention provides a gripping device comprising a gripping mechanism, the gripping mechanism being the gripping mechanism according to any one of claims 6 to 8, the gripping device further comprising The pick-up mechanism is used in conjunction with the storage rack for storing the collet.

[0024] wherein each of the clip arm assemblies further includes a collet detachably coupled to the clamping portion and configured to abut the object, the two collets being disposed facing each other.

[0025] Further, each of the clamping arm assemblies further includes a first magnetic connecting member mounted on the clamping portion and a second magnetic component disposed on the clamping head and magnetically connected to the first magnetic connecting member Magnetic connector.

[0026] Further, the clamping portion is provided with a card slot for accommodating the first magnetic connecting portion, and the clamping head is provided with a second magnetic connecting portion for fixing and engaging with the card slot. The card is convex.

[0027] Further, the collet includes a main body portion and a locking portion provided on a side of the main body portion;

[0028] The storage rack includes a base, and a positioning block fixed on the base, the positioning block is provided with a plurality of equal spacings, and two adjacent positioning blocks are formed between the two positioning blocks for placing the main body Storage space

The top of the positioning block is provided with a blocking groove for the locking portion to be placed at the position of the storage space.

[0029] Further, two storage spaces are formed between two adjacent positioning blocks.

[0030] The present invention also provides a robot including a robot arm and an actuator coupled to an end of the arm

The robot further includes the above-described gripping device, and the gripping mechanism is mounted on the actuator.

Advantageous effects of the invention

Beneficial effect

[0031] In the present invention, the jaws are slidably connected to the rail structure through the sliding slot, and the rail structure defines the movement track of the jaws, so that the jaws can only move along the rail structure relative to the gripping mounting plate, and move linearly. The movement trajectory of the clamping portion is also linear, so that the clamping jaw is in the state of being clamped and in the state before clamping. There is a height difference, thereby avoiding the case where the jaws are not clamped to the holding point of the object. In addition, in the present invention, the connection between the collet, the connecting rod and the rotating arm is an articulated connecting structure, and the hinged connecting structure is adopted, so that there is no need to reserve a movable gap at the joint, thereby preventing the jaw from shaking.

Brief description of the drawing

DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings to be used in the embodiments will be briefly described below. Obviously, the drawings in the following description are only some implementations of the present invention. For example, other drawings may be obtained from those of ordinary skill in the art in light of the inventive work.

1 is a schematic view showing the overall structure of a grasping mechanism of the present invention;

2 is a schematic exploded view showing a part of components of the grasping mechanism of the present invention;

3 is a schematic structural view of a storage rack in a desktop type mechanical glove member of the present invention;

4 is a schematic exploded view of another part of the gripping mechanism of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS [0037]

[]

[Table 1]

Label Name Label Name

10 Grab the mounting plate

20 Grab Drive 21 Drive Body

22 shaft

30 swivel arm 31 body part

32 intermediate connection 33 side connection

40 clamp arm assembly

41 jaws 411 clamps

412 clamping part 4121 card slot

42 connecting rod

43 rail structure

431 rail 432 guide

4321 chute

50 collet 501 card convex

51 main body 52 locking part

61 first magnetic connector

70 storage rack 701 storage space

71 base 72 positioning block

721 blocking slot

80 horizontal rotary drive 81 horizontal rotary mount

82 Horizontal Rotary Drive 83 Upper Flange

84 lower flange 85 ring 86 connecting shaft

811 notch 821 second fastener

831 first fastener

[0038]

Invention embodiment

Embodiments of the invention

[0039] In order to make the objects, technical solutions and advantages of the present invention more clear, the following is in conjunction with the accompanying drawings and embodiments.

The present invention will be further described in detail.

[0040] In the embodiment of the present invention, according to the XYZ rectangular coordinate system established in FIG. 1 and FIG. 3, one side located in the positive direction of the X-axis is defined as the front side, and the side located in the negative direction of the X-axis is defined as the rear side; One side of the positive direction of the Y-axis is defined as the left side, and the side of the negative direction of the Y-axis is defined as the right side; the side located in the positive direction of the z-axis is defined as the upper side, and the side located in the negative direction of the z-axis is defined as the lower side.

[0041] Embodiments of the present invention provide a grasping mechanism.

[0042] As shown in FIGS. 1 and 2, the gripping mechanism includes a pair of gripping mounting plates 10, a gripping drive 20, a rotating arm 30, and a pair of clip arm assemblies 40, which are disposed opposite each other. Relative settings.

[0043] In the present embodiment, the two grabbing mounting plates 10 are oppositely disposed and fixedly connected to each other. Of course, the two gripping mounting plates 10 may also be opposite portions of the frame structure, so as to support the connection of the grab drive 20 and the clamp arm. Component 40. The grab drive 20 includes a driver body 21 that is secured to a grab mounting plate 10 and a spindle 22 that is disposed on the driver body 21. Preferably, the grab drive 20 can be a steering gear, a stepper motor or a servo motor or the like. The driver body 21 is fixed to the grab mounting plate 10 and the rotating shaft 22 passes through the grab mounting plate 10 to be coupled with the rotating arm 30. In the present embodiment, the driver body 21 can be detachably mounted to the grip mounting plate 10 by bolts. Easy to install and remove. The rotating arm 30 includes a body portion 31 disposed opposite the gripping mounting plate 10 and an intermediate connecting portion 32 that protrudes from the extending body portion 31 toward the gripping drive 20 side and is fixedly coupled to the rotating shaft 22. In the present embodiment, the body portion 31 is elongated to move the clamp arm assembly 40 at both ends. In the present embodiment, the intermediate connecting portion 32 is provided with a shaft hole fixedly engaged with the rotating shaft 22. Of course, in other implementations, the intermediate connecting portion 32 may also be directly fixed to the rotating shaft 22 by bolts. Each clamp arm assembly 40 includes a jaw 41 for holding an article, one end hinged to the rotating arm 30 and the other end hinged to the jaw 41 The link 42 and the rail structure 43 mounted on the corresponding gripping mounting plate 10 and located between the gripping mounting plate 10 and the jaws 41 to slide the jaws 41 relative to the gripping mounting plate 10 to open or close. In this embodiment, each clip arm assembly 40 is located between the swivel arm 30 and the corresponding grip mounting plate 10, that is, each clip arm assembly 40 is located on opposite sides of the swivel arm 30. In other embodiments, each clip arm assembly 40 is located on the same side of the swivel arm 30 to enable gripping and gripping of the item.

[0044] In operation, the gripping drive 20 is activated, and the driving body 21 drives the rotating shaft 22 to rotate, and is fixedly connected to the intermediate connecting portion 32 through the rotating shaft 22 to drive the rotating arm 30 to rotate, and is driven by the rotating arm 30 to be hinged to the connecting rod 42. The jaws 41 move along the rail structure 43 relative to the gripping mounting plate 10 such that the jaws 41 are adjacent or facing away. Wherein, as shown in FIG. 2, the rotating arm 30 rotates in the A direction, the two clamping jaws 41 are close to each other to grasp the object, and the rotating arm 30 rotates in the B direction, and the two clamping jaws 41 face away from each other to release the object or prepare to pick up the object. .

[0045] Based on the above structure, in the present invention, the jaws 41 are slidably coupled to the rail structure 43 through the chute, and the rail structure 43 defines the movement of the jaws 41 so that the jaws 41 can only be grasped along the rail structure 43. The mounting plate 10 is moved and linearly moved, so that the movement trajectory of the clamping portion 412 is also linearly moved, so that the clamping jaw 41 does not have a height difference between the clamped state and the state before clamping, thereby avoiding the clip. The claw 41 does not clamp the balance point of the object. Further, in the present invention, the connection between the collet 50, the link 42 and the swivel arm 30 is an articulated joint structure, and the hinged joint structure is employed so that the joint does not need to reserve a movable gap, thereby preventing the jaw 41 from shaking.

[0046] In the above, the two rail structures 43 are respectively located between the rotating arm 30 and the corresponding grab mounting plate 10.

[0047] As shown in FIGS. 1 and 2, the swivel arm 30 further includes a side connecting portion 33 on both sides of the intermediate connecting portion 32 for articulating with the end of the link 42, and either side of the intermediate connecting portion 32. At least one side connection portion 33 is provided. The number of the side connecting portions 33 may be two or more. Based on this configuration, the link 42 is hinged to the side connecting portion 33 at different positions on the body portion 31. According to the principle of the lever, this changes the pair of clips. The direction of the driving force of the claw 41 and the point of application of the force, thereby changing the closest distance that the two jaws 41 can reach, and the closest distance that can be reached, so that the position of the connecting rod 42 and the rotating arm 30 can be adjusted. , the angle range in which the jaws 41 can be adjusted is adjusted. The number of the side connecting portions 33 may be one, that is, the position of the jaws 41 with respect to the body portion 31 is fixed.

As shown in FIGS. 1 and 2, the side connecting portions 33 on both sides of the intermediate connecting portion 32 are symmetrically disposed centering on the intermediate connecting portion 32. Thus, during the rotation of the driving rotary arm 30, it is advantageous to equalize the forces on both sides of the rotating shaft 22. Further, each of the rail structures 43 includes a rail 431 fixedly mounted on the corresponding gripping mounting plate 10, and a guide 432 mounted on the jaw 41 and engaging with the rail 431 to move the jaw 41 relative to the rail 431. The guide member 432 is provided with a sliding groove that is slidably engaged with the guide rail 431. The sliding groove cooperates with the guide rail 431 to linearly move the jaw 41 with respect to the grip mounting plate 10, thereby enhancing the stability and smoothness of the movement of the jaw 41.

[0050] In the present invention, the jaw 41 includes a clamping portion 411 hinged to the link 42 and a clamping portion 412 extending along one end of the clamping portion 411 for grasping the object. The opening or closing of the clamping portion 412 is caused by the rotation of the connecting rod 42, thereby achieving the clamping and releasing of the object.

In the present invention, the clamping portion 412 includes a clamping end surface (not labeled) for abutting the object when the object is clamped, and the clamping end surface has an anti-slip structure to improve the gripping effect of the grasping mechanism.

[0052] As shown in FIGS. 1 and 2, each of the clamp arm assemblies 40 further includes a collet 50 detachably coupled to the grip portion 412 for abutting the object, the two collets 50 being disposed facing each other. The collet 50 is preferably detachably attached to the gripping portion 412 to facilitate the collet 50 according to the particular shape of the article to be gripped.

[0053] Further, each clamp arm assembly 40 further includes a first magnetic connector 61 mounted on the clamping portion 412 and a second magnetic connector disposed on the chuck 50 and magnetically coupled to the first magnetic connector 61. (not shown in the figure). The first magnetic connecting member 61 and the second magnetic connecting member are magnetically connected to achieve a simple and quick connection, which is advantageous for improving the connection efficiency. In this embodiment, the first magnetic connecting member 61 is a magnet, and the second magnetic connecting member is an iron block. Alternatively, the first magnetic connecting member 61 is an iron block, and the second magnetic connecting member is a magnet. Of course, the first magnetic connecting member 61 and the second magnetic connecting member may be any other items that are mutually magnetically attractable, and are not limited thereto.

[0054] Further, the clamping portion 412 is provided with a card slot 4121, and the clamping head 50 is convexly provided with a card protrusion 511 engaged with the card slot 4121. The first magnetic connecting member 61 is disposed in the card slot 4121, and the second magnetic connecting member is disposed. It is set on the card convex 501. Thus, in the process of assembling and connecting the collet 50 to the clamping portion 412, only the card protrusion 501 is opposed to the card slot 4121, and the mutual attraction magnetic force between the first magnetic connector 61 and the second magnetic connector is attracted. Under the action, the connection between the collet 50 and the clamping portion 412 can be realized.

1, 2 and 4, the gripping mechanism includes a horizontal rotation driving device 80, and the horizontal rotation driving device 80 includes a horizontal rotation mounting bracket 81 and a horizontal rotation driver 82 provided on the horizontal rotation mounting bracket 81. The output end of the horizontal rotary drive 82 is coupled to a grab mounting plate 11 via a connecting shaft 86. Generally, the output end of the horizontal rotary drive 82 is shaft-shaped, and the connecting shaft 86 is also shaft-shaped, and the connection between the shaft member and the shaft member is To ensure stability, it is necessary to consider whether it is convenient to carry out the assembly operation when connecting, and also consider the stability after connection. In this embodiment, the upper flange 38 is first connected to the output end of the horizontal rotary drive 82, the lower flange 84 is connected to the connecting shaft 86, the upper flange 83 is connected to the output end of the horizontal rotary drive 82, and The connection between the lower flange 84 and the connecting shaft 86 can be connected by a shaft hole interference fit. Finally, the upper flange 83 and the lower flange 84 are locked and fixed by the first fastener 831, thereby completing the horizontal rotation. The output end of the driver 82 is coupled to the driving shaft 86. When the horizontal rotary actuator 82 is activated, the connecting shaft 86 is rotated by the output end, and finally the driving suction cup is driven to rotate the connecting shaft 86 in the axial direction. Thus, the horizontal rotary drive drives the gripping drive 20, the rotary arm 30 and the clamp arm assembly 40 to horizontally rotate by driving the gripping mounting plate 10, whereby the object can be horizontally rotated to adjust the placement of the article.

[0056] Further, the horizontal rotation driving device 80 further includes an annular table 85 disposed in the horizontal rotating mounting frame 81. The opposite side walls of the horizontal rotating mounting frame 81 are respectively provided with a notch 811, and the annular table 85 is sleeved on the connecting shaft. The upper portion and the outer side of the 86 abut against the side edges of the notch 811. Thus, when the horizontal rotary actuator 82 drives the connecting shaft 86 to rotate, the annular table 85 can function to prevent the horizontal rotating mount 81 from shaking, ensuring the accuracy of the gripping.

In the present embodiment, the horizontal rotary drive 82 is a steering gear or a motor, and the steering gear or the motor is provided at the top end portion of the horizontal rotary mount 81 and is fixedly coupled to the horizontal rotary mount by the second fastener 821. Specifically, the steering gear or the motor as the horizontal rotary actuator 82 is locked to the top end surface of the horizontal rotary mounting frame 81 by the second fastener 821, which is easy to implement, easy to assemble and disassemble, and the stability after installation can be secured. It should be noted that when the steering gear or the motor is used as the horizontal rotary drive 82, the output shaft of the steering gear or the motor is the output end of the horizontal rotary drive 82.

[0058] The robot provided by the embodiment of the invention includes a mechanical arm, an actuator connected to the end of the robot arm, and a grasping mechanism, and the grasping mechanism is mounted on the actuator. The grasping mechanism in this embodiment has the same structure as the grasping mechanism in the above embodiments, and functions the same, and will not be described herein.

[0059] The embodiment of the present invention further provides a grasping device, which is shown in FIG. 1 to FIG. 3, the grasping device includes a grasping mechanism, and the specific structure of the grasping mechanism refers to the above embodiment, because the grasping mechanism adopts All the technical solutions of all the above embodiments have the same advantages as those of the technical solutions of the foregoing embodiments, and will not be further described herein. [0060] In the present invention, the gripping device further includes a storage rack 70 for use with the gripping mechanism for storing the plurality of collets 50, the plurality of collets 50 may be in the shape of a collet 50 to accommodate different shapes. Object to be clamped.

[0061] Further, as shown in FIG. 3, the collet 50 includes a main body portion 51 and a locking portion 52 provided on a side of the main body portion 51, and the storage rack 70 includes a base 71 and a positioning fixed to the base 71. Block 72, the positioning block 72 is provided with a plurality of equal spacings, and a storage space 701 for placing the main body portion 51 is formed between the adjacent two positioning blocks 72. The top of the positioning block 72 is provided at the position of the storage space 701. The blocking groove 72 is inserted into the blocking portion 72 1 . Based on this, during the process of unloading the collet 50, the collet 50 on the gripping mechanism is placed by the robot to the corresponding position of the storage rack 70. At this time, the robot drives the gripping mechanism to move to the side, and the collet 50 follows. Falling onto the storage rack 70, the chuck 50 is manually removed without the need of a worker; and in the process of loading the chuck 50, the foregoing process can be reversely operated.

[0062] Further, as shown in FIG. 3, two storage spaces 701 are formed between two adjacent positioning blocks 72. Thus, in the process of unloading the collet 50, the indirect adjustment of the two jaws 41 on the gripping mechanism to the indirect of the two storage spaces 701 is first performed, and then the collet 50 on the gripping mechanism is placed by the robot to the storage rack 70. The corresponding position, the last gripping drive 20 drives the two jaws 41 to open; and during the loading of the collet 50, the foregoing process can be reversed.

The robot provided by the embodiment of the present invention includes a mechanical arm, an actuator connected to the end of the robot arm, and the above-mentioned grasping device, and the grasping mechanism is mounted on the actuator. The grasping device and the grasping mechanism in this embodiment have the same structure as the grasping device and the grasping mechanism in the above embodiments, and the functions are the same, and are not described herein.

The above are only the preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent substitutions or improvements made within the spirit and principles of the present invention are included in the present invention. Within the scope of protection.

Claims

Claim

A grasping mechanism, comprising:

a pair of gripping mounting plates that are oppositely disposed;

Grasping a drive, the grasping drive comprising a drive body fixed to a gripping mounting plate and a rotating shaft disposed on the drive body;

a rotating arm, the rotating arm includes a body portion disposed opposite to the grab mounting plate; and a middle connecting portion protruding along a side of the body portion toward the grasping driver and fixedly coupled to the rotating shaft;

a pair of clamp arm assemblies, the pair of clamp arm assemblies are oppositely disposed, and each of the clamp arm assemblies includes a jaw for holding the article, one end hinged to the rotating arm and the other end hinged to the jaw a connecting rod and a rail structure mounted on the corresponding gripping mounting plate and located between the gripping mounting plate and the clamping jaw to slide the clamping jaw relative to the gripping mounting plate to open or close .

The grasping mechanism according to claim 1, wherein the rotating arm further includes a side connecting portion on both sides of the intermediate connecting portion and hinged to one end of the connecting rod, and the intermediate connecting portion At least one of the side joints is provided on either side.

The grasping mechanism according to claim 2, wherein the side connecting portions on both sides of the intermediate connecting portion are symmetrically disposed centering on the intermediate connecting portion.

A grasping mechanism according to claim 1, wherein each of said rail structures includes a rail fixedly mounted to said gripping mounting plate and mounted on said jaw and engaging said rail to enable a guide member for moving the jaw relative to the guide rail, the guide member being provided with a sliding slot that is slidably engaged with the guide rail.

A gripping mechanism according to claim 1, wherein said jaw includes a nip portion hinged to said link and a nip portion extending along one end of said nip portion for grasping an object, such as The grasping mechanism of claim 5, wherein each of said clamp arm assemblies further comprises a collet detachably coupled to said grip portion and for abutting said article, said collet phase Face the settings. The grasping mechanism according to claim 6, wherein each of said clamp arm assemblies further includes a first magnetic connector mounted on said clamping portion and disposed on said collet and said A magnetic connector is connected to the second magnetic connector.

The grasping mechanism according to claim 7, wherein the clamping portion is provided with a card slot for accommodating the first magnetic connecting portion, and the chuck is provided for fixing the second magnetic connection And a card protrusion that cooperates with the card slot.

A gripping mechanism according to any one of claims 1 to 8 wherein said gripping mechanism includes a horizontal rotary drive coupled to said grip mounting plate for driving said gripping plate to rotate horizontally Device.

A gripping mechanism according to claim 9, wherein said horizontal rotary drive comprises a horizontal rotary mount and a horizontal rotary drive provided on said horizontal rotary mount, said output of said horizontal rotary drive being passed Connecting the shaft to a picking mounting plate;

The horizontal rotary drive device includes an upper flange and a lower flange disposed in the horizontal rotary mount, the upper flange being fixedly coupled to an output end of the horizontal rotary drive, the lower flange The disc is fixedly coupled to the connecting shaft, and the upper flange and the lower flange are fixedly coupled by a first fastener.

The grasping mechanism according to claim 9, wherein the horizontal rotary driving device further comprises an annular table disposed in the horizontal rotating mounting frame, wherein opposite side walls of the horizontal rotating mounting frame are respectively opened a notch, the annular table is sleeved on an upper portion of the connecting shaft and the outer side abuts against a side edge of the notch.

The grasping mechanism according to claim 9, wherein the horizontal rotary actuator is a steering gear or a motor, and the steering gear or the motor is provided at a tip end portion of the horizontal rotary mount and is mounted in the horizontal rotation The frame is fixedly connected by a second fastener.

The robot, including a robot arm and an actuator coupled to an end of the robot arm, further comprising a grasping mechanism according to any one of claims 1 to 12, wherein the grasping mechanism is mounted to the actuator on.

A gripping device, comprising a gripping mechanism, wherein the gripping mechanism is as claimed The gripping mechanism of any of clauses 6 to 8, wherein the gripping device further comprises a storage rack for use with the gripping mechanism for storing the collet.

[Claim 15] The gripping device according to claim 14, wherein the chuck includes a main body portion and a locking portion provided at a side of the main body portion;

The storage rack includes a base, and a positioning block fixed on the base, the positioning block is provided with a plurality of equal spacings, and a storage for placing the main body portion is formed between two adjacent positioning blocks. The space, the top of the positioning block is provided with a blocking groove for the locking portion to be placed at the position of the storage space.

[Claim 16] The grasping device according to claim 15, wherein two storage spaces are formed between two adjacent positioning blocks.

[Claim 17] The robot, comprising: a robot arm and an actuator coupled to an end of the robot arm, further comprising a gripping device according to any one of claims 14 to 16, the gripping mechanism being mounted On the actuator.