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CN-224209973-U - Mechanical clamping jaw

CN224209973UCN 224209973 UCN224209973 UCN 224209973UCN-224209973-U

Abstract

The utility model provides a mechanical clamping jaw which comprises a body, a camera module, a wrist rotating device and a clamping device, wherein the body defines a central axis, two clamping devices are arranged at the front end of the body and are arranged oppositely, the two clamping devices are symmetrically arranged about the central axis, the camera module is assembled on the top surface of the body, the optical axis of the camera module extends along the direction of the central axis, the visual field range of the camera module covers the moving range of the clamping devices, and the wrist rotating device is arranged at the rear end of the body and used for driving the body to rotate in a pitching mode around a second axis perpendicular to the central axis.

Inventors

  • HUANG ZONGXING
  • GAO DANGBO
  • ZHOU XIANGYANG
  • CHEN DALEI
  • HAN DINGQIANG
  • YU YI

Assignees

  • 杭州萤石软件有限公司

Dates

Publication Date
20260508
Application Date
20250528

Claims (10)

  1. 1. A mechanical jaw, comprising: The clamping device comprises a body (10), wherein the body (10) defines a central axis (L), two clamping devices (20) which are oppositely arranged are arranged at the front end of the body (10), and the two clamping devices (20) are symmetrically arranged about the central axis (L); A camera module (30), the camera module (30) is mounted on the top surface of the body (10), the optical axis of the camera module (30) extends along the direction of the central axis (L), the visual field of the camera module (30) covers the moving range of the clamping device (20), and And the wrist rotating device (40) is arranged at the rear end of the body (10) so as to drive the body (10) to pitch and rotate around a second axis perpendicular to the central axis (L).
  2. 2. Mechanical jaw according to claim 1, characterized in that the top surface of the body (10) has a chute extending in the direction of the central axis (L), via which chute the camera module (30) is connected with the body (10).
  3. 3. A mechanical jaw according to claim 1, comprising a drive means comprising: -a lead screw (51), which lead screw (51) extends along the central axis (L) and rotates around the central axis (L) under the drive of a drive motor; A push-pull nut (52), wherein the push-pull nut (52) is in threaded connection with the lead screw (51); a pair of driving swing arms (53), each driving swing arm (53) being hinged between the push-pull nut (52) and one of the clamping devices (20); The push-pull nut (52) is driven by the rotation of the lead screw (51) to reciprocate along the direction of the central axis (L) so as to drive the clamping device (20) to move through the driving swing arm (53).
  4. 4. A mechanical clamping jaw according to claim 3, characterized in that the thread angle of the screw (51) is greater than the friction self-locking angle of the screw (51), The push-pull nut (52) reciprocates in the direction of the central axis (L) in response to rotation of the lead screw (51) or in response to an external force.
  5. 5. A mechanical jaw according to claim 3, characterized in that each said gripping device (20) comprises: The parallelogram swing arm (21), the parallelogram swing arm (21) is hinged to the front end of the body (10), and the driving swing arm (53) is connected to the parallelogram swing arm (21) so as to drive the parallelogram swing arm (21) to move; -a jaw (22), said jaw (22) being fixed to the front end of said parallelogram swing arm (21).
  6. 6. A mechanical jaw according to claim 5, characterized in that said gripping means (20) comprise: The cushion block (23) is detachably arranged on the inner side of the clamping jaw (22); The two clamping devices (20) are provided with clamping positions where the parallelogram swing arms (21) move towards each other to the cushion blocks (23) are mutually abutted, and opening positions where the parallelogram swing arms (21) move away from each other to the cushion blocks (23) with intervals.
  7. 7. A mechanical jaw according to claim 5, characterized in that it comprises: The dust collection module (60), dust collection module (60) is installed in the outside of one of them clamping device (20), dust collection module (60) include clamping jaw suction head (61) and with the straw of clamping jaw suction head (61) intercommunication, clamping jaw suction head (61) with the front end parallel and level of clamping jaw (22).
  8. 8. The mechanical clamping jaw according to claim 7, comprising the dust collection module (60) comprising: the fixing buckle (63), the fixing buckle (63) is arranged on the outer side of the parallelogram swing arm (21), and the suction pipe is fixed on the fixing buckle (63).
  9. 9. The mechanical clamping jaw according to claim 7, characterized in that the suction module (60) comprises: And the suction pipe joint (64) is connected between the clamping jaw suction head (61) and the suction pipe, and two ends of the suction pipe joint (64) are respectively and detachably connected with the clamping jaw suction head (61) and the suction pipe.
  10. 10. The mechanical clamping jaw according to claim 7, characterized in that the suction module (60) comprises: The brush (65) is arranged at the front end of the clamping jaw suction head (61), and the front end of the brush (65) protrudes out of the front end of the clamping jaw (22).

Description

Mechanical clamping jaw Technical Field The utility model relates to the field of robots, in particular to a mechanical clamping jaw. Background The sweeping robot carrying clamping jaw is an important innovation in the field of intelligent home in recent years, and not only is the cleaning function of the sweeping robot improved, but also the sweeping robot has the capability of picking up and arranging articles. An image pickup device needs to be mounted on the clamping jaw, so that the object pickup can be accurately realized through the picked image. In order to reasonably arrange the positions of the image acquisition devices, a built-in space for the image acquisition devices is generally required to be arranged on the body of the clamping jaw, and a turnover folding mechanism for the image acquisition devices is arranged, so that the space occupied by the image acquisition devices on the body of the clamping jaw is further increased, and the space layout of the clamping jaw is affected. Disclosure of utility model In order to solve the technical problems, the utility model provides the mechanical clamping jaw, and the camera module and the wrist rotating device are arranged on the clamping jaw body at the same time, so that not only is flexible operation of the clamping jaw realized, but also the space layout of the clamping jaw is reasonably realized. In one embodiment of the utility model, a mechanical jaw is provided comprising: The clamping device comprises a body, a clamping device and a clamping device, wherein the body defines a central axis, two clamping devices which are oppositely arranged are arranged at the front end of the body, and the two clamping devices are symmetrically arranged about the central axis; A camera module, which is assembled on the top surface of the body, the optical axis of the camera module extends along the direction of the central axis, the visual field of the camera module covers the moving range of the clamping device, and The wrist rotating device is arranged at the rear end of the body to drive the body to pitch and rotate around a second axis perpendicular to the central axis. In one embodiment, the top surface of the body has a chute extending in the direction of the central axis, and the camera module is connected with the body via the chute. In one embodiment, a drive device is included, the drive device comprising: A screw extending along the central axis and rotating around the central axis under the drive of a drive motor; the push-pull nut is in threaded connection with the lead screw; A pair of driving swing arms, each of which is hinged between the push-pull nut and one of the clamping devices; The push-pull nut is driven by the rotation of the lead screw to reciprocate along the direction of the central axis, so that the clamping device is driven to move by the driving swing arm. In one embodiment, the lead screw has a thread lead angle greater than the friction self-locking angle of the lead screw, The push-pull nut reciprocates in the direction of the central axis in response to rotation of the lead screw or in response to an external force. In one embodiment, each of the clamping devices comprises: The parallelogram swing arm is hinged to the front end of the body, and the driving swing arm is connected with the parallelogram swing arm so as to drive the parallelogram swing arm to move; The clamping jaw is fixed at the front end of the parallelogram swing arm. In one embodiment, the clamping device comprises: the cushion block is detachably arranged on the inner side of the clamping jaw; The two clamping devices are provided with clamping positions, wherein the parallelogram swing arms move to the clamping positions where the cushion blocks are mutually abutted in opposite directions, and the parallelogram swing arms move to the opening positions where intervals are arranged between the cushion blocks in a mutually deviating mode. In one embodiment, the method comprises: The dust collection module is assembled and arranged on the outer side of one clamping device and comprises clamping jaw suction heads and suction pipes communicated with the clamping jaw suction heads, and the clamping jaw suction heads are flush with the front ends of the clamping jaws. In one embodiment, the dust collection module comprises: the fixing buckle is arranged on the outer side of the parallelogram swing arm, and the suction pipe is fixed on the fixing buckle. In one embodiment, the dust collection module includes: And the suction pipe connector is connected between the clamping jaw suction head and the suction pipe, and two ends of the suction pipe connector are respectively connected with the clamping jaw suction head and the suction pipe in a separable way. In one embodiment, the dust collection module includes: the brush is arranged at the front end of the clamping jaw suction head, and the front end of the brush protrudes out of the front end of the clamping jaw