Passive clamping mechanism with gear and belt wheel coupling

Abstract

The invention discloses a passive clamping mechanism with gear and belt wheel coupling. The passive clamping mechanism comprises a connecting assembly, a shear type pressing rod assembly, a clamping mechanism connecting assembly, a gear and rack coupling synchronous belt transmission assembly and a flexible fin ray effect assembly which are sequentially connected from top to bottom, wherein the connecting assembly is connected with an external pressing rod; the shear type pressing rod assembly converts vertical displacement of the external pressing rod into horizontal displacement of the tail end of the shear type pressing rod assembly; the clamping mechanism connecting assembly supports and fixes the gear and rack coupling synchronous belt transmission assembly and the flexible fin ray effect assembly; the gear and rack coupling synchronous belt transmission assembly drives the flexible fin ray effect assembly to move when the shear type pressing rod assembly moves; and the flexible fin ray effect assembly is driven by the gear and rack coupling synchronous belt transmission assembly to clamp the surface of a circular-tube-shaped object. According to the clamping mechanism, external pressing force on the clamping mechanism serves as a driving source, and the clamping mechanism achieves passive clamping without additional driving force through changes of an internal mechanical structure of the mechanism.

Description

technical field [0001] The invention relates to the technical field of anthropomorphic robot hands, in particular to a passive clamping mechanism coupled with gears and pulleys. Background technique [0002] The mechanical gripping mechanism designed to imitate the gripping function of human hands has been applied to all aspects of life. In order to increase the anthropomorphism of the hand, more joint degrees of freedom should be designed in the hand to increase the reliability of the mechanism, but the use of multi-drivers to control the clamping mechanism will increase the structural complexity, volume and weight of the mechanism; in addition, in order to better Accurately grasping complex shapes and fragile precision objects requires the gripping mechanism to have a certain degree of self-adaptiveness; the existing gripping mechanism often drives the clamping object continuously through the motor, and the installation of the motor and the use of electricity are in a cert...

AI Technical Summary

Problems solved by technology

In order to increase the anthropomorphism of the hand, more joint degrees of freedom should be designed in the hand to increase the reliability of the mechanism, but the use of multi-drivers to control the clamping mechanism will increase the structural complexity, volume and weight of the mechanism; in addition, in order to better Accurately grasping complex shapes and fragile precision objects requires the gripping mechanism to have a certain degree of self-adaptability; the existing gripping mechanism often drives the clamping object continuously through the motor, and the installation of the motor and the use of electricity are in a certain range. To some extent, it limits the breadth of application

[0003] For example: Chinese invention patent document CN101767337B discloses a bevel gear-pulley coupling under-actuated two-joint robot finger device. This invention is driven by a motor, which leads to an additional installation space for the motor in the entire mechanism, which reduces the simplicity of the mechanism structure; The invention uses the decoupling method to adaptively cover the object and adapt to the shape of the object, but long-term decoupling will cause a certain degree of wear and tear on the parts

[0004] As another example, the Chinese invention patent document CN101214652B discloses a transitional underactuated robot finger device, which uses springs to store potential energy to achieve decoupling and underactuation to adapt to the surface of the grasped object, and has certain advantages under low control requirements. Self-adjusting function, but the entire adjustment range is limited, and the spring has a certain degree of wear after storing and releasing potential energy for a long time, and the movement accuracy of the mechanism needs to be further adjusted

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