Inverted conical surface guiding type self-energizing anti-skid device

Abstract

The utility model discloses a kind of inverted conical surface guiding type self-force anti-skid device.It relates to anti-skid clamping and robot end effector accessory technical field, for the problem that existing clamping end surface anti-skid structure is difficult to utilize tangential slip tendency to improve local normal pressure under the condition of no active drive, the following scheme is proposed: including shell, fixed inverted conical surface guide, follow-up slider, floating contact pad, anti-skid friction layer and supporting / reset spring, fixed inverted conical surface guide has inverted conical surface guide surface, follow-up slider is slidably matched with it, floating contact pad and anti-skid friction layer form floating assembly with follow-up slider, and normal ejection towards object when tangential micro-displacement is generated.The utility model is suitable for the anti-skid end surface of clamping, grabbing, dragging and handling equipment.

Description

Technical Field

[0001] This invention relates to the fields of anti-slip gripping, robot end effector accessories, and passive pressurized anti-slip devices, and particularly to an omnidirectional self-aggregating force anti-slip device capable of converting the tangential sliding tendency of an object into normal ejection displacement. Background Technology

[0002] In robotic end effectors, gripping mechanisms, and handling devices, the gripping end face typically needs to form stable contact with the surface of the object being gripped to limit slippage relative to the gripping end face during grasping, dragging, handling, or posture adjustment. In existing technologies, a common practice is to apply rubber pads, silicone pads, polyurethane pads, textured layers, or other high-friction material layers to the gripping end face to enhance anti-slip capability by increasing the coefficient of friction between the gripping end face and the object surface. This type of anti-slip structure is usually fixedly mounted on the gripping end face, and its anti-slip capability mainly depends on the material's own frictional properties, the object's surface condition, and the initial normal pressure provided by the gripping mechanism.

[0003] In practical applications, when the surface of the clamped object is relatively smooth, the object is heavy, the clamping force is limited, or the external disturbance is significant, relying solely on a fixed high-friction material layer is often insufficient to adequately suppress the object's tangential slippage tendency. Because this type of friction layer is typically fixed relative to the clamping end face, it cannot adapt to the tangential force generated by the object through micro-displacement, nor can it convert the tangential slippage tendency into a normal ejection force towards the object. Therefore, when slippage occurs, the local normal pressure usually cannot passively increase with the tangential force.

[0004] To improve anti-slip capability, existing technologies can increase the normal pressure between the clamping end face and the object by increasing the output force of the clamping mechanism. However, this method relies on the active output of the clamping mechanism, which not only increases the drive load and control requirements, but also, for objects with fragile surfaces, irregular shapes, or limited allowable clamping forces, excessive clamping force may cause surface damage or wear on the clamping mechanism. Therefore, enabling the clamping end face to utilize the object's own tangential sliding tendency to form an additional normal clamping effect without increasing the active drive output remains a problem that anti-slip clamping structures need to solve.

[0005] Furthermore, for independent anti-slip attachments installed on the clamping end face, their internal moving parts need to maintain a reliable initial fit before being subjected to force and return to their initial position after the external tangential force is released. If the anti-slip structure only has a fixed friction layer and lacks a structural fit that can support, pre-tighten, and reset the moving parts, it will be difficult to maintain a stable working configuration under different installation postures or slight vibration environments, and it will also be difficult to repeatedly realize the conversion relationship between tangential micro-displacement and normal ejection.

[0006] In summary, the existing technology has the drawback that the anti-slip structure of the clamping end face is unable to convert the tangential sliding tendency into a normal ejection displacement toward the object without active driving, resulting in the local normal pressure being difficult to passively increase with the sliding tendency. Summary of the Invention

[0007] To address the shortcomings of existing technologies where the anti-slip structure on the clamping end face struggles to convert the tangential sliding tendency into a normal ejection displacement toward the object without active driving, resulting in the local normal pressure failing to passively increase with the sliding tendency, the present invention provides the following technical solution: An inverted conical surface guiding self-amplifying anti-slip device includes: Housing, fixed inverted conical guide, follower slider, floating contact pad, anti-slip friction layer, and support / reset spring; The outer casing forms a mounting cavity with an open side; The fixed inverted conical guide is fixedly disposed in the mounting cavity, and has a direction from the central region to the circumferential region. The inverted conical guide surface extends obliquely to the opening side; The follower slider is disposed on the side of the fixed inverted conical guide facing the opening, and the side of the follower slider facing the fixed inverted conical guide slides in cooperation with the inverted conical guide surface. The floating contact pad is fixedly connected to the follower slider, and the anti-slip friction layer is fixedly disposed on the side of the floating contact pad facing the opening. The follower slider, the floating contact pad, and the anti-slip friction layer constitute a structure that can be relatively... The floating assembly that allows the outer shell to float; The support / reset spring abuts between the housing and the floating assembly, keeping the follower slider in contact with the inverted conical guide surface.

[0008] Furthermore, in a preferred embodiment, the mounting cavity includes a fixing portion that mates with the fixed inverted conical guide and a receiving space for the floating assembly to float relative to the housing.

[0009] Furthermore, in a preferred embodiment, the inverted conical guide surface is an annular guide surface that extends continuously around the central region.

[0010] Furthermore, in a preferred embodiment, the follower slider has a sliding mating surface on the side facing the fixed inverted conical guide that slides in contact with the inverted conical guide surface.

[0011] Furthermore, in a preferred embodiment, the floating contact pad and the follower slider are integrally formed, or the floating contact pad and the follower slider are fixedly connected by a connecting structure.

[0012] Furthermore, in a preferred embodiment, the anti-slip friction layer is fixed to the side of the floating contact pad facing the opening by means of bonding, embedding, vulcanization molding or pressing.

[0013] An electronic control method for an inverted conical guide type self-amplifying anti-slip device, applied to the device, includes: The steps for obtaining the contact state electrical signal between the anti-slip friction layer and the object being contacted; The step of determining whether the anti-slip friction layer is in a contact state based on the contact state electrical signal; The step of acquiring the tangential slip trend electrical signal between the anti-slip friction layer and the contacted object when the anti-slip friction layer is in a contact state; The step of determining whether the floating assembly has generated tangential micro-displacement based on the tangential slip trend electrical signal; The step of outputting a control signal to maintain the clamping state when the floating assembly generates a tangential micro-displacement; The step of obtaining the reset state electrical signal of the floating assembly after the tangential slip trend electrical signal is released; The step of outputting the next clamping allow signal based on the reset state electrical signal.

[0014] A computer storage medium for storing a computer program, which, when read by the computer, is executed by the computer using the method described thereon.

[0015] A computer, including a processor and a storage medium, executes the method when the processor reads a computer program stored in the storage medium.

[0016] A computer program product, which, as a computer program, implements the method when the computer program is executed.

[0017] Compared with the prior art, the advantages of the technical solution provided by the present invention are as follows: The fixed inverted conical guide adopts an inverted conical guide profile with a high center and low outer ring, enabling the follower slider to generate relative motion along the guide surface after being subjected to tangential force in any direction. This structure does not simply increase the roughness of the contact surface, but rather transforms the tangential micro-displacement into a normal ejection displacement towards the object through geometric guiding relationship, thereby causing the anti-slip friction layer to be further pressed against the object surface when slippage occurs.

[0018] The follower slider is positioned below and slides in contact with the fixed inverted conical guide, allowing the tangential force generated by the object surface on the anti-slip friction layer to be transmitted to the guide mating part. During the micro-tangential displacement, the follower slider is constrained by the inverted conical guide surface, preventing the anti-slip friction layer from passively sliding only in the plane, thus making the tangential force a usable normal pressure component.

[0019] The follower slider, floating contact pad, and anti-slip friction layer form an integrated floating assembly, enabling the anti-slip friction layer, which is in direct contact with the object, to generate minute movements synchronously with the follower slider. This structure differs from ordinary friction pads that are fixedly pasted onto the clamping end face, allowing the anti-slip friction layer to participate in the mechanical transformation process from tangential displacement to normal ejection, rather than solely relying on the material's own coefficient of friction.

[0020] A floating contact pad is positioned between the follower slider and the anti-slip friction layer, and is fixedly connected to the follower slider, allowing the normal displacement and pressure generated by the follower slider to be transmitted to the anti-slip friction layer. This structure provides a load-bearing foundation for the anti-slip friction layer, ensuring that the anti-slip friction layer does not disengage from the guide mechanism when subjected to tangential drag from an object, and concentrating the normal ejection force on the contact area of ​​the object.

[0021] The anti-slip friction layer is fixedly installed on the exposed working surface of the floating contact pad, allowing it to directly contact the surface of the clamped object and receive the tangential force generated by the object. Since the anti-slip friction layer moves synchronously with the integrated floating assembly, the object's slippage tendency can first be converted into a tangential micro-displacement of the integrated floating assembly, and then into a normal ejection displacement through the inverted conical surface guiding relationship, thereby improving the local anti-slip capability.

[0022] A support / reset spring is positioned between the housing and the integrated floating assembly, ensuring that the integrated floating assembly remains in contact with the fixed inverted conical guide when there is no external load or slight attitude disturbance. This structure prevents the follower slider from detaching from the guide surface due to gravity, vibration, or changes in installation attitude, and keeps the conversion relationship between tangential micro-displacement and normal ejection in a triggerable state before use.

[0023] The support / reset springs simultaneously provide a return function to the integrated floating assembly, allowing the follower slider, floating contact pad, and anti-slip friction layer to return to their initial configuration after the external tangential force is released. This structure enables the device to repeatedly enter the initial working state after multiple clamping, releasing, or disturbances, preventing the integrated floating assembly from remaining in an offset position and affecting subsequent anti-slip pressurization operations.

[0024] The support / reset springs are arranged in pairs on both sides of the integrated floating assembly, which helps to provide relatively balanced support and reset force when the integrated floating assembly undergoes slight displacement. This arrangement reduces the risk of swaying or local jamming of the integrated floating assembly during movement, and maintains a relatively stable sliding contact relationship between the follower slider and the fixed inverted conical guide.

[0025] The outer casing forms a mounting cavity for accommodating and supporting the fixed inverted conical guide, follower slider, floating contact pad, anti-slip friction layer, and support / reset spring, thus confining the guiding engagement, floating motion, and elastic reset within the same structural space. This structure helps maintain the relative positional relationship between the components, allowing the device to be mounted as a whole on the clamping end face without requiring modification to the active drive system of the clamping mechanism.

[0026] The guide surface of the fixed inverted conical guide can adopt a toroidal surface, conical surface, segmented conical surface, or equivalent inclined surface structure, so that the follower slider can obtain a displacement component towards the object under different tangential sliding directions. This structure improves the adaptability of the device to changes in sliding direction and is suitable for clamping, grasping, or dragging scenarios where the force direction of the object is not fixed.

[0027] The anti-slip friction layer uses a rubber layer, silicone layer, polyurethane elastic layer, micro-textured elastic layer, or high-friction composite material layer, allowing the device to retain the material friction base while further superimposing a geometric self-amplifying force. This structure does not rely solely on high-friction materials to solve the slippage problem, but rather combines material friction with the inverted conical surface guiding pressure to improve the insufficient anti-slip capability of fixed friction pads when clamping force is limited.

[0028] The mounting structure integrates the omnidirectional self-energizing anti-slip device as an independent anti-slip accessory onto the clamping end face, allowing the device to be connected to the clamping mechanism without adding an active motor, sensor, or complex control system. This structure enables the anti-slip boosting function to be achieved through internal guiding and elastic support, reducing the drive load and clamping damage risks associated with increasing the active output force of the clamping mechanism for anti-slip. Attached Figure Description

[0029] Figure 1 A schematic diagram showing the installation status and overall casing of the omnidirectional self-amplifying anti-slip device; Figure 2 A schematic cross-sectional view of the omnidirectional self-amplifying anti-slip device; Figure 3 This is a schematic diagram of the omnidirectional self-aggregating anti-slip device under pressure or in initial contact. Among them, 1 is a fixed inverted conical guide, 2 is a follower slider, 3 is a floating contact pad, 4 is an anti-slip friction layer, 5 is a shell, and 6 is a support / reset spring. Detailed Implementation

[0030] To make the advantages and benefits of the technical solution provided by the present invention clearer, the technical solution provided by the present invention will now be described in further detail with reference to the accompanying drawings, specifically: Implementation Method 1: This implementation method provides an inverted conical surface guided self-amplifying anti-slip device, comprising: Housing, fixed inverted conical guide, follower slider, floating contact pad, anti-slip friction layer, and support / reset spring; The outer casing forms a mounting cavity with an open side; The fixed inverted conical guide is fixedly disposed in the mounting cavity, and has a direction from the central region to the circumferential region. The inverted conical guide surface extends obliquely to the opening side; The follower slider is disposed on the side of the fixed inverted conical guide facing the opening, and the side of the follower slider facing the fixed inverted conical guide slides in cooperation with the inverted conical guide surface. The floating contact pad is fixedly connected to the follower slider, and the anti-slip friction layer is fixedly disposed on the side of the floating contact pad facing the opening. The follower slider, the floating contact pad, and the anti-slip friction layer constitute a structure that can be relatively... The floating assembly that allows the outer shell to float; The support / reset spring abuts between the housing and the floating assembly, keeping the follower slider in contact with the inverted conical guide surface.

[0031] The mounting cavity includes a fixing part that mates with the fixed inverted conical guide and a receiving space for the floating assembly to float relative to the housing.

[0032] The inverted conical guide surface is an annular guide surface that extends continuously around the central region.

[0033] The follower slider has a sliding mating surface on the side facing the fixed inverted conical guide that slides in contact with the inverted conical guide surface.

[0034] The floating contact pad and the follower slider are integrally formed, or the floating contact pad and the follower slider are fixedly connected by a connecting structure.

[0035] The anti-slip friction layer is fixed to the side of the floating contact pad facing the opening by means of bonding, embedding, vulcanization molding or pressing.

[0036] An electronic control method for an inverted conical guide type self-amplifying anti-slip device, applied to the device, includes: The steps for obtaining the contact state electrical signal between the anti-slip friction layer and the object being contacted; The step of determining whether the anti-slip friction layer is in a contact state based on the contact state electrical signal; The step of acquiring the tangential slip trend electrical signal between the anti-slip friction layer and the contacted object when the anti-slip friction layer is in a contact state; The step of determining whether the floating assembly has generated tangential micro-displacement based on the tangential slip trend electrical signal; The step of outputting a control signal to maintain the clamping state when the floating assembly generates a tangential micro-displacement; The step of obtaining the reset state electrical signal of the floating assembly after the tangential slip trend electrical signal is released; The step of outputting the next clamping allow signal based on the reset state electrical signal.

[0037] A computer storage medium for storing a computer program, which, when read by the computer, is executed by the computer using the method described thereon.

[0038] A computer, including a processor and a storage medium, executes the method when the processor reads a computer program stored in the storage medium.

[0039] A computer program product, which, as a computer program, implements the method when the computer program is executed.

[0040] Implementation Method Two: This implementation method is a further detailed description of the technical solution provided in Implementation Method One, specifically: This embodiment provides an omnidirectional self-amplifying anti-slip device, such as... Figures 1 to 3 As shown, the device includes a fixed inverted conical guide 1, a follower slider 2, a floating contact pad 3, an anti-slip friction layer 4, a housing 5, and a support / reset spring 6. The housing 5 serves as the basic load-bearing structure, forming an internal mounting cavity. The fixed inverted conical guide 1, the follower slider 2, the floating contact pad 3, and the support / reset spring 6 are all housed within the mounting cavity. The anti-slip friction layer 4 is located on the side of the floating contact pad 3 facing the object being contacted and is exposed through the opening side of the housing 5.

[0041] The housing 5 has a mounting portion for connection with the clamping end face, allowing the omnidirectional self-amplifying anti-slip device to be mounted as an independent accessory on the contact end face of the clamping mechanism. The mounting cavity of the housing 5 defines the relative position of the fixed inverted conical guide 1 and the follower slider 2 along the height direction, and defines the exposed area of ​​the floating contact pad 3 and the anti-slip friction layer 4 on the opening side, so that the anti-slip friction layer 4 can form contact with the surface of the object being contacted.

[0042] A fixed inverted conical guide 1 is fixedly disposed inside the housing 5, and located on the side of the follower slider 2 away from the anti-slip friction layer 4. The fixed inverted conical guide 1 has an inverted conical guide profile with a high center and a low outer ring, which forms a guide surface for cooperating with the follower slider 2. The guide surface is arranged around the central area of ​​the device, so that when the follower slider 2 makes a slight displacement in any tangential direction within the contact plane, it can form a sliding engagement with the guide surface.

[0043] The follower slider 2 is positioned between the fixed inverted conical guide 1 and the floating contact pad 3. The side of the follower slider 2 facing the fixed inverted conical guide 1 slides in contact with the inverted conical guide contour, while the side of the follower slider 2 facing the floating contact pad 3 is fixedly connected to the floating contact pad 3. When the follower slider 2 generates a tangential micro-displacement within the contact plane, it moves relative to the guide surface of the fixed inverted conical guide 1 and, under the constraint of the guide surface, generates a displacement component in the height direction toward the exposed working surface of the anti-slip friction layer 4.

[0044] A floating contact pad 3 is disposed on the side of the follower slider 2 facing the object being contacted. The floating contact pad 3 is fixedly connected to the follower slider 2, allowing the height displacement generated by the follower slider 2 to be transmitted to the floating contact pad 3. The floating contact pad 3 has an exposed mounting surface at the opening side of the housing 5, and an anti-slip friction layer 4 is fixedly disposed on the exposed mounting surface. The floating contact pad 3 and the follower slider 2 can be an integrally formed structure, or they can be fixedly connected by fastening, fitting, snap-fitting, or other connection structures.

[0045] The anti-slip friction layer 4 is fixedly disposed on the side of the floating contact pad 3 facing the object being contacted. The exposed working surface of the anti-slip friction layer 4 is used to contact the surface of the object being contacted. The anti-slip friction layer 4 is not fixedly connected to the outer shell 5, but together with the floating contact pad 3 and the follower slider 2, it forms an integrated floating assembly. When the object being contacted tends to slide tangentially relative to the anti-slip friction layer 4, the anti-slip friction layer 4 drives the integrated floating assembly to generate a tangential micro-displacement within the contact plane through friction with the surface of the object being contacted.

[0046] A support / reset spring 6 is disposed between the housing 5 and the integrated floating assembly. One end of the support / reset spring 6 engages with the housing 5, and the other end engages with the integrated floating assembly, keeping the integrated floating assembly in a floating support state within the mounting cavity. The support / reset spring 6 applies a preload to the integrated floating assembly, ensuring that the follower slider 2 remains in contact with the guide surface of the fixed inverted conical guide 1 when there is no external load or slight attitude disturbance.

[0047] In one embodiment, support / reset springs 6 are arranged in pairs on opposite sides of the integrated floating assembly. The paired support / reset springs 6 are located in the side regions of the follower slider 2 and the floating contact pad 3, respectively, and support the integrated floating assembly along the height direction. Spring mounting positions that mate with the support / reset springs 6 can be provided within the housing 5, and pressure-bearing portions that mate with the support / reset springs 6 can be provided on the integrated floating assembly to limit the offset of the support / reset springs 6 during compression and reset processes.

[0048] In use, the exposed working surface of the anti-slip friction layer 4 contacts the surface of the object being contacted and is subjected to initial normal pressure. When the object being contacted tends to slide tangentially relative to the anti-slip friction layer 4, the anti-slip friction layer 4 drives the floating contact pad 3 and the follower slider 2 to synchronously generate tangential micro-displacement. Due to the sliding engagement between the follower slider 2 and the inverted conical guide contour of the fixed inverted conical guide 1, the follower slider 2 moves along the guide surface during the tangential micro-displacement, causing the integrated floating assembly to generate a normal ejection displacement toward the object being contacted, and the anti-slip friction layer 4 is further pressed against the surface of the object being contacted along with the integrated floating assembly.

[0049] When the tangential force exerted by the contacted object on the anti-slip friction layer 4 is released, the support / reset spring 6 applies a return force to the integrated floating assembly, causing the follower slider 2 to return to its initial mating position along the guide surface of the fixed inverted conical guide 1, and driving the floating contact pad 3 and the anti-slip friction layer 4 to restore their initial configuration. Thus, the integrated floating assembly can maintain its guiding mating relationship with the fixed inverted conical guide 1 during multiple stress and reset processes.

[0050] In an optional embodiment, the guide surface of the fixed inverted conical guide 1 can be an annular curved surface, a conical surface, a segmented conical surface, or an equivalent inclined surface structure, as long as it can provide the follower slider 2 with a displacement component toward the contacted object when the follower slider 2 produces a micro-displacement in the contact plane.

[0051] In an optional embodiment, the anti-slip friction layer 4 can be fixed to the exposed mounting surface of the floating contact pad 3 by bonding, embedding, vulcanization molding, or pressing. The anti-slip friction layer 4 can be a rubber layer, a silicone layer, a polyurethane elastic layer, a micro-textured elastic layer, or a high-friction composite material layer to form a working surface that contacts the surface of the object being contacted.

[0052] Implementation Method 3: This implementation method is described in detail with reference to the accompanying drawings. Specific embodiments are provided to further illustrate the technical solutions offered above. Specifically: This embodiment provides an omnidirectional self-amplifying anti-slip device, including a housing 5, a fixed inverted conical guide 1, a follower slider 2, a floating contact pad 3, an anti-slip friction layer 4, and a support / reset spring 6.

[0053] The outer casing 5 serves as the basic load-bearing structure of the device, accommodating and supporting the inverted conical guide 1, the follower slider 2, the floating contact pad 3, the anti-slip friction layer 4, and the support / reset spring 6. The outer casing 5 can be configured with a corresponding mounting structure according to the actual installation object, allowing the device to be fixed as an independent anti-slip accessory to the contact end face of the clamping mechanism.

[0054] The fixed inverted conical guide 1 is fixedly disposed inside the outer casing 5. The fixed inverted conical guide 1 has an inverted conical guide profile with a high center and a low outer ring, and is used to slide in contact with the follower slider 2. When the follower slider 2 produces a tangential micro-displacement in the contact plane, the follower slider 2 moves relative to the guide surface of the fixed inverted conical guide 1, and produces a normal displacement toward the object direction under the constraint of the guide surface.

[0055] The follower slider 2 is located below the fixed inverted conical guide 1, and its upper surface is in sliding contact with the fixed inverted conical guide 1. The follower slider 2 is fixedly connected to or integrally formed with the floating contact pad 3, so that the follower slider 2, the floating contact pad 3 and the anti-slip friction layer 4 form an integral floating assembly.

[0056] The floating contact pad 3 is located below the follower slider 2 and is used to transmit the normal displacement and pressure generated by the follower slider 2, and to support the anti-slip friction layer 4. The floating contact pad 3 generates a small planar displacement and a normal displacement towards the object relative to the outer shell 5 with the follower slider 2.

[0057] The anti-slip friction layer 4 is fixedly disposed on the exposed working surface of the floating contact pad 3, serving as the surface that directly contacts the object being contacted. The anti-slip friction layer 4 moves relative to the outer shell 5 together with the floating contact pad 3 and the follower slider 2, rather than being fixed to the outer shell 5.

[0058] The support / reset springs 6 are disposed between the housing 5 and the integrated floating assembly, preferably in pairs on both sides of the integrated floating assembly. The support / reset springs 6 provide support force and preload to the integrated floating assembly, so that the follower slider 2 maintains contact with the fixed inverted conical guide 1 when there is no external load or slight attitude disturbance, reducing the risk of the integrated floating assembly falling off due to gravity or vibration; at the same time, after the external tangential force is released, the support / reset springs 6 can assist the integrated floating assembly in restoring its initial configuration.

[0059] During operation, the anti-slip friction layer 4 contacts the object surface and forms initial normal pressure. When the object tends to slide tangentially relative to the anti-slip friction layer 4, the object, through friction, drives the integrated floating assembly consisting of the anti-slip friction layer 4, the floating contact pad 3, and the follower slider 2 to produce a tangential micro-displacement. Since the upper surface of the follower slider 2 is in contact with the fixed inverted conical guide 1, the follower slider 2 moves relative to the inverted conical guide surface during the tangential micro-displacement, causing the integrated floating assembly to produce a normal ejection displacement towards the object. This normal ejection displacement further presses the anti-slip friction layer 4 against the object surface, thereby increasing the local normal pressure and anti-slip capability.

[0060] Under approximate geometric relationships, the normal ejection displacement can be expressed as Δz = Δr·tanα, where Δr is the tangential micro-displacement generated by the integral floating assembly in the contact plane, α is the equivalent cone angle of the guide surface of the fixed inverted cone guide 1, and Δz is the normal ejection displacement generated by the anti-slip friction layer 4 towards the object.

[0061] In a more specific embodiment, such as Figure 1 and Figure 2 As shown, the omnidirectional self-amplifying anti-slip device in this embodiment includes a housing 5, a fixed inverted conical guide 1, a follower slider 2, a floating contact pad 3, an anti-slip friction layer 4, and a support / reset spring 6. The housing 5 serves as the basic shell of this device, used to fix and accommodate the internal components, and exposes the working surface of the anti-slip friction layer 4.

[0062] The fixed inverted conical guide 1 is fixed inside the housing 5 and has an inverted conical guide profile with a high center and a low outer ring. The upper surface of the follower slider 2 is in contact with the fixed inverted conical guide 1. The follower slider 2 is fixedly connected to the floating contact pad 3, and the anti-slip friction layer 4 is fixed to the exposed working surface of the floating contact pad 3, so that the follower slider 2, the floating contact pad 3 and the anti-slip friction layer 4 form an integrated floating assembly.

[0063] Support / reset springs 6 are located on both sides of the integrated floating assembly. One end of the spring engages with the housing 5, and the other end engages with the integrated floating assembly. Support / reset springs 6 provide support and preload to the integrated floating assembly, keeping the follower slider 2 in contact with the fixed inverted conical guide 1, and assisting the integrated floating assembly in returning to its initial position after the external force is released.

[0064] like Figure 3 As shown, when the anti-slip friction layer 4 contacts the object surface and is subjected to an initial normal pressure N0, the integrated floating assembly maintains its initial state. When the object tends to slide tangentially, the anti-slip friction layer 4 drives the integrated floating assembly to produce a tangential micro-displacement, and the follower slider 2 moves relative to the fixed inverted conical guide 1, causing the floating contact pad 3 and the anti-slip friction layer 4 to be pushed out tangentially towards the object, thereby increasing the local normal pressure and enhancing the anti-slip effect.

[0065] This embodiment transforms the tangential sliding tendency of the object into a normal ejection displacement of the anti-slip friction layer 4 toward the object by cooperating with the fixed inverted conical guide 1 and the follower slider 2, thereby increasing the local normal pressure without increasing the active drive.

[0066] In this embodiment, the follower slider 2, the floating contact pad 3 and the anti-slip friction layer 4 are set as an integrated floating assembly, so that the anti-slip friction layer 4 can generate slight movements with the floating assembly, thus preventing it from degenerating into an ordinary friction patch fixed on the outer shell 5.

[0067] This embodiment provides support force, preload force and return force to the integrated floating assembly through support / reset springs 6, which helps to prevent the integrated floating assembly from falling out of the working position due to gravity, vibration or attitude change, and can restore the initial configuration after the external force is removed.

[0068] This embodiment does not require an active motor, sensor, or complex control system. Its structure is simple and compact, making it suitable for installation on the clamping end face as an independent anti-slip accessory.

[0069] Compared to methods that rely solely on rubber, silicone, or rough textures to increase friction, this embodiment utilizes internal geometric constraints to achieve a passive self-amplifying force effect, which can improve contact stability during clamping, grasping, or dragging.

[0070] The above description of several specific embodiments further details the technical solution provided by the present invention in order to highlight the advantages and benefits of the technical solution provided by the present invention. However, the above-described specific embodiments are not intended to limit the present invention. Any reasonable modifications and improvements to the present invention, combinations of embodiments, and equivalent substitutions based on the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An inverted conical surface guiding self-amplifying anti-slip device, characterized in that, include: Housing, fixed inverted conical guide, follower slider, floating contact pad, anti-slip friction layer, and support / reset spring; The outer casing forms a mounting cavity with an open side; The fixed inverted conical guide is fixedly disposed in the mounting cavity, and has a direction from the central region to the circumferential region. The inverted conical guide surface extends obliquely to the opening side; The follower slider is disposed on the side of the fixed inverted conical guide facing the opening, and the side of the follower slider facing the fixed inverted conical guide slides in cooperation with the inverted conical guide surface. The floating contact pad is fixedly connected to the follower slider, and the anti-slip friction layer is fixedly disposed on the side of the floating contact pad facing the opening. The follower slider, the floating contact pad, and the anti-slip friction layer constitute a structure that can be relatively... The floating assembly that allows the outer shell to float; The support / reset spring abuts between the housing and the floating assembly, keeping the follower slider in contact with the inverted conical guide surface.

2. The inverted conical surface guiding self-amplifying anti-slip device according to claim 1, characterized in that, The mounting cavity includes a fixing part that mates with the fixed inverted conical guide and a receiving space for the floating assembly to float relative to the housing.

3. The inverted conical surface guiding self-amplifying anti-slip device according to claim 1, characterized in that, The inverted conical guide surface is an annular guide surface that extends continuously around the central region.

4. The inverted conical surface guiding self-amplifying anti-slip device according to claim 1, characterized in that, The follower slider has a sliding mating surface on the side facing the fixed inverted conical guide that slides in contact with the inverted conical guide surface.

5. The inverted conical surface guiding self-increasing force anti-slip device according to claim 1, characterized in that, The floating contact pad and the follower slider are integrally formed, or the floating contact pad and the follower slider are fixedly connected by a connecting structure.

6. The inverted conical surface guiding self-amplifying anti-slip device according to claim 1, characterized in that, The anti-slip friction layer is fixed to the side of the floating contact pad facing the opening by means of bonding, embedding, vulcanization molding or pressing.

7. An electronic control method for an inverted conical surface guiding self-amplifying anti-slip device, characterized in that, Applied to the apparatus of claim 1, comprising: The steps for obtaining the contact state electrical signal between the anti-slip friction layer and the object being contacted; The step of determining whether the anti-slip friction layer is in a contact state based on the contact state electrical signal; The step of acquiring the tangential slip trend electrical signal between the anti-slip friction layer and the contacted object when the anti-slip friction layer is in a contact state; The step of determining whether the floating assembly has generated tangential micro-displacement based on the tangential slip trend electrical signal; The step of outputting a control signal to maintain the clamping state when the floating assembly generates a tangential micro-displacement; The step of obtaining the reset state electrical signal of the floating assembly after the tangential slip trend electrical signal is released; The step of outputting the next clamping allow signal based on the reset state electrical signal.

8. A computer storage medium for storing computer programs, characterized in that, When the computer program is read by the computer, the computer executes the method of claim 7.

9. A computer, comprising a processor and a storage medium, characterized in that, When the processor reads the computer program stored in the storage medium, the computer executes the method of claim 7.

10. A computer program product, as a computer program, is characterized by: When the computer program is executed, it implements the method of claim 7.

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