A retractable flexible grabbing fixing device and force uniform assembly

Abstract

The present application relates to a kind of shrinking flexible grabbing fixing device and force uniform assembly, wherein, shrinking flexible grabbing fixing device includes: actuator assembly, elastic rope and annular base;The actuator assembly includes: actuator ring;The annular base with the actuator ring has interval arrangement;The opposite ends of the elastic rope are respectively connected with the actuator ring and the annular base, and along the circumference of the actuator ring, the elastic rope is interval arranged with multiple;Rotate the actuator ring to tilt and stretch the elastic rope, for the circumferential restraint of target object passing through the actuator ring and the annular base is fixed.The present application is driven by multiple elastic ropes made of elastic material by a rotating hollow actuator ring, and the elastic rope is surrounded by elastic rope to form a circle, to realize shrinking and self-positioning function.At the same time, the safety of target object grabbing can be greatly improved by the flexible grabbing characteristics, and physical damage is minimized as much as possible.

Description

Technical Field

[0001] This invention relates to the field of machinery, and more particularly to a retractable flexible gripping and fixing device and a force uniform component. Background Technology

[0002] On-orbit servicing of spacecraft is an emerging technology that significantly benefits the operational lifespan and functional iteration of target spacecraft. In recent years, with the development of on-orbit servicing technology, how to stably, efficiently, and safely securely fix the target spacecraft to ensure that the servicing spacecraft can operate on it has become a key issue.

[0003] Existing technologies mainly achieve relative position maintenance through three methods: orbit control, rendezvous and docking, and mechanical grasping. However, orbit control requires high precision from the controller, and the entire control process consumes a significant amount of resources, including propellant. Rendezvous and docking requires the pre-installation of standardized docking devices on both the service spacecraft and the target spacecraft, which is still lacking in terms of cost and reusability. As for mechanical grasping, the currently used robotic arms and other mechanisms are rigid grasping devices, which may cause physical damage to the spacecraft if not operated properly.

[0004] In addition, existing grasping devices need to be equipped with sensors to locate the target's position relative to the grasping device after the target is grasped. Otherwise, the target's position relative to the grasping device cannot be accurately located, making it difficult to guarantee the grasping effect. Summary of the Invention

[0005] The purpose of this invention is to provide a retractable flexible gripping and fixing device and a force uniform component.

[0006] To achieve the above-mentioned objectives, the present invention provides a retractable flexible gripping and fixing device, comprising: an actuating component, an elastic rope, and an annular base;

[0007] The actuation component includes: an actuation ring;

[0008] The annular base and the actuating ring are spaced apart;

[0009] The two opposite ends of the elastic rope are respectively connected to the actuating ring and the annular base, and multiple elastic ropes are arranged at intervals along the circumference of the actuating ring.

[0010] Rotating the actuating ring to tilt and stretch the elastic rope is used to circumferentially bind and fix the target object passing through the actuating ring and the annular base.

[0011] According to one aspect of the invention, the actuating ring is coaxially arranged with the annular base.

[0012] According to one aspect of the invention, the actuation assembly further includes: a driver for driving the actuation ring to rotate;

[0013] The drive shaft is equipped with a drive wheel, and the drive wheel is connected to the actuating ring in a transmission manner.

[0014] According to one aspect of the invention, the actuators are arranged in a plurality of equally spaced angles along the circumference of the actuation ring.

[0015] According to one aspect of the invention, the drive wheel is engaged with the actuating ring.

[0016] According to one aspect of the invention, the actuating assembly further includes: a support ring and a carrier member;

[0017] The carrier is mounted on the support ring, and the actuating ring is rotatably supported on the carrier.

[0018] According to one aspect of the present invention, the annular base includes: an annular support assembly and a force equalization assembly disposed on the annular support assembly;

[0019] The force uniform component includes: multiple free-sliding structures and a force uniform ring;

[0020] The multiple free sliding structures are arranged at equal intervals along the circumference of the annular support assembly, and the sliding direction of the free sliding structures is consistent with the radial direction of the annular support assembly.

[0021] The force-uniform ring is tensioned and is respectively in contact with each of the free-sliding structures;

[0022] Along the circumference of the force uniform ring, adjacent free sliding structures are arranged on opposite sides of the force uniform ring.

[0023] The elastic rope is connected to the free-sliding structure.

[0024] According to one aspect of the present invention, the free sliding structure includes: a slide rail, a slider slidably connected to the slide rail, a first pulley supported on the slider, and a lifting ring connected to the rotating shaft of the first pulley;

[0025] The first pulley's axis of rotation is set perpendicular to the slider, and the lifting ring is fixed to the end of the first pulley's axis of rotation away from the slider;

[0026] The force-equalizing ring is configured to contact the first pulley.

[0027] To achieve the above-mentioned objective, the present invention provides a force uniformity component, characterized in that it comprises: a plurality of free-sliding structures and a force uniformity ring;

[0028] The plurality of the free sliding structures are arranged at equal intervals along a ring, and the sliding direction of the free sliding structures is arranged radially;

[0029] The force-uniform ring is tensioned and is respectively in contact with each of the free-sliding structures;

[0030] Along the circumference of the force uniform ring, adjacent free sliding structures are arranged on opposite sides of the force uniform ring.

[0031] According to one aspect of the present invention, the free sliding structure includes: a slide rail, a slider slidably connected to the slide rail, a first pulley supported on the slider, and a lifting ring connected to the rotating shaft of the first pulley;

[0032] The first pulley's axis of rotation is set perpendicular to the slider, and the lifting ring is fixed to the end of the first pulley's axis of rotation away from the slider;

[0033] The force-equalizing ring is configured to contact the first pulley.

[0034] According to one aspect of the present invention, a rotating hollow actuating ring drives multiple bundles of elastic ropes made of elastic material, which form a circle to achieve retractable gripping and self-positioning functions. Simultaneously, its flexible gripping characteristics greatly improve the safety of object grasping, minimizing physical damage.

[0035] According to one aspect of the present invention, the present invention can position the grasped target object to the center of the retracting circle of the device, thereby achieving relative position positioning mechanically.

[0036] According to one aspect of the present invention, by further providing a force equalization component in the annular base, the uneven tension generated when grasping irregular objects can be evenly distributed to each elastic rope on the circumference, thereby improving the working stability and service life of the device.

[0037] According to one aspect of the present invention, the retractable flexible gripping and fixing device of the present invention utilizes the rotation of the actuating component to drive the elastic rope to expand and contract in the radial direction, thereby achieving gripping and fixing of the target object. Its structure is simple and reliable. Moreover, the elastic rope can adaptively match the surface shape of the target object, making the gripping of the target object more secure and reliable.

[0038] According to one aspect of the present invention, the retractable flexible gripping and fixing device of the present invention achieves the fixing of the object by using the binding effect of the elastic rope. Since the elastic rope is made of flexible material, it will not produce rigid impact on the surface of the target object, which is more beneficial to ensuring the surface quality of the target object structure.

[0039] According to one aspect of the present invention, the retractable flexible gripping and fixing device of the present invention achieves overall circumferential fixing of the target object by arranging multiple elastic ropes in a circumferential manner, which effectively avoids the drawback of uneven force on the surface of the target object and is more advantageous in ensuring the structural reliability of the target object.

[0040] According to one aspect of the present invention, in the retractable flexible gripping and fixing device of the present invention, since the fixing structure adopted is a flexible component composed of multiple elastic ropes, the installation positions of the actuating component and the annular base can be adaptively adjusted according to the supporting structure, which greatly improves the applicability and flexibility of the present invention.

[0041] According to one aspect of the present invention, by arranging multiple actuators evenly in the circumference of the actuating ring, uniform driving of different positions of the actuating ring can be achieved, thereby further and effectively improving the driving stability and reliability of the present invention.

[0042] According to one aspect of the present invention, a force equalization component for the elastic rope is further provided. By arranging free sliding structures staggered on both sides of the force equalization ring, each free sliding structure can contact the force equalization ring, while the force transmission between the free sliding structure and the force equalization ring is more sensitive. Especially when the force equalization ring is always under tension, the elastic force change of the elastic rope at the position of each free sliding structure can be detected more accurately and quickly. Based on the overall tension of the force equalization ring, this force change can be transmitted conveniently and effectively to achieve uniform force distribution. Furthermore, based on the contact between the free sliding structure and the force equalization ring, the position of each free sliding structure can be synchronously and adaptively adjusted to adapt to this force change, which effectively achieves uniform force distribution and ensures that each elastic rope generates the same gripping force on the target object. Attached Figure Description

[0043] Figure 1 This is a schematic diagram illustrating the structure of a retractable flexible gripping and fixing device according to an embodiment of the present invention in an untightened state;

[0044] Figure 2 This is a schematic diagram illustrating the structure of a retractable flexible gripping and fixing device in a tightened state according to an embodiment of the present invention;

[0045] Figure 3 This is an exploded view schematically illustrating a retractable flexible gripping and fixing device according to an embodiment of the present invention;

[0046] Figure 4 This is a schematic diagram illustrating the structure of an actuation component according to one embodiment of the present invention;

[0047] Figure 5 This is a schematic cross-sectional view of an actuating component according to one embodiment of the present invention;

[0048] Figure 6 This is a schematic diagram illustrating the structure of a force-uniforming component according to an embodiment of the present invention;

[0049] Figure 7 This is a schematic diagram illustrating a free-sliding structure according to an embodiment of the present invention. Detailed Implementation

[0050] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are merely some embodiments of the present invention, and those skilled in the art can obtain other drawings based on these drawings without creative effort.

[0051] In describing embodiments of the present invention, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer" express orientations or positional relationships based on the orientations or positional relationships shown in the relevant drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the above terms should not be construed as limitations on the present invention.

[0052] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. The embodiments cannot be described in detail here, but the embodiments of the present invention are not limited to the following embodiments.

[0053] Combination Figure 1 , Figure 2 , Figure 3 and Figure 4As shown, according to one embodiment of the present invention, a retractable flexible gripping and fixing device includes: an actuating component 1, an elastic rope 2, and an annular base 3. In this embodiment, the actuating component 1 and the annular base 3 can be fixed on the same support structure (such as a cylindrical structure, a truss structure, etc.) to maintain the relative fixation of the positions between the actuating component 1 and the annular base 3, thereby achieving stable operation of the entire gripping and fixing device. In this embodiment, the actuating component 1 includes: an actuating ring 11; wherein, the annular base 3 and the actuating ring 11 are spaced apart; in this embodiment, the elastic rope 2 is disposed between the annular base 3 and the actuating ring 11 to connect the two. In this embodiment, the opposite ends of the elastic rope 2 are respectively connected to the actuating ring 11 and the annular base 3, and multiple elastic ropes 2 are spaced apart along the circumference of the actuating ring 11. In this embodiment, the rotation of the actuating ring 11 causes the two ends of the multiple spaced elastic ropes 2 to be misaligned in the circumferential direction, thereby achieving the tilting and stretching of the elastic ropes 2. At the same time, this tilting and stretching effect on the elastic ropes 2 further causes the non-end portions of the multiple elastic ropes 2 to move closer to each other in the radial direction, thereby exhibiting a radial contraction effect. Through this contraction effect, the target object passing through the actuating ring 11 and the annular base 3 can be circumferentially bound and fixed to achieve the purpose of grasping.

[0054] With the above configuration, the retractable flexible gripping and fixing device of the present invention utilizes the rotation of the actuating component 1 to drive the elastic rope 2 to expand and contract in the radial direction, thereby achieving gripping and fixing of the target object. Its structure is simple and reliable. Moreover, the elastic rope 2 can also adaptively match the surface shape of the target object, making the gripping of the target object more secure and reliable.

[0055] Furthermore, the retractable flexible gripping and fixing device of the present invention achieves the fixing of the object by using the binding effect of the elastic rope 2. Since the elastic rope 2 is made of flexible material, it will not produce rigid impact on the surface of the target object, which is more beneficial to ensuring the surface quality of the target object structure.

[0056] Furthermore, the retractable flexible gripping and fixing device of the present invention achieves overall circumferential fixing of the target object by arranging multiple elastic ropes 2 in a circumferential manner, which effectively avoids the drawback of uneven force on the surface of the target object and is more conducive to ensuring the structural reliability of the target object.

[0057] Furthermore, in the retractable flexible gripping and fixing device of the present invention, since the fixing structure is a flexible component composed of multiple elastic ropes 2, the installation positions of the actuating component 1 and the annular base 3 can be adaptively adjusted according to the supporting structure, which greatly improves the applicability and flexibility of the present invention.

[0058] Combination Figure 1, Figure 2 , Figure 3 and Figure 4 As shown, according to one embodiment of the present invention, the elastic rope 2 is made of latex rope or elastic nylon rope.

[0059] According to one embodiment of the present invention, the elastic rope 2 is a hollow rope with an inner diameter of 1-2 mm and an outer diameter of 3-4 mm.

[0060] By setting the elastic rope 2 within the above-mentioned size range, its smaller diameter effectively maintains a lower elastic coefficient, making the rope easier to stretch and thus enabling a faster response to better adhere to the surface of the target object.

[0061] In addition, setting the elastic rope 2 as a hollow elastic rope ensures its linear stretching effect and also provides good radial deformation performance. Especially at the contact point with the target, its radial compression flattens it, allowing it to better fit the surface of the target object, increasing the contact area and thus providing a better fixing effect.

[0062] Combination Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, according to one embodiment of the present invention, the actuating ring 11 and the annular base 3 are coaxially arranged. In this embodiment, the multiple elastic ropes 2 connected to the actuating ring 11 and the annular base 3 have the same length in their free state, which helps to ensure that the performance of each elastic rope 2 is consistent, and thus helps to ensure the uniformity of the gripping force on the target object. In addition, by arranging them coaxially, the actuating ring 11 and the annular base 3 are arranged parallel to each other and spaced apart, which effectively ensures more accurate control and operation of the present invention. In this embodiment, the interval between the actuating ring 11 and the annular base 3 is fixed, that is, the support structure for mounting the actuating ring 11 and the annular base 3 is non-extendable. Of course, the interval between the actuating ring 11 and the annular base 3 can also be set to be variable, that is, the support structure for mounting the actuating ring 11 and the annular base 3 is extensible, and the interval between the actuating ring 11 and the annular base 3 can be adjusted / adapted by the extension and contraction of the support structure. By setting the interval between the actuating ring 11 and the annular base 3 to be variable, the extension and retraction state of the elastic rope 2 can be dynamically adjusted, thereby dynamically adjusting the gripping stroke of the present invention and effectively improving the flexibility of use of the present invention. The extendable support structure can be based on an electric device for extension and retraction control (e.g., an electric cylinder).

[0063] In another embodiment, the actuating ring 11 and the annular base 3 can also be coaxial. For example, the actuating ring 11 is offset relative to the annular base 3, and the actuating ring 11 and the annular base 3 are parallel to each other. Correspondingly, to match the offset setting of the actuating ring 11 relative to the annular base 3, the length of the elastic rope 2 can be adjusted to match the setting position of the actuating ring 11 and the annular base 3. Through this offset setting, the present invention can conveniently fix the obliquely inserted target object circumferentially, effectively improving the flexibility of docking the present invention with the target object and reducing the difficulty of docking.

[0064] In another embodiment, the actuating ring 11 can also be tilted relative to the annular base 3 at a preset angle. In this state, the actuating ring 11 and the annular base 3 are not parallel. Correspondingly, to match the tilting arrangement of the actuating ring 11 relative to the annular base 3, the length of the elastic rope 2 can be adjusted to match the positions of the actuating ring 11 and the annular base 3. This tilting arrangement allows the present invention to easily fix the bent portion of the target object circumferentially, further improving the flexibility of docking the present invention with the target object and reducing the difficulty of docking.

[0065] Combination Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, according to one embodiment of the present invention, the actuation assembly 1 further includes a driver 12 for driving the actuation ring 11 to rotate. In this embodiment, the drive shaft of the driver 12 is provided with a drive wheel 121, and the drive wheel 121 is drivenly connected to the actuation ring 11. In this embodiment, through the drive wheel 121 and the actuation ring 11, the rotation angle and / or speed of the driver 12 can be controlled by the transmission ratio, so as to conveniently achieve precise gripping and fixing of the target object. In particular, the gripping force at the fixing position can be accurately controlled, which is beneficial to ensuring connection stability and avoiding damage to the target object.

[0066] In this embodiment, the drive wheel 121 is engaged with the actuating ring 11. A first meshing tooth is provided on the outer circumferential surface of the actuating ring 11, and correspondingly, a second meshing tooth is provided on the outer side of the drive wheel 121 to engage with the first meshing tooth on the actuating ring 11. Thus, the engagement between the drive wheel 121 and the actuating ring 11 allows for accurate and reliable rotational control of the actuating ring 11. Of course, the meshing point between the actuating ring 11 and the drive wheel 121 can be either the outer circumferential surface or the side of the actuating ring 11 facing the annular base 3.

[0067] In another embodiment, the drive wheel 121 and the actuating ring 11 can be connected by frictional contact. The accuracy and reliability of the driving process are ensured by appropriately setting the surface roughness of the contact area between the drive wheel 121 and the actuating ring 11. In this embodiment, the outer ring surface of the actuating ring 11 contacts the drive wheel 121. Of course, besides the outer ring surface, the contact area between the actuating ring 11 and the drive wheel 121 can also be the side of the actuating ring 11 facing the annular base 3.

[0068] In another embodiment, the drive wheel 121 and the actuating ring 11 can be connected by a belt drive, wherein the belt used can be a synchronous belt or a regular friction belt.

[0069] Combination Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, according to one embodiment of the present invention, multiple actuators 12 are arranged at equal angular intervals along the circumference of the actuating ring 11. In this embodiment, when the actuators 12 are connected to the actuating ring 11 in an engaging manner, two actuators 12 can be arranged at equal angular intervals along the circumference of the actuating ring 11, wherein the two actuators 12 are arranged in opposite positions. Of course, the actuators 12 can also be configured as three, four, etc., depending on actual needs.

[0070] By arranging multiple actuators 12 evenly around the actuation ring 11 as described above, uniform driving of different positions of the actuation ring 11 can be achieved, further effectively improving the driving stability and reliability of the present invention.

[0071] Combination Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, according to one embodiment of the present invention, the actuation assembly 1 further includes a support ring 13 and a carrier member 14. In this embodiment, the inner diameter of the support ring 13 is larger than the inner diameter of the actuation ring 11, and the outer diameter of the support ring 13 is larger than the outer diameter of the actuation ring 11. By setting the size of the support ring 13 to be larger than that of the actuation ring 11, it is convenient to arrange the driver 12 on the outside of the actuation ring 11. The driver 12 can be suspended on the side of the support ring 13 facing the annular base 3 (i.e., the lower side), and the drive wheel 121 can be arranged on the side of the support ring 13 adjacent to the actuation ring 11 to facilitate the transmission connection between the drive wheel 121 and the actuation ring 11. In addition, setting the inner diameter of the support ring 13 to be larger than that of the actuation ring 11 can facilitate the connection between the actuation ring 11 and the elastic rope 2, and can effectively avoid the interference of the support ring 13 with the inserted target object, thereby improving the docking efficiency and docking safety of the present invention.

[0072] In this embodiment, the carrier 14 is mounted on the support ring 13, and the actuating ring 11 is rotatably supported on the carrier 14. The carrier 14 can be implemented using a roller structure, specifically including a support roller 141 and a roller support 142 for supporting the support roller 141. In this embodiment, the roller support 142 is fixedly connected to the support ring 13, and the outer ring surface of the support roller 141 provides contact support for the actuating ring 11. In this embodiment, multiple carriers 14 are evenly spaced along the circumference of the actuating ring 11, thereby achieving multi-point rolling support for the actuating ring 11, resulting in smoother and more stable operation of the actuating ring 11.

[0073] In this embodiment, an annular groove is provided on the lower side of the actuating ring 11, and the support roller 141 in the support member 14 contacts the bottom of the annular groove to support the actuating ring 11. By providing an annular groove on the lower side of the actuating ring 11, the support roller 141 can be easily guided and limited, further ensuring the rotational stability of the actuating ring 11.

[0074] In this embodiment, the actuating ring 11 can be further stably constrained onto the support ring 13 by providing a first limiting member to prevent the actuating ring 11 from detaching. For example, the first limiting member can be configured as an annular cover, which, through its connection with the support ring 13, encloses the actuating ring 11 and the support member 14, thus achieving stable constraint. Of course, the first limiting member can also be configured as an annular member with a preset width and disposed on the lower side of the actuating ring 11. Correspondingly, a limiting groove matching the thickness of the first limiting member is provided on the side of the roller support 142. Thus, the engagement between the edge of the first limiting member and the limiting groove can also limit the actuating ring 11 to prevent it from detaching.

[0075] In another embodiment, the carrier 14 may also be configured as a thrust bearing, which provides stable support for the actuating ring 11 by being coaxially connected with the actuating ring 11 and the support ring 13.

[0076] Combination Figure 1 , Figure 2 , Figure 3 , Figure 6 and Figure 7As shown, according to one embodiment of the present invention, the annular base 3 includes: an annular support assembly 31 and a force equalization assembly 32 disposed on the annular support assembly 31. In this embodiment, the force equalization assembly 32 includes: a plurality of free sliding structures 321 and a force equalization ring 322; wherein, the plurality of free sliding structures 321 are arranged at equal angular intervals along the circumference of the annular support assembly 31, and the sliding direction of the free sliding structures 321 is consistent with the radial direction of the annular support assembly 31. In this embodiment, the number of free sliding structures 321 can be set to 40. Of course, it can also be increased or decreased according to the size of the annular base 3 to adapt to the corresponding gripping and fixing needs.

[0077] In this embodiment, the force-equalizing ring 322 is tensioned and contacts each of the free-sliding structures 321. In this embodiment, the force-equalizing ring 322 is made of an inelastic rope with its ends joined together; for example, it is made of carbon nylon rope with a diameter of 0.4 mm. The force-equalizing ring 322, made of carbon nylon rope, has high load-bearing capacity (theoretically withstanding a tensile force of 10-20 kg) and excellent tensile strength (tensile deformation not exceeding 0.5 mm under a 15 kg load), thus ensuring that force transmission is not affected by its own properties and effectively guaranteeing the uniform distribution of force at each location. Furthermore, the excellent tensile strength of the force-equalizing ring 322, made of the aforementioned material, effectively confines the slider 3212 around it, effectively preventing the slider 3212 from detaching from the slide rail 3211, further improving the reliability of the invention.

[0078] In this embodiment, along the circumference of the force uniform ring 322, adjacent free sliding structures 321 are arranged on opposite sides of the force uniform ring 322, and the elastic rope 2 is connected to the free sliding structure 321. By staggering the arrangement of free sliding structures 321 on both sides of the force-uniform ring 322, each free sliding structure 321 can contact the force-uniform ring 322, while the force transmission between the free sliding structure 321 and the force-uniform ring 322 is more sensitive. Especially when the force-uniform ring 322 is always under tension, the elasticity change of the elastic rope 2 at the position of each free sliding structure 321 can be sensed more accurately and quickly. Based on the overall tension of the force-uniform ring 322, this force change can be transmitted conveniently and effectively to achieve uniform force distribution. Furthermore, based on the contact between the free sliding structure 321 and the force-uniform ring 322, the position of each free sliding structure 321 can be synchronously and adaptively adjusted to adapt to this force change, which effectively achieves uniform force distribution and ensures that each elastic rope 2 generates the same gripping force on the target object.

[0079] Combination Figure 1 , Figure 2 , Figure 3 , Figure 6 and Figure 7 As shown, according to one embodiment of the present invention, the free sliding structure 321 includes: a slide rail 3211, a slider 3212 slidably connected to the slide rail 3211, a first pulley 3213 supported on the slider 3212, and a lifting ring 3114 connected to the rotating shaft of the first pulley 3213. In this embodiment, the rotating shaft of the first pulley 3213 is arranged perpendicular to the slider 3212, and the lifting ring 3114 is fixed to the end of the rotating shaft of the first pulley 3213 away from the slider 3212; wherein, a force equalization ring 322 is arranged in contact with the first pulley 3213.

[0080] In this embodiment, a guide limiting groove is provided on the outer ring surface of the first pulley 3213, and the force equalization ring 322 can be embedded in the guide limiting groove so that the contact position between the force equalization ring 322 and the first pulley 3213 is accurate and reliable.

[0081] By employing the above-described configuration, and by using a pulley to contact the force equalization ring 322, the contact friction between the force equalization ring 322 and the free-sliding structure 321 can be reduced, thus improving the uniformity of force distribution. Simultaneously, it effectively reduces wear on the force equalization ring 322, improving its service life and reliability.

[0082] like Figure 7 As shown, according to one embodiment of the present invention, the slide rail 3211 is generally T-shaped, and the slider 3212 is provided with a T-shaped groove. A stable connection between the slider 3212 and the slide rail 3211 can be achieved through the sliding engagement of the T-shaped groove and the T-shaped slide rail. In this embodiment, to further reduce the friction between the slider 3212 and the slide rail 3211, the slider 3212 can be configured as a ball bearing slider to further improve its sliding flexibility.

[0083] Combination Figure 1 , Figure 2 and Figure 3 As shown, according to one embodiment of the present invention, the annular support assembly 31 includes: an annular base plate 311 and an annular upper cover 312 detachably connected to the annular base plate 311. In this embodiment, the annular upper cover 312 is provided with a plurality of linear through holes 312a spaced apart, and the extending direction of the linear through holes 312a is consistent with the radial direction of the annular upper cover 312; in this embodiment, the linear through holes 312a are arranged in a one-to-one correspondence with the slide rails 3211, and the length of the linear through holes 312a is adapted to the stroke of the slider 3212 to avoid interference with the slider 3212.

[0084] Combination Figure 3 , Figure 6 and Figure 7 As shown, according to one embodiment of the present invention, a force-uniforming component includes: a plurality of free-sliding structures 321 and a force-uniforming ring 322; wherein the plurality of free-sliding structures 321 are arranged at equal intervals along a ring, and the sliding direction of the free-sliding structures 321 is radially arranged. In this embodiment, the force-uniforming ring 322 is tensioned and is respectively in contact with each free-sliding structure 321; in this embodiment, the force-uniforming ring 322 is made of an inelastic rope with its ends joined together, for example, the force-uniforming ring 322 is made of carbon nylon rope, wherein the diameter of the carbon nylon rope is 0.4mm. The force-uniforming ring 322 made of carbon nylon rope has high load-bearing capacity (its theoretical tensile strength is 10-20kg) and excellent tensile strength (tensile deformation does not exceed 0.5mm under a load of 15kg), thereby ensuring that the force transmission is not affected by its own performance and effectively guaranteeing the uniform distribution of force at each position. Furthermore, the force-equalizing ring 322, made of the aforementioned material, has excellent tensile strength, which can effectively confine the slider 3212 around it, effectively preventing the slider 3212 from separating from the slide rail 3211, and further improving the reliability of the present invention.

[0085] In this embodiment, adjacent free sliding structures 321 are arranged on opposite sides of the force uniform ring 322 along the circumference of the force uniform ring 322, and the elastic rope 2 is connected to the free sliding structure 321. By staggering the arrangement of the free sliding structures 321 on both sides of the force uniform ring 322, each free sliding structure 321 can contact the force uniform ring 322, and the force transmission between the free sliding structure 321 and the force uniform ring 322 is more sensitive. Especially when the force uniform ring 322 is always under tension, the force change at the position of each free sliding structure 321 can be sensed more accurately and quickly. Based on the overall tension of the force uniform ring 322, this force change can be transmitted conveniently and effectively to achieve uniform force distribution. Furthermore, based on the contact between the free sliding structure 321 and the force uniform ring 322, the position of each free sliding structure 321 can be synchronously and adaptively adjusted to adapt to this force change, thus achieving a highly effective uniform force distribution.

[0086] Combination Figure 3 , Figure 6 and Figure 7As shown, according to one embodiment of the present invention, the free sliding structure 321 includes: a slide rail 3211, a slider 3212 slidably connected to the slide rail 3211, a first pulley 3213 supported on the slider 3212, and a lifting ring 3114 connected to the rotating shaft of the first pulley 3213. In this embodiment, the rotating shaft of the first pulley 3213 is arranged perpendicular to the slider 3212, and the lifting ring 3114 is fixed to the end of the rotating shaft of the first pulley 3213 away from the slider 3212; wherein, a force equalization ring 322 is arranged in contact with the first pulley 3213.

[0087] In this embodiment, a guide limiting groove is provided on the outer ring surface of the first pulley 3213, and the force equalization ring 322 can be embedded in the guide limiting groove so that the contact position between the force equalization ring 322 and the first pulley 3213 is accurate and reliable.

[0088] By employing the above-described configuration, and by using a pulley to contact the force equalization ring 322, the contact friction between the force equalization ring 322 and the free-sliding structure 321 can be reduced, thus improving the uniformity of force distribution. Simultaneously, it effectively reduces wear on the force equalization ring 322, improving its service life and reliability.

[0089] like Figure 7 As shown, according to one embodiment of the present invention, the slide rail 3211 is generally T-shaped, and the slider 3212 is provided with a T-shaped groove. A stable connection between the slider 3212 and the slide rail 3211 can be achieved through the sliding engagement of the T-shaped groove and the T-shaped slide rail. In this embodiment, to further reduce the friction between the slider 3212 and the slide rail 3211, the slider 3212 can be configured as a ball bearing slider to further improve its sliding flexibility.

[0090] The above description is merely an example of a specific solution of the present invention. For any devices and structures not described in detail herein, it should be understood that they are implemented using common devices and methods already available in the art.

[0091] The above description is merely one embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the invention by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A retractable flexible gripping and fixing device, characterized in that, include: Actuation component (1), elastic rope (2) and ring base (3); The actuation component (1) includes: an actuation ring (11); The annular base (3) and the actuating ring (11) are spaced apart; The two ends of the elastic rope (2) are respectively connected to the actuating ring (11) and the annular base (3), and multiple elastic ropes (2) are arranged at intervals along the circumference of the actuating ring (11). Rotate the actuating ring (11) to tilt and stretch the elastic rope (2) for circumferentially binding and fixing the target object passing through the actuating ring (11) and the annular base (3); The annular base (3) includes: an annular support assembly (31) and a force equalization assembly (32) disposed on the annular support assembly (31). The force uniform component (32) includes: a plurality of free sliding structures (321) and a force uniform ring (322); Multiple free sliding structures (321) are arranged at equal intervals along the circumference of the annular support assembly (31), and the sliding direction of the free sliding structure (321) is consistent with the radial direction of the annular support assembly (31). The force-uniform ring (322) is tensioned and is in contact with each of the free-sliding structures (321); The elastic rope (2) is connected to the free sliding structure (321); The force equalization ring (322) senses the elastic force change of the elastic rope (2) at the position of each free sliding structure (321), and distributes the force change evenly based on the overall tension state of the force equalization ring (322). Furthermore, based on the contact action between the free sliding structure (321) and the force equalization ring (322), the position of each free sliding structure (321) is synchronously and adaptively adjusted to adapt to the uniform distribution of force.

2. The retractable flexible gripping and fixing device according to claim 1, characterized in that, The actuating ring (11) is coaxially arranged with the annular base (3).

3. The retractable flexible gripping and fixing device according to claim 1 or 2, characterized in that, The actuation component (1) further includes a driver (12) for driving the actuation ring (11) to rotate. The drive shaft of the driver (12) is provided with a drive wheel (121), and the drive wheel (121) is connected to the actuating ring (11) in a transmission connection.

4. The retractable flexible gripping and fixing device according to claim 3, characterized in that, Along the circumference of the actuation ring (11), the actuator (12) is provided in multiple equidistant angles.

5. The retractable flexible gripping and fixing device according to claim 4, characterized in that, The drive wheel (121) is engaged with the actuating ring (11).

6. The retractable flexible gripping and fixing device according to claim 5, characterized in that, The actuation component (1) further includes: a support ring (13) and a carrier (14). The carrier (14) is mounted on the support ring (13), and the actuating ring (11) is rotatably supported on the carrier (14).

7. The retractable flexible gripping and fixing device according to claim 6, characterized in that, Along the circumference of the force uniform ring (322), adjacent free sliding structures (321) are arranged on opposite sides of the force uniform ring (322).

8. The retractable flexible gripping and fixing device according to claim 7, characterized in that, The free sliding structure (321) includes: a slide rail (3211), a slider (3212) slidably connected to the slide rail (3211), a first pulley (3213) supported on the slider (3212), and a lifting ring (3114) connected to the rotating shaft of the first pulley (3213). The first pulley (3213) is arranged perpendicular to the slider (3212), and the lifting ring (3114) is fixed to the end of the first pulley (3213) away from the slider (3212); The force equalization ring (322) is configured to contact the first pulley (3213).

9. A force-uniform component, characterized in that, include: Multiple free-sliding structures (321) and a force-uniform ring (322); The multiple free sliding structures (321) are arranged at equal intervals along a ring, and the sliding direction of the free sliding structures (321) is arranged radially. The force-uniform ring (322) is tensioned and is in contact with each of the free-sliding structures (321); Along the circumference of the force uniform ring (322), adjacent free sliding structures (321) are arranged on opposite sides of the force uniform ring (322); The free-sliding structure (321) is used to connect the elastic rope (2); The force equalization ring (322) senses the elastic force change of the elastic rope (2) at the position of each free sliding structure (321), and distributes the force change evenly based on the overall tension state of the force equalization ring (322). Furthermore, based on the contact action between the free sliding structure (321) and the force equalization ring (322), the position of each free sliding structure (321) is synchronously and adaptively adjusted to adapt to the uniform distribution of force.

10. The force uniformity component according to claim 9, characterized in that, The free sliding structure (321) includes: a slide rail (3211), a slider (3212) slidably connected to the slide rail (3211), a first pulley (3213) supported on the slider (3212), and a lifting ring (3114) connected to the rotating shaft of the first pulley (3213). The first pulley (3213) is arranged perpendicular to the slider (3212), and the lifting ring (3114) is fixed to the end of the first pulley (3213) away from the slider (3212); The force equalization ring (322) is configured to contact the first pulley (3213).

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