Triggered rope drive gripper

Abstract

The application provides a trigger type rope driving clamping jaw, which comprises a plurality of joint assemblies rotatably connected on a mounting table, a trigger assembly arranged in a first through hole on the mounting table, and a transmission assembly abutting against the trigger assembly and mounted on the mounting table. The trigger assembly is used for transmitting force to the transmission assembly after abutting against an object, and the transmission assembly further pulls a driving rope to rotate the plurality of joint assemblies relative to the mounting table and make the plurality of joint assemblies close to each other to clamp the object. The clamping action can be completed by only contacting the object with the trigger assembly, the control mode is simple, and electrical control is not needed, so that the clamping jaw does not consume electric energy and saves energy cost.

Description

Technical Field

[0001] This invention generally relates to the field of mechanical gripper technology, and specifically to a trigger-type rope-driven gripper. Background Technology

[0002] In the field of mechanical grippers, gripper systems traditionally employ pneumatic, hydraulic, or electric drive methods to achieve the functions of grasping, holding, and moving objects. Pneumatic grippers control the opening and closing of the grippers by adjusting air pressure, making them suitable for relatively simple gripping tasks, but they are less adaptable to irregularly shaped objects. Hydraulic grippers use liquid as the transmission medium, providing greater force and more precise control, but their complex structure, high environmental requirements, and high maintenance costs limit their widespread application. Electrically driven grippers provide greater force through motors and reducers; to improve gripping effectiveness, grippers need to be equipped with corresponding sensors, such as cameras and force sensors, resulting in complex control systems and high costs. These traditional gripper systems share a series of common problems, including complex mechanical structures, poor sensing and adaptability, high control difficulty, high energy consumption, and high cost.

[0003] In recent years, soft grippers have attracted attention as an emerging technology. Soft grippers, made of flexible materials, offer greater adaptability and can more flexibly grasp irregularly shaped objects. However, soft grippers still face a series of challenges, including complex structures, high energy consumption, and complex control, and have not yet fully resolved the bottlenecks of traditional gripper systems. Summary of the Invention

[0004] In view of the above-mentioned defects or deficiencies in the prior art, it is desirable to provide a trigger-type rope-driven gripper.

[0005] This invention provides a trigger-type rope-driven gripper, comprising:

[0006] The mounting cylinder has a circumferentially fixed protruding ring at one end;

[0007] A support column, one end of which is fixedly connected to the protruding ring; the support column and the mounting cylinder are parallel to each other and have a sliding gap between them;

[0008] A first mounting platform is fixedly connected to the other end of the support column; a mounting gap exists between the first mounting platform and the mounting cylinder; a first through hole and multiple second through holes are provided on the first mounting platform; the mounting gap communicates with the second through holes.

[0009] The joint assembly includes multiple joint assemblies, each of which can be rotatably mounted on the first mounting platform;

[0010] A drive rope, wherein multiple drive ropes are provided; one end of the drive rope is fixedly connected to the transmission assembly, and the other end passes through the second through hole and is fixedly connected to the joint assembly.

[0011] A triggering component is disposed in the first through hole and abuts against the transmission component, for receiving the force of the object to be gripped and transmitting the force to the transmission component;

[0012] A transmission assembly is installed within the sliding gap and the mounting gap. The transmission assembly is used to receive the force transmitted by the triggering assembly, pull multiple drive ropes, and drive multiple joint assemblies to rotate relative to the first mounting platform and move closer to each other to clamp the object to be clamped.

[0013] According to the technical solution provided by the present invention, the transmission assembly includes:

[0014] A connecting ring is slidably fitted onto the mounting cylinder and located within the sliding gap; the other end of the drive rope is fixedly connected to the connecting ring; a first limiting protrusion is provided on the outer side wall of the connecting ring.

[0015] An elastic plate is installed in the installation gap, and its bottom abuts against the end of the mounting cylinder near the first mounting platform; both ends of the elastic plate have limiting buckles; the limiting buckles are used to engage with the first limiting protrusion to fix the relative position of the connecting ring and the elastic plate;

[0016] The middle part of the elastic plate abuts against the trigger component, and is used to deform the trigger component under the action of external force, so that the first limiting protrusion and the limiting buckle disengage from each other, thereby releasing the limiting effect on the connecting ring and the elastic plate.

[0017] A first elastic element, one end of which is fixedly connected to the protruding ring, and the other end of which is fixedly connected to the connecting ring;

[0018] The connecting ring can slide along the mounting cylinder under the elastic restoring force of the first elastic element.

[0019] According to the technical solution provided by the present invention, the elastic plate also has a plurality of second limiting protrusions on the side near the triggering component;

[0020] The end of the trigger component that abuts against the elastic plate is disposed between a plurality of second limiting protrusions.

[0021] According to the technical solution provided by the present invention, a locking component is also included;

[0022] The locking assembly includes:

[0023] A rack, which is fixedly mounted on the support column;

[0024] A limiting pin is rotatably mounted on the connecting ring. The limiting pin is used to abut against the rack when the trigger assembly is subjected to an external force from the object to be clamped, causing the elastic plate to deform and the joint assembly to clamp the object to be clamped, thereby fixing the relative position of the connecting ring and the mounting platform.

[0025] According to the technical solution provided by the present invention, a sixth elastic element is installed on the limiting pin to drive the limiting pin to reset and abut against the rack to fix the relative position of the connecting ring and the mounting cylinder.

[0026] According to the technical solution provided by the present invention, the triggering component includes:

[0027] An abutment block, which is movably installed within the first through hole;

[0028] The second elastic element has one end abutting against the abutting block and the other end abutting against the elastic plate, and is used to transmit the force of the object to be clamped to the elastic plate.

[0029] According to the technical solution provided by the present invention, the joint assembly includes:

[0030] First joint, second joint, and third joint;

[0031] The first joint is rotatably connected to the first mounting platform; the second joint is rotatably connected to the end of the first joint away from the first mounting platform; the third joint is rotatably connected to the end of the second joint away from the first joint.

[0032] One end of the drive rope is fixedly connected to the side of the third joint that is close to the second joint and close to the first through hole.

[0033] According to the technical solution provided by the present invention, a wire hole is provided on the side of the second joint near the first through hole;

[0034] The drive rope passes through the cable hole.

[0035] According to the technical solution provided by the present invention, the joint assembly further includes:

[0036] The third elastic element, the fourth elastic element, and the fifth elastic element;

[0037] One end of the third elastic element is connected to the first mounting platform, and the other end is connected to the first joint. It is used to drive the first joint to rotate and reset relative to the first mounting platform when the drive rope releases the third joint.

[0038] One end of the fourth elastic element is connected to the first joint, and the other end is connected to the second joint. It is used to drive the second joint to rotate and reset relative to the first joint when the drive rope releases the third joint.

[0039] One end of the fifth elastic element is connected to the second joint, and the other end is connected to the third joint. It is used to drive the third joint to rotate and reset relative to the second joint when the drive rope releases the third joint.

[0040] The beneficial effects of this invention are as follows:

[0041] Multiple joint components are rotatably connected to the mounting platform. A trigger component is installed in the first through hole of the mounting platform, and a transmission component is also installed on the mounting platform that abuts against the trigger component. After the trigger component comes into contact with the object, it transmits force to the transmission component, which in turn pulls the drive rope, causing the multiple joint components to rotate relative to the mounting platform and move closer together to grip the object. This structure completes the gripping action simply by the trigger component contacting the object. The control method is simple, requires no electrical control, and therefore does not consume electricity, saving energy costs. Attached Figure Description

[0042] Other features, objects, and advantages of the invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0043] Figure 1 This is a schematic diagram of a trigger-type rope-driven gripper.

[0044] Figure 2 This is another structural schematic diagram of a trigger-type rope-driven gripper;

[0045] Figure 3 This is a schematic diagram of the transmission assembly.

[0046] Figure 4 This is a schematic diagram showing the connection relationship of the drive rope;

[0047] Figure 5 This is a schematic diagram of the second joint.

[0048] Figure 6 This is a structural diagram of the trigger component when it is in its first state;

[0049] Figure 7 This is a structural diagram of the trigger component when it is in the second state;

[0050] Figure 8 Exploded view of the mounting platform;

[0051] Figure 9 This is a schematic diagram of the sixth elastic element;

[0052] The components include: 1. Mounting cylinder; 2. Joint assembly; 3. Drive rope; 4. Trigger assembly; 5. First through hole; 6. Second through hole; 7. Connecting ring; 8. Elastic plate; 9. First elastic element; 10. Limiting buckle; 11. Second limiting protrusion; 12. Locking assembly; 13. Rack; 14. Limiting pin; 15. Abutment block; 16. Second elastic element; 17. First joint; 18. Second joint; 19. Third joint; 20. Wire hole; 21. Third elastic element; 22. Fourth elastic element; 23. Fifth elastic element; 24. Support column; 25. First mounting platform; 26. First limiting protrusion; 27. Sixth elastic element; 28. Protrusion ring. Detailed Implementation

[0053] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0054] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0055] Please refer to Figure 1-2 and Figure 8 The present invention provides a trigger-type rope-driven gripper, comprising:

[0056] Mounting cylinder 1, with a protruding ring 28 fixed circumferentially at one end of the mounting cylinder 1;

[0057] Support column 24, one end of which is fixedly connected to the protruding ring 28; support column 24 and mounting cylinder 1 are parallel to each other and have a sliding gap between them;

[0058] A first mounting platform 25 is fixedly connected to the other end of the support column 24; there is an installation gap between the first mounting platform 25 and the mounting cylinder 1; a first through hole 5 and a plurality of second through holes 6 are provided on the first mounting platform 25; the installation gap communicates with the second through holes 6.

[0059] The joint assembly 2 is provided in multiple parts, and each part can be rotatably mounted on the first mounting platform 25;

[0060] A drive rope 3 is provided in multiple ways; one end of the drive rope 3 is fixedly connected to the transmission component, and the other end passes through the second through hole 6 and is fixedly connected to the joint component 2.

[0061] Trigger component 4 is disposed in the first through hole 5 and abuts against the transmission component, and is used to receive the force of the object to be clamped and transmit the force to the transmission component;

[0062] A transmission assembly is installed within the sliding gap and the mounting gap. The transmission assembly is used to receive the force transmitted by the triggering assembly 4, pull multiple drive ropes 3, and drive multiple joint assemblies 2 to rotate relative to the first mounting platform 25 and move closer to each other to clamp the object to be clamped.

[0063] Specifically, before grasping an object, multiple joint components 2 are positioned far apart from each other, and the trigger component 4 protrudes from the first mounting platform 15. When the trigger component 4 contacts the object and moves into the first through hole 5 under the object's influence, it transmits force to the transmission component. The transmission component pulls the drive rope 3, causing the multiple joint components 2 to move closer together and grasp the object. This structure completes the gripping action simply by the trigger component contacting the object. The control method is simple, requires no electrical control, and therefore does not consume electrical energy, saving energy costs.

[0064] Further, refer to Figure 3 The transmission assembly includes:

[0065] A connecting ring 7 is slidably sleeved on the mounting cylinder 1 and located within the sliding gap; the other end of the drive rope 3 is fixedly connected to the connecting ring 7; the outer side wall of the connecting ring 7 has a first limiting protrusion 26.

[0066] The elastic plate 8 is installed in the installation gap and its bottom abuts against the end of the mounting cylinder 1 near the first mounting platform 25; both ends of the elastic plate 8 have limiting buckles 10; the limiting buckles 10 are used to engage with the first limiting protrusion 26 to fix the relative position of the connecting ring 7 and the elastic plate 8.

[0067] The middle part of the elastic plate 8 abuts against the trigger component 4, and is used to deform under the action of external force on the trigger component 4, so that the first limiting protrusion 26 and the limiting buckle 10 disengage from each other, thereby releasing the limiting effect on the connecting ring 7 and the elastic plate 8.

[0068] The first elastic element 9 has one end fixedly connected to the protruding ring 28 and the other end fixedly connected to the connecting ring 7;

[0069] The connecting ring 7 can slide along the mounting cylinder 1 under the elastic restoring force of the first elastic member 9.

[0070] Further, refer to Figure 6-7 The triggering component 4 includes:

[0071] Abutting block 15, wherein the abutting block 15 is movably installed within the first through hole 5;

[0072] The second elastic element 16 has one end abutting against the abutting block 15 and the other end abutting against the elastic plate 8, and is used to transmit the force of the object to be clamped to the elastic plate 8.

[0073] In some embodiments, both the first elastic element 9 and the second elastic element 16 are springs.

[0074] The outer side wall of the abutment block 15 near the elastic plate 8 has an abutment protrusion for abutting against the side of the first mounting platform 25 near the elastic plate 8, thus limiting the position of the abutment block 15 and preventing it from falling out of the first through hole 5.

[0075] After the abutment block 15 comes into contact with the object, it is subjected to the force of the object and moves closer to the elastic plate 8 in the first through hole 5 along a direction perpendicular to the first mounting platform 25, thereby compressing the second elastic element 16.

[0076] The second elastic element 16 exerts a force on the elastic plate 8, while the mounting cylinder 1 supports the elastic plate 8, causing the elastic plate 8 to deform. The limiting buckles 10 at both ends of the elastic plate 8 open, allowing the connecting ring 7 to disengage from the two limiting buckles 10. This allows the connecting ring 7 to move away from the elastic plate 8 under the action of the first elastic element 9, pulling the drive rope 3. The drive rope 3 then causes the joint components 2 to move closer together and grip the object.

[0077] Furthermore, the elastic plate 8 also has a plurality of second limiting protrusions 11 on the side near the trigger component 4;

[0078] The end of the trigger component 4 that abuts against the elastic plate 8 is disposed between a plurality of second limiting protrusions 11.

[0079] In some embodiments, in order to ensure that the second elastic member 16 does not detach from the elastic plate 8, a plurality of second limiting protrusions 11 are provided to limit the second elastic member 16.

[0080] Further, refer to Figure 9 It also includes a locking assembly 12; the locking assembly 12 includes:

[0081] Rack 13, which is fixedly mounted on the support column 24;

[0082] The limiting pin 14 is rotatably mounted on the connecting ring 7. The limiting pin 14 is used to abut against the rack 13 when the trigger assembly 4 is subjected to an external force from the object to be clamped, causing the elastic plate 8 to deform and the joint assembly 2 to clamp the object to be clamped, thereby fixing the relative position of the connecting ring 7 and the mounting platform 1.

[0083] Furthermore, a sixth elastic element 27 is installed on the limiting pin 14 to drive the limiting pin 14 to reset relative to the connecting ring 7 and abut against the rack 13 to fix the relative position of the connecting ring 7 and the mounting cylinder 1.

[0084] In some implementations, when the object is heavy, the force resistance of the object against the joint assembly 2 and the reverse pulling drive rope 3 overcomes the tension of the first elastic element 9, which will cause the clamping force to decrease and the object to fall off.

[0085] Since the tension of the first elastic element 9 alone may not be enough to withstand the reverse tension of the object's weight on the drive rope 3, a locking assembly 12 is added in this embodiment.

[0086] When the joint components 2 are far apart and not clamping an object, the limiting pin 14 abuts against the teeth of the rack 13 at the end closest to the elastic plate 8. When the joint components 2 clamp an object, and the first elastic element 9 moves the connecting ring 7 to a position away from the elastic plate 8, the limiting pin 14 abuts against the teeth of the rack 13 at the end furthest from the elastic plate 8. At this time, due to the abutting action of the limiting pin 14 and the rack 13, the connecting ring 7 cannot move closer to the elastic plate 8.

[0087] Therefore, heavier objects will not pull the drive rope 3 in the opposite direction, reducing the clamping force and causing it to detach from the multiple joint components.

[0088] In some embodiments, the sixth elastic element 27 is a torsion spring.

[0089] The addition of a sixth elastic element 27 ensures that the limiting pin 14 always abuts against the rack 13. When a reset is required, the limiting pin 14 is moved to compress the sixth elastic element 27, causing it to disengage from the rack 13. Then, the connecting ring 7 is pushed to make the first limiting protrusion 26 engage in the limiting buckle 10.

[0090] Furthermore, the joint assembly 2 includes:

[0091] First joint 17, second joint 18 and third joint 19;

[0092] The first joint 17 is rotatably connected to the first mounting platform 25; the second joint 18 is rotatably connected to the end of the first joint 17 away from the first mounting platform 25; and the third joint 19 is rotatably connected to the end of the second joint 18 away from the first joint 17.

[0093] One end of the drive rope 3 is fixedly connected to the side of the third joint 19 that is close to the second joint 18 and close to the first through hole 5.

[0094] Further, refer to Figure 4-5The second joint 18 has a wire hole 20 on the side near the first through hole 5;

[0095] The drive rope 3 passes through the wire hole 20.

[0096] In some embodiments, the drive rope 3 passes through the wire hole 20, which allows the second joint 18 to move closer to the object when the connecting ring 7 pulls the drive rope 3, making the gripper grip the object more stably.

[0097] Further, refer to Figure 4 The joint assembly 2 further includes:

[0098] Third elastic element 21, fourth elastic element 22 and fifth elastic element 23;

[0099] One end of the third elastic element 21 is connected to the first mounting platform 25, and the other end is connected to the first joint 17. It is used to drive the first joint 17 to rotate and reset relative to the first mounting platform 25 when the drive rope 3 loosens the third joint 19.

[0100] One end of the fourth elastic element 22 is connected to the first joint 17 and the other end is connected to the second joint 18. It is used to drive the second joint 18 to rotate and reset relative to the first joint 17 when the drive rope 3 loosens the third joint 19.

[0101] One end of the fifth elastic element 23 is connected to the second joint 18, and the other end is connected to the third joint 19. It is used to drive the third joint 19 to rotate and reset relative to the second joint 18 when the drive rope 3 releases the third joint 19.

[0102] In some embodiments, the third elastic element 21, the fourth elastic element 22, and the fifth elastic element 23 are constructed using rubber bands or springs.

[0103] Specifically, during the reset operation, since elastic elements are connected between each joint on the side away from the first through hole 5, the multiple joint components 2 can automatically move away from each other and release the object.

[0104] The above description is merely a preferred embodiment of the present invention and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention is not limited to the specific combination of the above-described technical features, but also includes other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features with similar functions disclosed in this invention.

Claims

1. A trigger-type rope-driven gripper, characterized in that, include: Mounting cylinder (1), with a protruding ring (28) fixed circumferentially at one end of the mounting cylinder (1); A support column (24) is fixedly connected at one end to the protruding ring (28); the support column (24) and the mounting cylinder (1) are parallel to each other and have a sliding gap between them; A first mounting platform (25) is fixedly connected to the other end of the support column (24); there is an installation gap between the first mounting platform (25) and the mounting cylinder (1); a first through hole (5) and a plurality of second through holes (6) are provided on the first mounting platform (25); the installation gap communicates with the second through holes (6); The joint assembly (2) is provided in multiple parts, and each part can be rotatably mounted on the first mounting platform (25); A drive rope (3) is provided in multiple ways; one end of the drive rope (3) is fixedly connected to the transmission assembly, and the other end passes through the second through hole (6) and is fixedly connected to the joint assembly (2); Trigger component (4), the trigger component (4) is disposed in the first through hole (5) and abuts against the transmission component, for receiving the force of the object to be clamped and transmitting the force to the transmission component; The transmission assembly is installed in the sliding gap and the mounting gap. The transmission assembly is used to receive the force transmitted by the trigger assembly (4), pull the multiple drive ropes (3), drive the multiple joint assemblies (2) to rotate relative to the first mounting platform (25) and move closer to each other, and clamp the object to be clamped. The transmission assembly includes: A connecting ring (7) is slidably sleeved on the mounting cylinder (1) and located within the sliding gap. The other end of the driving rope (3) is fixedly connected to the connecting ring (7). The outer side wall of the connecting ring (7) has a first limiting protrusion (26). An elastic plate (8) is installed in the installation gap, and its bottom abuts against the end of the mounting cylinder (1) near the first mounting platform (25); both ends of the elastic plate (8) have limiting buckles (10); the limiting buckles (10) are used to engage with the first limiting protrusion (26) to fix the relative position of the connecting ring (7) and the elastic plate (8); The middle part of the elastic plate (8) abuts against the trigger component (4) and is used to deform under the action of external force on the trigger component (4), so that the first limiting protrusion (26) and the limiting buckle (10) are separated from each other, and the limiting effect on the connecting ring (7) and the elastic plate (8) is released. The first elastic element (9) has one end fixedly connected to the protruding ring (28) and the other end fixedly connected to the connecting ring (7); The connecting ring (7) can slide along the mounting cylinder (1) under the elastic restoring force of the first elastic element (9); The trigger-type rope-driven gripper also includes: a locking component (12); The locking assembly (12) includes: A rack (13) is fixedly mounted on the support column (24); Limiting pin (14), the limiting pin (14) is rotatably mounted on the connecting ring (7); the limiting pin (14) is used to abut against the rack (13) when the trigger assembly (4) is subjected to the external force of the object to be clamped, causing the elastic plate (8) to deform, and when the joint assembly (2) clamps the object to be clamped, fixing the relative position of the connecting ring (7) and the mounting cylinder (1); The triggering component (4) includes: Abutting block (15), which is movably installed in the first through hole (5); The second elastic element (16) has one end abutting against the abutting block (15) and the other end abutting against the elastic plate (8), and is used to transmit the force of the object to be clamped to the elastic plate (8).

2. The trigger-type rope-driven gripper according to claim 1, characterized in that, The elastic plate (8) also has a plurality of second limiting protrusions (11) on the side near the trigger component (4); One end of the trigger component (4) that abuts against the elastic plate (8) is disposed between a plurality of second limiting protrusions (11).

3. The trigger-type rope-driven gripper according to claim 1, characterized in that, The limiting pin (14) is equipped with a sixth elastic element (27), which is used to drive the limiting pin (14) to reset and abut against the rack (13) to fix the relative position of the connecting ring (7) and the mounting cylinder (1).

4. The trigger-type rope-driven gripper according to claim 1, characterized in that, The joint assembly (2) includes: First joint (17), second joint (18) and third joint (19). The first joint (17) is rotatably connected to the first mounting platform (25); the second joint (18) is rotatably connected to the end of the first joint (17) away from the first mounting platform (25); the third joint (19) is rotatably connected to the end of the second joint (18) away from the first joint (17). One end of the drive rope (3) is fixedly connected to the side of the third joint (19) near the second joint (18) and near the first through hole (5).

5. A trigger-type rope-driven gripper according to claim 4, characterized in that, The second joint (18) has a wire hole (20) on the side near the first through hole (5); The drive rope (3) passes through the wire hole (20).

6. A trigger-type rope-driven gripper according to claim 4, characterized in that, The joint assembly (2) also includes: The third elastic element (21), the fourth elastic element (22), and the fifth elastic element (23); One end of the third elastic element (21) is connected to the first mounting platform (25), and the other end is connected to the first joint (17). It is used to drive the first joint (17) to rotate and reset relative to the first mounting platform (25) when the drive rope (3) releases the third joint (19). One end of the fourth elastic element (22) is connected to the first joint (17), and the other end is connected to the second joint (18). It is used to drive the second joint (18) to rotate and reset relative to the first joint (17) when the drive rope (3) releases the third joint (19). One end of the fifth elastic element (23) is connected to the second joint (18), and the other end is connected to the third joint (19). It is used to drive the third joint (19) to rotate and reset relative to the second joint (18) when the drive rope (3) releases the third joint (19).

Images