A clamp capable of self-adjusting the clamping position

Abstract

The application discloses a clamp capable of self-adapting clamping position, which is characterized by comprising a shell, a driving mechanism, a differential self-adapting mechanism, a synchronous winding mechanism, a clamping mechanism, a flexible cable and a direction-changing pulley mechanism, wherein the shell comprises an outer shell and upper and lower cover plates installed on the upper and lower ends of the outer shell; the direction-changing pulley mechanism is composed of multiple pulleys and drives the clamping mechanism to clamp through the driving mechanism, the differential self-adapting mechanism, the synchronous winding mechanism, the flexible cable and the direction-changing pulley mechanism.In the application, four clamping fingers of the clamping mechanism are designed, and opposite two clamping fingers form a pair and are connected by the same flexible cable; when one of the clamping fingers is subjected to resistance (for example, when the clamping finger collides with a clamped object), the clamping finger will stop moving, but the other clamping finger will continue to move, realizing self-adaptation in one direction, clamping an object at an arbitrary position within a maximum clamping range, reducing the requirement for positioning accuracy and lowering the technical cost.

Description

Technical Field

[0001] This invention relates to the field of mechanical clamping technology, and more particularly to a clamping fixture with an adaptively adjustable clamping position. Background Technology

[0002] Grippers can repeatedly perform gripping and releasing operations according to a set program, replacing humans in many industries and special environments. With the rapid development of science and technology, the application scope of grippers is constantly expanding, and the target tasks to be completed are becoming more complex and diverse. Grippers can be mounted on fixed platforms or end effectors of robotic arms, directly contacting the gripped object to perform complex operations. As the manufacturing industry's requirements for processing and assembly become increasingly demanding, grippers are needed to precisely hold objects to complete assembly, processing, and other tasks. In complex situations, the gripped objects have different sizes, irregular geometries, and positions. In recent years, underactuated adaptive grippers, with fewer actuators than their degrees of freedom, have received increasing attention for adaptively gripping objects with unknown shapes, sizes, and positions. The aim is that, in addition to lower hardware costs, fewer actuators can significantly reduce control complexity, thereby simplifying gripping operations. While there are solutions to the adaptive gripping problem, these solutions require vision systems and force / torque sensors to perform object alignment during the gripping process. These solutions have many limitations, such as high cost and complex control.

[0003] In machining and assembly processes, fixtures are typically used to hold various parts. Current fixtures usually employ linkage drives, which are costly to manufacture and maintain. They often require precision components and stringent assembly requirements. Furthermore, linkage-driven clamps are limited in their workspace due to mechanical structure constraints. Existing fixtures can only hold objects in fixed positions and cannot adapt to complex and diverse working environments or adaptively clamp objects based on their position and size. While adding a vision system can precisely locate the object, this method is costly and technically challenging. Therefore, this paper proposes a fixture with adaptively adjustable clamping position to address these issues. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of existing technologies and provide a clamp with an adaptively adjustable clamping position.

[0005] This invention is achieved through the following technical solution: A clamp with an adaptively adjustable clamping position includes a housing, a drive mechanism, a differential adaptive mechanism, a synchronous winding mechanism, a clamping mechanism, a flexible cable, and a reversing pulley mechanism. The housing includes an outer shell and an upper cover plate and a lower cover plate installed at the upper and lower ends of the outer shell. The drive mechanism includes a joint motor, which is mounted on the outer side of the housing. The transmission end of the joint motor extends into the housing and is fixedly connected to a flange. An extension shaft is fixed at the center of the flange, and a first drive bevel gear is mounted on the extension shaft. The differential adaptive mechanism includes a first driven bevel gear, a planetary bevel gear connector, a second driving bevel gear, a second driven bevel gear, a third driven bevel gear, a short shaft support, a third driving bevel gear, a right differential bevel gear, a left differential bevel gear, a planetary bevel gear, a differential output long shaft, a differential output short shaft, and a planetary bevel gear shaft. The first driven bevel gear meshes with the first driving bevel gear. The tooth surface of the first driven bevel gear is fixedly connected to the chassis of the planetary bevel gear connector. Two symmetrical arms extend from both ends of the chassis of the planetary bevel gear connector. Each arm has a circular hole, and a planetary bevel gear is rotatably connected within the circular holes of the two arms. The first passive bevel gear is rotatably mounted on a support plate inside the housing. A differential output long shaft is rotatably mounted in the center hole of the first passive bevel gear. One end of the differential output long shaft is fixedly connected to the right differential bevel gear, and the other end is fixedly connected to the second driving bevel gear. The differential output short shaft is rotatably mounted on a short shaft support. One end of the differential output short shaft is fixedly connected to the third driving bevel gear, and the other end is fixedly connected to the left differential bevel gear. The second driving bevel gear and the third driving bevel gear are respectively meshed with the second passive bevel gear and the third passive bevel gear. The synchronous winding mechanism comprises two sets, respectively installed on both sides of the interior of the housing. Each synchronous winding mechanism includes a synchronous winding mechanism housing, a flexible cable winding shaft, a first pulley, a second pulley, a pulley bracket, a flexible cable winding roller, a lead screw flange, a flange connector, a lead screw, a flexible cable winding sleeve, a synchronous driven gear, and a synchronous driving gear. The two synchronous winding mechanism housings are respectively fixed to support plates inside the housing. The short shaft support is fixed to one of the synchronous winding mechanism housings. The synchronous winding mechanism housings are positioned vertically and horizontally. Both sides are provided with stepped holes. One end of each of the two flexible cable winding shafts is fixedly connected to the second and third driven bevel gears, respectively, and the other end is fixedly connected to the two synchronous driving gears. The flexible cable winding shafts are rotatably engaged with the stepped holes at the upper and lower ends of the synchronous winding mechanism housing. Two symmetrical sliding grooves are provided in the middle of the flexible cable winding shafts. Two symmetrical sliding strips are provided on the inner wall of the flexible cable winding sleeve. The flexible cable winding sleeve is sleeved on the outer side of the middle of the flexible cable winding shaft, and the sliding strips are located in the sliding grooves and slide axially within the sliding grooves. The outer surface of the flexible cable winding sleeve is... The unit is equipped with a keyway, and the flexible cable winding sleeve is connected to the flexible cable winding drum via a flat key. A helical groove with the same lead as the lead screw is provided on the outer surface of the flexible cable winding drum, and the flexible cable is wound within the helical groove. A boss is provided on the flange connector, and rolling bearings are installed on the inner sides of both ends of the flexible cable winding drum. The inner rings of the rolling bearings at both ends respectively mate with the bosses of the two flange connectors. The bosses of the two flange connectors have through holes, coaxial with the flexible cable winding shaft. The lead screw flange is mounted on the lead screw, and the two flange connectors... Each side plane has through holes, which are coaxial with the through holes of the lead screw flange. Two flange connectors are fixedly connected to the two sides of the lead screw flange. One end of the lead screw is rolledly connected to the synchronous winding mechanism housing, and the other end is fixedly connected to the synchronous driven gear. The synchronous driving gear and the synchronous driven gear mesh. The first pulley and the second pulley are respectively mounted on two pulley brackets, and the two pulley brackets are respectively fixed on two synchronous winding mechanism housings. The first pulley and the second pulley are tangent to their corresponding flexible rope winding drums. The clamping mechanism includes two short slide rails, one long slide rail, a slider, a long slide rail slider connector, a short slide rail slider connector, a spring, a spring connector, and a gripper finger. The long slide rail and the two short slide rails are respectively fixed to the lower side of the lower cover plate. Sliders are slidably installed at both ends of the long slide rail and on the two short slide rails. The long slide rail slider connector is installed on the slider on the long slide rail, and the short slide rail slider connector is installed on the slider on the short slide rail. There are protruding plates on both sides of the long slide rail slider connector and the short slide rail connector. There are two threaded holes on each side of the protruding plate of the long slide rail slider connector, and one threaded hole on each side of the protruding plate of the short slide rail slider connector. A gripper finger is installed at the bottom of each slider connector. The gripper finger includes a gripper finger body and an anti-slip fingertip. The anti-slip fingertip is fixedly connected to the gripper finger body. One end of the spring is connected to the middle of the gripper finger body, and the other end of the spring is connected to the spring connector. The top of the spring connector is connected to the lower cover plate. The aforementioned reversing pulley mechanism consists of multiple pulleys, which are driven by a clamping mechanism through a drive mechanism, a differential adaptive mechanism, a synchronous winding mechanism, a flexible cable, and the reversing pulley mechanism.

[0006] The reversing pulley mechanism includes the third to the twenty-first pulleys. The third and fourth pulleys are mounted on the side of the lower cover plate. The fifth, sixth, seventh, eighth, and ninth pulleys are mounted on the lower side of the lower cover plate. The tenth, eleventh, twelfth, and thirteenth pulleys are respectively mounted on the upper side of the two protruding plates of the short slide rail slider connectors. The fourteenth, fifteenth, sixteenth, seventeenth, eighteenth, nineteenth, twentieth, and twenty-first pulleys are respectively mounted on the upper side of the protruding plates of the long slide rail slider connectors.

[0007] It also includes a first flexible cable fixing component and a second flexible cable fixing component. Both the first and second flexible cable fixing components are cylindrical and are connected to the lower cover plate. Both the first and second flexible cable fixing components have stepped holes along the axial direction. The first and second flexible cable fixing components have holes near the bottom surface for the flexible cable to pass through. The flexible cable is wound and fixed in the stepped holes using screws.

[0008] The flexible ropes include a first flexible rope and a second flexible rope. The second flexible rope is led out from the flexible rope winding drum and passes sequentially through the first pulley, the fifth pulley, the twelfth pulley, the thirteenth pulley, the sixth pulley, the third pulley, the fourth pulley, the seventh pulley, the tenth pulley, and the eleventh pulley, and is then fixed to the second flexible rope fixing member. The first flexible rope is led out from the other flexible rope winding drum and passes sequentially through the inner side of the second pulley, the eighth pulley, the ninth pulley, the inner side of the twenty-first pulley, the outer side of the twentieth pulley, the outer side of the nineteenth pulley, the inner side of the eighteenth pulley, the inner side of the seventeenth pulley, the outer side of the sixteenth pulley, the outer side of the fifteenth pulley, and the inner side of the fourteenth pulley, and is then fixed to the first flexible rope fixing member.

[0009] The outer casing has a circular boss on its side, and threaded holes on both the top and bottom surfaces. The upper and lower cover plates are fixedly connected to the outer casing by screws. The joint motor is fixedly connected to the circular boss on the side of the housing, and the flange is fixedly connected to the rotating end of the joint motor by an internal hexagon screw. The first active bevel gear is interference-fitted with the protruding shaft of the flange and is fixed with a set screw.

[0010] Rolling bearings are provided in the round holes on the two arms extending from both ends of the planetary bevel gear connector chassis, and the other end of the planetary bevel gear shaft is engaged with the rolling bearing in the round hole.

[0011] A first adjusting bushing is installed on the boss of the first passive bevel gear. A third rolling bearing is provided outside the first adjusting bushing. The first adjusting bushing is engaged with the inner ring of the third rolling bearing, and the outer ring of the third rolling bearing is engaged with the internal support plate of the outer shell. A sleeve is installed in the center hole of the first passive bevel gear, and two rolling bearings are installed at both ends inside the sleeve. The inner ring of the rolling bearings 4 mates with the middle part of the differential output long shaft. A second adjusting bushing is installed on the boss of the third driving bevel gear. A fifth rolling bearing is installed outside the second adjusting bushing. The inner ring of the fifth rolling bearing mates with the second adjusting bushing, and the outer ring mates with the short shaft support.

[0012] The synchronous winding mechanism housing has threaded holes on its side, which are fixedly connected to the internal support plate of the housing by screws; rolling bearings are installed in the stepped holes on the upper and lower sides of the synchronous winding mechanism housing, and the two sides of the middle part of the flexible rope winding shaft cooperate with the rolling bearings in the stepped holes of the synchronous winding mechanism housing.

[0013] A positioning sleeve is installed on the lead screw, and the positioning sleeve is coaxial with the lead screw to ensure that the synchronous driving gear and the synchronous driven gear mesh correctly.

[0014] The first to twenty-first pulleys all include a reversing pulley, and a rolling bearing 7 is installed inside the reversing pulley. A pan head screw is installed on the inner ring of the rolling bearing 7. A shim 1 and a shim 2 are installed on both sides of the rolling bearing 7, and the diameters of the shim 1 and the shim 2 are smaller than the inner diameter of the outer ring of the rolling bearing.

[0015] The advantages of this invention are: 1. In this invention, the four gripping fingers of the designed clamping mechanism are paired, with two opposite gripping fingers connected by the same flexible cable. When one of them encounters resistance (such as when it encounters the object being clamped), it will stop moving, but the other gripping finger will continue to move, achieving one-way self-adaptation. It can adaptively clamp objects that appear at any position within the maximum clamping range, reducing the requirements for positioning accuracy and lowering technical costs.

[0016] 2. In this invention, the designed synchronous winding mechanism allows the flexible cable to be wound without overlapping on the spiral groove of the flexible cable winding drum through the synchronous rotation of the lead screw and the flexible cable winding shaft. It also ensures that the flexible cable is always tangent to the pulley fixed on the synchronous winding mechanism housing. This invention uses a flexible cable instead of a rigid connecting rod, which simplifies the clamping structure, reduces manufacturing and maintenance costs, and increases the maximum clamping range, making it more widely applicable. Attached Figure Description

[0017] Figure 1 This is an assembly drawing of a clamp with an adaptively adjustable clamping position according to the present invention; Figure 2 This is an exploded view of the drive mechanism of a clamp with an adaptively adjustable clamping position according to the present invention. Figure 3 This is an internal schematic diagram of a clamp with an adaptively adjustable clamping position according to the present invention; Figure 4 This is a schematic diagram of an adaptive differential mechanism for a clamp with an adaptively adjustable clamping position according to the present invention. Figure 5 This is a schematic diagram of the synchronous winding mechanism of a clamp with an adaptively adjustable clamping position according to the present invention; Figure 6 This is a partial exploded cross-sectional view of the synchronous winding mechanism of a clamp with an adaptively adjustable clamping position according to the present invention. Figure 7 This is a schematic diagram of the flexible cable and clamping mechanism of a clamp with an adaptively adjustable clamping position according to the present invention; Figure 8 This is a top view of a clamp with an adaptively adjustable clamping position according to the present invention; Figure 9 This is a schematic diagram of the pulley position of a clamp with an adaptively adjustable clamping position according to the present invention; Figure 10This is an exploded view showing the pulley details of a clamp with an adaptively adjustable clamping position according to the present invention.

[0018] Figure labels: Upper cover plate 1, Joint motor 2, Lower cover plate 3, Housing 4, Flange 201, First driving bevel gear 202, Set screw 203, First driven bevel gear 301, Planetary bevel gear connector 302, Second driving bevel gear 303, Second driven bevel gear 304, Synchronous winding mechanism housing one 305, Synchronous driven gear 306, Synchronous driving gear 307, Synchronous winding mechanism housing two 308, Third driven bevel gear 309, Short shaft support 310, Third driving bevel gear 311, Right differential bevel gear 31 2. Left differential bevel gear 313, planetary bevel gear 314, rolling bearing three 401, clearance adjusting bushing one 402, rolling bearing four 403, retaining ring 404, differential output long shaft 405, sleeve 406, differential output short shaft 407, rolling bearing five 408, clearance adjusting bushing two 409, planetary bevel gear shaft 410, flexible cable winding shaft 501, flexible cable fixing screw 502, first pulley 503, pan head screw 504, pulley bracket 505, flexible cable winding drum 506, lead screw flange 507, flange connector 508, screw... 509, 601, 602, 603, 604, 605, 701, 702, 703, 704, 705, 706, 707, 708, 709, 710, 711, 712, 757, 801, 802, 803, 805, 806, 707, 710, 711, 712, 757, 801, 802, 803, 805, 805, 806, 707, 708, 710, 711, 712, 757, 801, 802, 803, 805, 806, 707, 708, 709, 710, 711, 712, 757, 801, 802, 803, 805, 805, 806, 707, 708, 709, 701, 702, 803 ...703, 804, 705, 708, 709, 701, 702, 703, 804, 705, 708, 709, 701, 702, 703, 704, 705, 706, 707, 708, 709, 701, 806, Eighth Pulley 807, Seventh Pulley 808, Long Slide Rail Slider Connector 809, Sixth Pulley 810, Tenth Pulley 901, Eleventh Pulley 902, Fourteenth Pulley 903, Fifteenth Pulley 904, Sixteenth Pulley 905, Seventeenth Pulley 906, Twelfth Pulley 907, Thirteenth Pulley 908, Eighteenth Pulley 909, Nineteenth Pulley 910, Twenty-first Pulley 911, Twentieth Pulley 912, Shim 1 1001, Directional Pulley 1002, Shim 2 1003, Rolling Bearing 7 1004. Detailed Implementation

[0019] like Figure 1-10 As shown, a clamp with an adaptively adjustable clamping position includes a drive mechanism, a differential adaptive mechanism, a synchronous winding mechanism, a clamping mechanism, a housing, a flexible cable, and a reversing pulley mechanism.

[0020] The housing includes an upper cover plate 1, a lower cover plate 3, and an outer shell 4. The outer shell 4 has a circular boss on its side and a support plate inside for fixing specific components. Both the upper and lower surfaces of the outer shell 4 have threaded holes. The upper cover plate 1 and the lower cover plate 3 have threaded holes on their edges and are fixedly connected to the outer shell 4 with screws. The lower cover plate 3 has a series of threaded holes for fixing specific components and has gaps for passing flexible cables.

[0021] In the drive mechanism, the joint motor 2 is fixedly connected to the circular boss on the side of the housing 4. The flange 201 is fixedly connected to the rotating end of the joint motor 2 by an internal hexagon screw. The flange 201 has an extension shaft. The first drive bevel gear 202 is interference-fitted with the extension shaft of the flange 201 and is fixed with a set screw 203.

[0022] In the differential adaptive mechanism, the first passive bevel gear 301 meshes with the first active bevel gear 202. The tooth surface of the first passive bevel gear 301 has a threaded hole along the circumferential direction. The first passive bevel gear 301 is fixedly connected to the planetary bevel gear connector 302 by screws through the through hole of the chassis. Two symmetrical arms extend from the chassis on both sides of the planetary bevel gear connector 302. Both arms have round holes, and rolling bearings II are installed in the round holes. Taking one side as an example, one end of the planetary bevel gear shaft 410 mates with the planetary bevel gear 314, and the other end mates with the rolling bearing II in the round hole of the planetary bevel gear connector 302. An adjusting bushing 402 is installed on the boss of the first passive bevel gear 301. The adjusting bushing 402 mates with the inner ring of the rolling bearing III 401, and the outer ring of the rolling bearing III 401 mates with the internal support plate of the outer casing 4. A sleeve 406 and a retaining ring 404 are installed inside the hole of the first driven bevel gear 301. Two rolling bearings 403 are installed at both ends inside the sleeve 406. The inner rings of the rolling bearings 403 mate with the middle of the differential output long shaft 405. One end of the differential output long shaft 405 is fixedly connected to the right differential bevel gear 312, and the other end is fixedly connected to the second driving bevel gear 303. A second adjusting bushing 409 is installed on the boss of the third driving bevel gear 311. The inner ring of the rolling bearing 408 mates with the second adjusting bushing 409, and the outer ring mates with the short shaft support 310. The short shaft support 310 is fixedly connected to the synchronous winding mechanism housing 308 by screws. One end of the differential output short shaft 407 is fixedly connected to the third driving bevel gear 311, and the other end is fixedly connected to the left differential bevel gear 313. The second driving bevel gear 303 and the third driving bevel gear 311 are respectively meshed with the second driven bevel gear 304 and the third driven bevel gear 309.

[0023] The synchronous winding mechanism is installed on both sides inside the housing 4. Taking one side as an example, the synchronous winding mechanism housing 305 has a threaded hole on one side, which is fixedly connected to the support plate in the housing 4 by screws. The synchronous winding mechanism housing 305 has stepped holes on the upper and lower sides for installing rolling bearings 6. One end of the flexible cable winding shaft 501 is fixedly connected to the second driven bevel gear 304, and the other end is fixedly connected to the synchronous driving gear 307. The two sides of the middle part of the flexible cable winding shaft 501 are engaged with the rolling bearings 6 in the stepped holes of the synchronous winding mechanism housing 305. The middle part of the flexible cable winding shaft 501 has two symmetrical sliding grooves. The hole of the flexible cable winding sleeve 603 has two symmetrical sliding bars that can move axially in the sliding grooves of the flexible cable winding shaft 501. The middle part of the outer surface of the flexible cable winding sleeve 603 has a keyway, which is connected to the flexible cable winding roller 506 by a flat key 602. The outer surface of the flexible cable winding drum 506 has a helical groove with the same lead as the lead screw 509, allowing the flexible cable to wind within the helical groove. A threaded hole on one side of the bottom surface of the flexible cable winding drum 506 connects to the flexible cable fixing screw 502. Rolling bearings 604 are installed on both sides inside the flexible cable winding drum 506, with the inner ring of the rolling bearing 604 mating with the boss of the flange connector 508. The boss of the flange connector 508 has a through hole, coaxial with the flexible cable winding shaft 501. Through holes are provided on the upper planes of the two flange connectors 508, coaxial with the through holes on the lead screw flange 507, and the two flange connectors 508 and the lead screw flange 507 are connected by screws. One end of the lead screw 509 mates with a rolling bearing in the stepped hole of the synchronous winding mechanism housing 305, and the other end is fixedly connected to the synchronous driven gear 306. The positioning sleeve 601 is coaxial with the lead screw 509, so that the synchronous driving gear 307 and the synchronous driven gear 306 can mesh correctly.

[0024] The long slide rail 803 and two short slide rails 801 in the clamping mechanism are connected to the lower side of the lower cover plate 3 by screws. Two identical sliders 712 are respectively installed on both sides of the long slide rail 803, and two identical sliders 712 are respectively installed on the outer sides of the two short slide rails 801. A long slide rail slider connector 809 is installed on the slider on the long slide rail 803. The long slide rail slider connector 809 has protruding plates on both sides, and each side protruding plate has two threaded holes. The short slide rail slider connector 704 has protruding plates on both sides, and each side protruding plate has one threaded hole. A clamping finger 757 is installed at the bottom of each slider connector. The clamping finger 757 consists of a clamping finger body 707 and an anti-slip fingertip 705. The anti-slip fingertip 705 is fixedly connected to the clamping finger body 707. A through hole is provided in the middle of the clamping finger body 707 for connecting one end of a spring 711. The other end of the spring 711 is connected to a spring connector 706. The top of the spring connector 706 has a threaded hole and is connected to the lower cover plate by screws.

[0025] Taking a reversing pulley as an example, the width of the reversing pulley 1002 is equal to the width of the rolling bearing 1004. The inside of the reversing pulley 1002 mates with the outer ring of the rolling bearing 1004, while the inner ring of the rolling bearing 1004 mates with the pan head screw 504. A washer 1001 and a washer 1003 are installed on both sides of the rolling bearing 1004, and the diameter of the washer is smaller than the inner diameter of the outer ring of the rolling bearing 1004. The first pulley 503 is mounted on the pulley bracket 505, and the pulley bracket 505 is fixed to the synchronous winding mechanism housing 305 by screws. The first pulley 503 is tangent to the flexible rope winding drum 506. The second pulley 701 is mounted on the other side of the synchronous winding mechanism housing 308 in the same way. The third pulley 708 and the fourth pulley 710 are installed on the upper side of the lower cover plate 3. The fifth pulley 802, the sixth pulley 810, the seventh pulley 808, the eighth pulley 807, and the ninth pulley 806 are installed on the lower side of the lower cover plate 3. The tenth pulley 901, the eleventh pulley 902, the twelfth pulley 907, and the thirteenth pulley 908 are respectively installed on the upper side of the protruding plates of the two short slide rail slider connectors 704. The fourteenth pulley 903, the fifteenth pulley 904, the sixteenth pulley 905, the seventeenth pulley 906, the eighteenth pulley 909, the nineteenth pulley 910, the twentieth pulley 912, and the twenty-first pulley 911 are respectively installed on the upper side of the protruding plates of the long slide rail slider connectors 809. The first flexible cable fixing member 703 and the second flexible cable fixing member 805 are cylindrical and connected to the lower cover plate 3. They are provided with stepped holes along the axial direction. The first flexible cable fixing member 703 and the second flexible cable fixing member 805 are provided with holes near the bottom surface for the flexible cable to pass through. The flexible cable is wrapped and fixed with screws in the stepped holes.

[0026] The flexible cable includes a first flexible cable 702 and a second flexible cable 709. The second flexible cable 709 is led out from the flexible cable winding drum 506, passes sequentially through the first pulley 503, the fifth pulley 802, the twelfth pulley 907, the thirteenth pulley 908, the sixth pulley 810, the third pulley 708, the fourth pulley 710, the seventh pulley 808, the tenth pulley 901, and the eleventh pulley 902, and is then fixed to the second flexible cable fixing member 805. The first flexible cable 702 is led out from another flexible cable winding drum, and passes in sequence through the second pulley 701, the eighth pulley 807, the ninth pulley 806, the inner side of the twenty-first pulley 911, the outer side of the twentieth pulley 912, the outer side of the nineteenth pulley 910, the inner side of the eighteenth pulley 909, the inner side of the seventeenth pulley 906, the outer side of the sixteenth pulley 905, the outer side of the fifteenth pulley 904, and the inner side of the fourteenth pulley 903, and is then fixed to the first flexible cable fixing member 703.

[0027] In some embodiments, the power of the joint motor 2 is transmitted to the flange 201 fixed thereto, and then to the first driving bevel gear 202. The first driven bevel gear 301, meshing with the first driving bevel gear 202, begins to rotate, and the planetary bevel gear connector 302 fixed to the first driven bevel gear 301 rotates at the same speed. The two planetary bevel gears 314 mounted on the planetary bevel gear connector 302 revolve around the axis of the first driven bevel gear 301 along with the planetary bevel gear connector 302. The planetary bevel gears 314 drive the right differential bevel gear 312 and the left differential bevel gear 313 to rotate around their respective axes. The third driving bevel gear 311 and the left differential bevel gear 313 are simultaneously fixed to the differential output short shaft 407, and the third driving bevel gear 311 and the left differential bevel gear 313 maintain the same speed. The second driving bevel gear 303 and the right differential bevel gear 312 are simultaneously fixed to the differential output long shaft 405, and the second driving bevel gear 303 and the right differential bevel gear 312 maintain the same rotational speed. The inner sleeve 406 of the first driven bevel gear 301 is fitted with the outer ring of the rolling bearing 403, and the differential output long shaft 405 is fitted with the inner ring of the rolling bearing 403. Therefore, the rotation of the first driven bevel gear 301 and the rotation of the differential output long shaft 405 do not interfere with each other. The rolling bearing 401 mounted on the internal support plate of the housing 4 and the rolling bearing 408 mounted on the short shaft support 310 provide support.

[0028] The second driving bevel gear 303 drives the second driven bevel gear 304, which meshes with it, to rotate. The flexible cable winding shaft 501, fixedly connected to the second driven bevel gear 304, rotates accordingly. A groove on the flexible cable winding shaft 501 engages with a sliding strip on the flexible cable winding sleeve 603, causing the flexible cable winding sleeve 603 to rotate. The flexible cable winding sleeve 603, via a flat key 602, drives the flexible cable winding drum 506 to rotate. The synchronous driving gear 307, fixed to one end of the flexible cable winding shaft 501, is identical to the synchronous driven gear 306, fixed to one end of the lead screw 509, ensuring that the lead screw 509 and the flexible cable winding shaft 501 maintain the same rotational speed. As the lead screw rotates, the two flange connectors 508 move axially along with the fixed lead screw flanges 507, clamping the flexible cable winding drum 506, thus causing the flexible cable winding drum 506 to also move along its axis.

[0029] The second flexible cable 709 is wound and fitted into the helical groove of the flexible cable winding drum 506. As the flexible cable winding drum 506 rotates, the second flexible cable 709 is wound around it. The flexible cable winding drum 506 moves along its axis. Simultaneously, because the helical groove of the flexible cable winding drum 506 and the lead screw 509 have the same lead, the second flexible cable 709 will not move axially and its relative position to the first pulley 503 remains unchanged. The synchronous winding mechanism of the first flexible cable 702 on the other side is the same as that of the second flexible cable 709.

[0030] One end of the second flexible cable 709 is fixed to the flexible cable fixing screw 502. The flexible cable is led out from the winding drum 506 and passes sequentially through the first pulley 503, the fifth pulley 802, the twelfth pulley 907, the thirteenth pulley 908, the sixth pulley 810, the third pulley 708, the fourth pulley 710, the seventh pulley 808, the tenth pulley 901, and the eleventh pulley 902. Then, the other end is fixed to the second flexible cable fixing member 805. The first pulley 503, the fifth pulley 802, the sixth pulley 810, the third pulley 708, the fourth pulley 710, and the seventh pulley 808 are all fixed pulleys. The twelfth pulley 907, the thirteenth pulley 908, the tenth pulley 901, and the eleventh pulley 902 are respectively mounted on two short slide rail slider connecting members 704. As the flexible cable winding drum 506 rotates, the second flexible cable 709 is tightened, and the twelfth pulley 907, the thirteenth pulley 908, the tenth pulley 901, and the eleventh pulley 902 are pulled, respectively carrying the two short slide rail slider connectors 704 to move along the short slide rail 801, thereby causing the pair of gripping fingers installed on the short slide rail slider connectors to close and complete the clamping action.

[0031] One end of the first flexible cable 702 is fixed to the flexible cable fixing screw, and is led out by another flexible cable wound around the roller. It passes sequentially through the inner side of the second pulley 701, the eighth pulley 807, the ninth pulley 806, the inner side of the twenty-first pulley 911, the outer side of the twentieth pulley 912, the outer side of the nineteenth pulley 910, the inner side of the eighteenth pulley 909, the inner side of the seventeenth pulley 906, the outer side of the sixteenth pulley 905, the outer side of the fifteenth pulley 904, and the inner side of the fourteenth pulley 903, before being fixed to the first flexible cable fixing member 703. The second pulley 701, the eighth pulley 807, and the ninth pulley 806 are fixed pulleys. The function of the ninth pulley 806 is to increase the stroke of the slider on the long slide rail 803. The 21st pulley 911, 20th pulley 912, 19th pulley 910, 18th pulley 909, 17th pulley 906, 16th pulley 905, 15th pulley 904, and 14th pulley 903 are respectively mounted on two long slide rail slider connectors 809. As the other flexible rope winding drum rotates, the first flexible rope 702 tightens, and the 20th pulley 912, 19th pulley 910, 16th pulley 905, and 15th pulley 904 are subjected to tension, which carries the two long slide rail slider connectors 809 along the long slide rail 803, thereby causing the other pair of gripping fingers mounted on the long slide rail slider connectors to close, completing the clamping action.

[0032] When the two pairs of gripping fingers close, the four springs 711 also extend. When the gripping ends, the joint motor 2 reverses, the flexible rope winding drum reverses, the flexible rope is released, and under the action of the spring tension, the four gripping fingers move in the opposite direction to return to the initial position.

[0033] In other embodiments, the object being gripped is not at the midpoint of the travel of a pair of gripping fingers. One of the gripping fingers will first touch the object and encounter resistance. At this point, the gripping finger that first touches the object stops moving, while the other gripping finger, which does not encounter resistance, will continue moving until it also touches the object, thus achieving an adaptive gripping position in one direction.

[0034] In some other embodiments, when the object being clamped is not at the midpoint of the travel of any pair of clamping fingers, one pair of the two pairs of clamping fingers will complete the clamping action first, as in the example above. At this time, the differential adaptive mechanism comes into play. The planetary bevel gear 314 not only revolves around the axis of the first driven bevel gear 301, but also rotates on its own axis, thus creating a speed difference between the right differential bevel gear 312 and the left differential bevel gear 313. When one pair of clamping fingers completes the clamping action and stops moving, the other pair of clamping fingers will continue to move until the clamping action is completed. At this time, adaptive clamping positions in two directions are achieved simultaneously, which can adaptively clamp objects that appear at any position within the maximum clamping range.

Claims

1. A clamp with adaptively adjustable clamping position, characterized in that: The system includes a housing, a drive mechanism, a differential adaptive mechanism, a synchronous winding mechanism, a clamping mechanism, a flexible cable, and a reversing pulley mechanism. The housing includes an outer shell and upper and lower cover plates mounted on the upper and lower ends of the outer shell. The drive mechanism includes a joint motor mounted on the outer side of the outer shell. The drive end of the joint motor extends into the interior of the housing and is fixedly connected to a flange. An extension shaft is fixed at the center of the flange, and a first driving bevel gear is mounted on the extension shaft. The differential adaptive mechanism includes a first driven bevel gear, a planetary bevel gear connector, a second driving bevel gear, a second driven bevel gear, a third driven bevel gear, a short shaft support, a third driving bevel gear, a right differential bevel gear, a left differential bevel gear, and a planetary bevel gear. The system comprises a differential output long shaft, a differential output short shaft, and planetary bevel gear shafts. The first driven bevel gear meshes with the first driving bevel gear. The tooth surface of the first driven bevel gear is fixedly connected to the chassis of the planetary bevel gear connector. Two symmetrical arms extend from both ends of the planetary bevel gear connector chassis, each arm having a circular hole. Planetary bevel gear shafts are rotatably connected within these holes. The other ends of the two planetary bevel gear shafts are respectively connected to two planetary bevel gears. The first driven bevel gear is rotatably mounted on a support plate inside the housing. The differential output long shaft is rotatably mounted within the center hole of the first driven bevel gear. One end of the differential output long shaft is fixedly connected to the right differential bevel gear, and the other end is fixedly connected to the second driving bevel gear. The differential output short shaft is rotatably mounted on a short shaft support. One end of the differential output short shaft is fixedly connected to the third driving bevel gear, and the other end is fixedly connected to the left differential bevel gear. The second and third driving bevel gears are respectively meshed with the second and third driven bevel gears. There are two sets of synchronous winding mechanisms, installed on opposite sides of the inner casing. Each synchronous winding mechanism includes a synchronous winding mechanism housing, a flexible cable winding shaft, a first pulley, a second pulley, a pulley bracket, a flexible cable winding drum, a lead screw flange, a flange connector, a lead screw, a flexible cable winding sleeve, a synchronous driven gear, and a synchronous driving gear. The two synchronous winding mechanism housings are respectively fixed to support plates inside the outer casing. The short shaft support is fixed to one of the synchronous winding mechanism housings. The housing has stepped holes on both the top and bottom surfaces. One end of each of the two flexible cable winding shafts is fixedly connected to the second and third driven bevel gears, respectively, and the other end is fixedly connected to the two synchronous driving gears. The flexible cable winding shafts are rotatably engaged with the stepped holes at both ends of the synchronous winding mechanism housing. Two symmetrical sliding grooves are provided in the middle of the flexible cable winding shafts. Two symmetrical sliding bars are provided on the inner wall of the flexible cable winding sleeve. The flexible cable winding sleeve is fitted on the outer side of the middle of the flexible cable winding shaft, and the sliding bars are located in the sliding grooves and slide axially within the sliding grooves. A keyway is provided in the middle of the outer surface of the flexible cable winding sleeve, and the flexible cable winding sleeve is connected to the flexible cable winding drum through a flat key. A spiral groove with the same lead as the lead screw is provided on the outer surface of the flexible cable winding drum, and the flexible cable is wound in the spiral groove.The flange connectors are provided with bosses, and rolling bearings are installed on the inner sides of both ends of the flexible cable winding rollers. The inner rings of the rolling bearings at both ends are respectively matched with the bosses of the two flange connectors. The bosses of the two flange connectors are provided with through holes, which are coaxial with the flexible cable winding shaft. The lead screw flange is installed on the lead screw. The upper side planes of the two flange connectors are provided with through holes, which are coaxial with the through holes of the lead screw flange. The two flange connectors are respectively fixedly connected to the two sides of the lead screw flange. One end of the lead screw is rolledly connected to the synchronous winding mechanism housing, and the other end is fixedly connected to the synchronous driven gear. The synchronous driving gear and the synchronous driven gear mesh. The first pulley and the second pulley are respectively installed on two pulley brackets, and the two pulley brackets are respectively fixed on two synchronous winding mechanism housings. The first pulley and the second pulley are tangent to their corresponding flexible cable winding rollers. The clamping mechanism includes two short slide rails, one long slide rail, a slider, a long slide rail slider connector, a short slide rail slider connector, a spring, and a spring. The system includes connectors and grippers. A long slide rail and two short slide rails are fixed to the lower side of the lower cover plate. Slider blocks are slidably mounted on both ends of the long slide rail and on the two short slide rails. Long slide rail slider connectors are mounted on the sliders on the long slide rails, and short slide rail slider connectors are mounted on the sliders on the short slide rails. Extending plates are provided on both sides of the long and short slide rail slider connectors. Each side of the extended plate of the long slide rail slider connector has two threaded holes, and each side of the extended plate of the short slide rail slider connector has one threaded hole. A gripper is mounted at the bottom of each slider connector. Each gripper includes a gripper body and an anti-slip fingertip. The anti-slip fingertip is fixedly connected to the gripper body. One end of a spring is connected to the middle of the gripper body, and the other end of the spring is connected to a spring connector. The top of the spring connector is connected to the lower cover plate. The reversing pulley mechanism consists of multiple pulleys, which are driven by a drive mechanism, a differential adaptive mechanism, a synchronous winding mechanism, a flexible cable, and the reversing pulley mechanism to clamp the pulleys.

2. The clamping fixture with adaptively adjustable clamping position according to claim 1, characterized in that: The reversing pulley mechanism includes the third to the twenty-first pulleys. The third and fourth pulleys are mounted on the side of the lower cover plate. The fifth, sixth, seventh, eighth, and ninth pulleys are mounted on the lower side of the lower cover plate. The tenth, eleventh, twelfth, and thirteenth pulleys are respectively mounted on the upper side of the two protruding plates of the short slide rail slider connectors. The fourteenth, fifteenth, sixteenth, seventeenth, eighteenth, nineteenth, twentieth, and twenty-first pulleys are respectively mounted on the upper side of the protruding plates of the long slide rail slider connectors.

3. The clamping fixture with adaptively adjustable clamping position according to claim 2, characterized in that: It also includes a first flexible cable fixing component and a second flexible cable fixing component. Both the first and second flexible cable fixing components are cylindrical and are connected to the lower cover plate. Both the first and second flexible cable fixing components have stepped holes along the axial direction. The first and second flexible cable fixing components have holes near the bottom surface for the flexible cable to pass through. The flexible cable is wound and fixed in the stepped holes using screws.

4. The clamping fixture with adaptively adjustable clamping position according to claim 3, characterized in that: The flexible ropes include a first flexible rope and a second flexible rope. The second flexible rope is led out from the flexible rope winding drum and passes sequentially through the first pulley, the fifth pulley, the twelfth pulley, the thirteenth pulley, the sixth pulley, the third pulley, the fourth pulley, the seventh pulley, the tenth pulley, and the eleventh pulley, and is then fixed to the second flexible rope fixing member. The first flexible rope is led out from the other flexible rope winding drum and passes sequentially through the inner side of the second pulley, the eighth pulley, the ninth pulley, the inner side of the twenty-first pulley, the outer side of the twentieth pulley, the outer side of the nineteenth pulley, the inner side of the eighteenth pulley, the inner side of the seventeenth pulley, the outer side of the sixteenth pulley, the outer side of the fifteenth pulley, and the inner side of the fourteenth pulley, and is then fixed to the first flexible rope fixing member.

5. The clamping fixture with adaptively adjustable clamping position according to claim 1, characterized in that: The outer casing has a circular boss on its side, and threaded holes on both the top and bottom surfaces. The upper and lower cover plates are fixedly connected to the outer casing with screws. The joint motor is fixedly connected to the circular boss on the side of the outer casing. The flange is fixedly connected to the rotating end of the joint motor with hexagonal screws. The first active bevel gear is interference-fitted with the extension shaft of the flange and is fixed with set screws.

6. The clamping fixture with adaptively adjustable clamping position according to claim 1, characterized in that: Rolling bearings are provided in the round holes on the two arms extending from both ends of the planetary bevel gear connector chassis, and the other end of the planetary bevel gear shaft is engaged with the rolling bearing in the round hole.

7. The clamping fixture with adaptively adjustable clamping position according to claim 1, characterized in that: A first-stage adjusting bushing is installed on the boss of the first driven bevel gear. A third rolling bearing is provided outside the first-stage adjusting bushing. The first-stage adjusting bushing mates with the inner ring of the third rolling bearing, and the outer ring of the third rolling bearing mates with the internal support plate of the housing. A sleeve is installed in the center hole of the first driven bevel gear. Two fourth rolling bearings are installed at both ends inside the sleeve. The inner ring of the fourth rolling bearing mates with the middle part of the differential output long shaft. A second-stage adjusting bushing is installed on the boss of the third driving bevel gear. A fifth rolling bearing is installed outside the second-stage adjusting bushing. The inner ring of the fifth rolling bearing mates with the second-stage adjusting bushing, and the outer ring mates with the short shaft support.

8. A clamping device with adaptively adjustable clamping position according to claim 1, characterized in that: The synchronous winding mechanism housing has threaded holes on its side, which are fixedly connected to the internal support plate of the housing by screws; rolling bearings are installed in the stepped holes on the upper and lower sides of the synchronous winding mechanism housing, and the two sides of the middle part of the flexible rope winding shaft cooperate with the rolling bearings in the stepped holes of the synchronous winding mechanism housing.

9. A clamping device with adaptively adjustable clamping position according to claim 1, characterized in that: A positioning sleeve is installed on the lead screw, and the positioning sleeve is coaxial with the lead screw to ensure that the synchronous driving gear and the synchronous driven gear mesh correctly.

10. A clamping device with adaptively adjustable clamping position according to claim 4, characterized in that: The first to twenty-first pulleys are all reversible pulleys. A rolling bearing 7 is installed inside the reversible pulley. A pan head screw is installed on the inner ring of the rolling bearing 7. A shim 1 and a shim 2 are installed on both sides of the rolling bearing 7. The diameter of the shim 1 and the shim 2 is smaller than the inner diameter of the outer ring of the rolling bearing 7.

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