Rope-driven tail end clamping device

Abstract

The invention belongs to the technical field of clamping, and discloses a rope-driven tail end clamping device which comprises a shell, a driving guide mechanism, a steel wire rope, at least two pressing connecting mechanisms and at least two tail end fingers. The driving guide mechanism is connected into the shell and used for providing a driving position and a guide position, the steel wire rope is arranged on the driving position and the guide position at the same time in an end-to-end connection mode, at least one set of two parallel sections which are oppositely arranged are provided under the guide of the guide position, and the steel wire rope rotates in one direction under the action of the driving guide mechanism. The two parallel sections in the same group move in opposite directions; the shell is provided with a clamping receding hole, the pressing connecting mechanism penetrates through the clamping receding hole from the interior of the shell and then is exposed out of the shell, the part, located in the shell, of the pressing connecting mechanism is connected with the parallel section, and the part, exposed out of the shell, of the pressing connecting mechanism is connected with the tail end finger. According to the invention, the rope drive shows simpler structural design and lower cost input, the transmission operation is stable, and the excellent performance of small inertia is achieved.

Description

Technical Field

[0001] The invention belongs to the technical field of clamping, and in particular relates to a rope-driven end clamping device. Background Art

[0002] With the advancement of science and technology and the rise of intelligent manufacturing, the importance of the robot arm as one of the core equipment of the automated production line has become increasingly prominent. The end gripper, as the "hand" of the robot arm, directly determines the accuracy and efficiency of the interaction between the robot arm and the object. As a core component of robotics technology, the end gripper plays an increasingly important role in various fields of manufacturing, especially in industrial and 3C (computer, communication, consumer electronics) production lines. With the rapid development of intelligent manufacturing and automation technology, the end gripper has achieved accurate grasping, handling and assembly of materials, parts and products through its advantages of high precision, high reliability and flexibility. This not only greatly improves the automation level and production efficiency of the production line, but also significantly reduces labor costs and reduces errors and scrap rates caused by human factors. In a highly competitive market environment, the application of the end gripper brings higher production flexibility and faster response speed to enterprises, helping them achieve transformation and upgrading and sustainable development.

[0003] Prior art, such as the patent application with publication number CN116512293A, discloses a compact, flat, long-stroke clamp, which is connected to the screw rod by a drive motor through a synchronous belt and gear set, and the screw nut seat is connected to the rack. Each finger end assembly is equipped with a rack, and a transmission gear is set in the center of the two racks. When the drive motor drives the screw rod to move, the screw nut drives the rack, and the rack drives the transmission gear, so that the two finger end assemblies are close to or separated from each other. Another example is the patent with announcement number CN218398171U, which discloses a flat clamp, which is connected to the screw rod by a drive motor through a synchronous belt, and the screw rod adopts a double helix (the spiral directions on both sides are opposite), and the screw nut is connected to the finger end assembly. When the drive motor drives the screw rod to move, the screw nut drives the finger end assembly to move close to or separate from each other. Another example is the patent with announcement number CN219837807U, which discloses a driving device and an electric gripper for an electric gripper, wherein a driving motor is connected to a screw rod through a synchronous belt, and the screw rod adopts a double helix (the helical directions on both sides are opposite), and the screw rod nut + connector + finger end assembly. When the driving motor drives the screw rod to move, the screw rod nut drives the finger end assembly to move closer to or away from each other. Another example is the patent with announcement number CN217513899U, which discloses a large-load gripper, wherein the driving device includes a motor, a pulley assembly, a screw rod, a left nut and a right nut, wherein the left nut and the right nut are sleeved on the screw rod, one end of the pulley assembly is connected to the screw rod, and the other end of the pulley assembly is connected to the motor, and the motor drives the screw rod to rotate through the pulley assembly, and the left nut and the right nut slide along the length direction of the screw rod, so that the left nut and the right nut move closer to or away from each other.

[0004] The above-mentioned clamping devices mainly rely on screws or gear racks as transmission mechanisms. Among them, screw transmission, especially ball screws, has a high manufacturing cost due to its complex structure and strict manufacturing process requirements. The core reason for this cost increase is that the ball screw needs to achieve extremely high processing accuracy and fine assembly process to maintain its excellent transmission accuracy and stability. The ball screw initially exhibits excellent transmission accuracy, but during long-term use, its accuracy stability may be gradually affected by factors such as wear and looseness. In particular, when the transmission distance is extended, it is also necessary to consider the maximum speed limit and the drooping deformation caused by its own weight, which may further weaken its accuracy stability.

[0005] On the other hand, the rack and pinion transmission system also has strict requirements on accuracy, requiring high-precision machined gears and racks and fine installation adjustments, all of which increase the initial cost. In addition, the noise generated by the rack and pinion during the transmission process mainly comes from the impact and vibration when the gears are meshing. After long-term operation, the friction and wear between the gears and racks will gradually accumulate, resulting in a decrease in transmission accuracy and overall performance degradation. Therefore, in order to maintain the effectiveness and accuracy of the rack and pinion transmission, regular maintenance inspections and replacement of worn parts become necessary, which inevitably increases operating maintenance costs and potential downtime. Summary of the invention

[0006] One of the purposes of the present invention is to provide a rope-driven end clamping device, which has a simpler structural design and lower cost investment, stable transmission operation, and excellent performance with small inertia.

[0007] To achieve the above object, the technical solution adopted by the present invention is: A rope-driven end clamping device, the rope-driven end clamping device comprising a housing, a driving guide mechanism, a steel wire rope, at least two clamping connection mechanisms and at least two end fingers; The driving guide mechanism is connected inside the housing, and the driving guide mechanism provides a driving position and a guiding position. The steel wire rope is arranged at the driving position and the guiding position in a head-to-tail manner, and provides at least one group of two parallel sections arranged oppositely under the guidance of the guiding position. The steel wire rope rotates unidirectionally under the action of the driving guide mechanism, and the two parallel sections in the same group move in opposite directions. The shell is provided with a clamping avoidance hole, the extension path of the clamping avoidance hole is the same as the extension path of the parallel section, the clamping connection mechanism passes through the clamping avoidance hole from the inside of the shell and is exposed to the outside of the shell, the part of the clamping connection mechanism located inside the shell is connected to the parallel section, and the part exposed outside the shell is connected to the end finger.

[0008] Several optional methods are also provided below, but they are not intended to be additional limitations on the above-mentioned overall solution, but are merely further supplements or preferences. Under the premise that there are no technical or logical contradictions, each optional method can be combined with the above-mentioned overall solution separately, and multiple optional methods can also be combined.

[0009] Preferably, the driving guide mechanism comprises at least one guide assembly, the guide assembly having four guide pulleys, the guide pulleys providing guide positions, two of the four guide pulleys forming a group, and the two guide pulleys in the same group are located on both sides of the same parallel segment.

[0010] Preferably, among the four guide pulleys of the guide assembly, two guide pulleys located on the same side of the parallel section are fixedly connected to the shell, and two guide pulleys located on the other side of the parallel section are connected to a tension adjustment block, and the tension adjustment block is slidably arranged inside the shell, and the sliding direction of the tension adjustment block is the same as the extension direction of the parallel section.

[0011] Preferably, the tension adjustment block is threadedly connected with a tension adjustment screw, and the tension adjustment screw is used to adjust the sliding position and limit position of the tension adjustment block. The tension adjustment screw passes through the rear head of the shell and is exposed outside the shell.

[0012] Preferably, the driving guide mechanism comprises a driving assembly, the driving assembly comprises a driven gear, a transfer gear and a driving gear, the transfer gear is meshed with the driven gear and the driving gear at the same time, and the driven gear and the driving gear provide a driving position.

[0013] Preferably, the clamping connection mechanism comprises a guide rail, a slider, a U-shaped groove block, a pressing sheet, a fastener and an end finger connector; The guide rail is fixed inside the shell, the slider is slidably connected to the guide rail, the U-shaped outer bottom of the U-shaped groove block is fixed to the slider, the U-shaped groove block passes through the clamping avoidance hole from the inside of the shell and is exposed to the outside of the shell, the pressing plate is arranged inside the U-shaped groove block, and the space between the pressing plate and the inner bottom of the U-shaped groove block is used as a wire rope passing position, the fastener is used to limit the wire rope located at the wire rope passing position, the end finger connector is located on the side of the U-shaped groove block exposed to the outside of the shell and is fixed to the pressing plate, and the end finger is installed on the end finger connector.

[0014] Preferably, when the U-shaped outer bottom of the U-shaped groove block is fixed to the slider, it also includes a mounting plate, which is fixed to the U-shaped outer bottom of the U-shaped groove block. The mounting plate is provided with mounting holes and is fixed to the slider through the mounting holes.

[0015] Preferably, the fastener comprises a fastening nut and a fastening screw, the fastening nut is located inside the U-shaped groove block, and the fastening screw penetrates the U-shaped groove block from one side of the U-shaped outer bottom of the U-shaped groove block, is pressed and fastened to the fastening nut thread.

[0016] Preferably, the pressing sheet includes a flat pressing block and two raised columns, the space between the flat pressing block and the bottom of the U-shaped groove block is used as a wire rope passing position, the two columns are respectively placed at the U-shaped openings on both sides of the U-shaped groove block, and the columns are used to be fixed to the end finger connector.

[0017] The rope-driven end clamping device provided by the present invention has the following beneficial effects compared with the prior art: (1) The rope drive method has a simple structure, is easy to process, and has a lower cost than existing solutions; (2) Compared with the existing technical solutions, the rope drive solution can have a larger transmission distance design upper limit; (3) Through the joint action of the driving gear and the transmission gear, the force contact area of ​​the wire rope during movement is increased. The combination of the gear and the guide pulley improves the redundancy of the overall design and ensures stability during operation; (4) Considering the change in tension of the wire rope after long-term use, a portable and adjustable tensioning mechanism (tension adjustment block, tension adjustment screw) is added to maintain the tension, ensure the drive transmission accuracy, and obtain a stable clamping effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of a rope-driven end clamping device of the present invention; Figure 2 It is a schematic diagram of the housing structure of the present invention; Figure 3 It is a structural schematic diagram of the driving guide mechanism and the pressing connection mechanism of the present invention; Figure 4 It is a structural schematic diagram of the clamping connection mechanism (excluding the guide rail and the slide) of the present invention; Figure 5 It is a structural schematic diagram of a fastener in the compression connection mechanism of the present invention; Figure 6 For the present invention Figure 4 Exploded view of the middle compression connection mechanism; Figure 7 It is a structural schematic diagram of the tabletting of the present invention; Figure 8 It is a structural schematic diagram of the steering expansion member of the present invention; Fig. 9 It is a structural schematic diagram of the tension adjustment block and the tension adjustment screw of the present invention; Fig.10 It is a structural schematic diagram of a deformation structure 1 of a rope-driven end clamping device of the present invention; Fig.11 It is a structural schematic diagram of a second deformation structure of a rope-driven end clamping device of the present invention; Fig.12 It is a structural schematic diagram of a deformation structure 3 of a rope-driven end clamping device of the present invention.

[0019] In the figure: 1. Shell; 101. Clamping avoidance hole; 102. Tension avoidance hole; 2. End finger connector; 3. Steering extension; 301. Extension plate; 302. C-type fixing block; 4. End finger; 5. Tension adjustment screw; 6. Guide rail; 7. Slider; 8. Wire rope; 9. Guide pulley; 10. Driven gear; 11. Transfer gear; 12. Drive gear; 13. Gear shaft fixing plate; 14. Motor; 15. Mounting plate; 16. U-shaped groove block; 17. Pressing plate; 1701. Plane pressing block; 1702. Column; 18. Fastening screw; 19. Fastening nut; 20. Tension adjustment block. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] It should be noted that when a component is referred to as being “connected” to another component, it may be directly connected to the other component or there may be a central component; when a component is referred to as being “fixed” to another component, it may be directly fixed to the other component or there may be a central component.

[0022] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0023] This embodiment provides a rope-driven end clamping device, which has great advantages in non-high-precision occasions compared to existing gear rack and lead screw transmission. The rope-driven system has excellent flexibility, can cross any position axis, seamlessly transmit rotation and linear motion, and has a long transmission distance and a wide range of applications. The core of its design lies in the streamlined structure of parts. Compared with the gear transmission system and the lead screw transmission system, the rope-driven system exhibits a simpler structural design and lower cost investment. The rope-driven transmission runs smoothly, achieving an ideal state of no noise, no vibration, and no impact. In addition, the rope-driven transmission also has the excellent performance of small inertia, which means that the system can respond quickly to external commands and exhibit excellent dynamic performance and agility.

[0024] like Figure 1-Figure 3 As shown, the rope-driven end clamping device of this embodiment includes a housing 1 , a driving guide mechanism, a steel wire rope 8 , at least two clamping connection mechanisms and at least two end fingers 4 .

[0025] The driving and guiding mechanism is connected inside the shell 1, and provides a driving position and a guiding position. The wire rope 8 is arranged at the driving position and the guiding position in an end-to-end manner, and at least one group of two parallel sections arranged relatively to each other is provided under the guidance of the guiding position. The wire rope 8 rotates unidirectionally under the action of the driving and guiding mechanism, and the two parallel sections in the same group move in opposite directions.

[0026] The shell 1 is provided with a clamping avoidance hole 101, and the extension path of the clamping avoidance hole 101 is the same as the extension path of the parallel section. The clamping connection mechanism passes through the clamping avoidance hole 101 from the inside of the shell 1 and is exposed to the outside of the shell 1. The part of the clamping connection mechanism located inside the shell 1 is connected to the parallel section, and the part exposed outside the shell 1 is connected to the end finger 4.

[0027] For ease of understanding, this embodiment is described by taking two parallel sections, two clamping connection mechanisms and two end fingers 4 as an example. In the end clamping device of this embodiment, the driving guide mechanism, the steel wire rope 8 and parts of each clamping connection mechanism are located inside the housing 1, and the other parts of each clamping connection mechanism and the end fingers 4 are located outside the housing 1. The driving guide mechanism generates a driving force to make the two parallel sections of the steel wire rope 8 move in opposite directions, thereby driving the end fingers 4 connected to the steel wire rope 8 through the clamping connection mechanism to move in opposite directions, realizing the mutual separation and approach of the end fingers 4, and completing the opening / closing clamping action.

[0028] This embodiment provides a driving guide mechanism including at least one set of guide components, the guide components have four guide pulleys 9, the guide pulleys 9 provide guide positions, two of the four guide pulleys 9 form a group, and the two guide pulleys 9 in the same group are located on both sides of the same parallel segment. Therefore, when only two parallel segments are included, only one set of guide components is required.

[0029] In order to make the rope drive transmission run smoothly, the driving guide mechanism of this embodiment includes a driving assembly, which includes a driven gear 10, a transmission gear 11 and a driving gear 12. The transmission gear 11 is meshed with the driven gear 10 and the driving gear 12 at the same time, and the driven gear 10 and the driving gear 12 provide a driving position. A gear shaft fixing plate 13 is fixed inside the housing 1, and the gear shaft fixing plate 13 is used to fix the gear shafts of the driven gear 10, the transmission gear 11 and the driving gear 12. At the same time, a motor 14 is provided on the side close to the driving gear 12, and the driving gear is driven to move by the motor 14. The parallel section in this embodiment is the part where the wire rope is directly connected between the two guide pulleys 9.

[0030] The motor 14 is preferably a reduction motor. When the reduction motor rotates clockwise to drive the right driving gear 12, the driving gear 12 rotates clockwise, the transmission gear 11 rotates counterclockwise, and the driven gear 10 rotates clockwise. At this time, the steel wire rope 8 on the lower side of the driving gear 12 is pulled, and the four guide pulleys 9 rotate counterclockwise, driving the end fingers 4 on both sides to move away from each other; when the reduction motor rotates counterclockwise to drive the right driving gear 12, the driving gear 12 rotates counterclockwise, the transmission gear 11 rotates clockwise, and the driven gear 10 rotates counterclockwise. At this time, the steel wire rope 8 on the upper side of the driving gear 12 is pulled, and the four guide pulleys 9 rotate clockwise, driving the end fingers 4 on both sides to move closer to each other. The existence of the transmission gear 11 ensures the design redundancy of the drive guide mechanism, and can timely ensure the efficiency of the transmission on the basis of a transmission failure. At the same time, when the motor is driven, the driven gear 10 and the driving gear 12 act together on the steel wire rope 8, which can better improve the force effect and make the operation more stable.

[0031] In this embodiment, the reduction motor driving gear drives the wire rope 8 to move under the action of the guide pulley 9, and the driven gear 10 drives the wire rope 8 on the other side to move in the same direction through the transmission gear 11, thereby increasing the force contact area of ​​the wire rope 8 during the movement, while ensuring the stability during the operation, and cooperating with the clamping connection mechanism to realize the mutual approach or separation of the end fingers 4, thereby realizing the opposite clamping and releasing functions.

[0032] It is easy to understand that this embodiment uses a reduction motor as an example of a driving source. In other embodiments, a motor can be connected to a gear by a transmission mechanism such as a synchronous belt to realize the rotational drive of the driving gear.

[0033] like Figure 4-Figure 6 As shown, the clamping connection mechanism of this embodiment includes a guide rail 6, a slider 7, a U-shaped groove block 16, a pressing sheet 17, a fastener and an end finger connector 2.

[0034] The guide rail 6 is fixed inside the housing 1, the slider 7 is slidably connected to the guide rail 6, the U-shaped outer bottom of the U-shaped groove block 16 is fixed to the slider 7, the U-shaped groove block 16 passes through the clamping avoidance hole 101 from the inside of the housing 1 and is exposed to the outside of the housing 1, the pressing piece 17 is arranged inside the U-shaped groove block 16, and the space between the pressing piece 17 and the inner bottom of the U-shaped groove block 16 is used as a wire rope threading position (such as Figure 4 As shown in position A in the figure, the fastener is used to limit the wire rope 8 located at the wire rope threading position, the end finger connector 2 is located on the side of the U-shaped groove block 16 exposed to the outside of the shell 1 and is fixed to the pressing piece 17, and the end finger 4 is installed on the end finger connector 2.

[0035] In order to facilitate the installation of the U-shaped groove block 16 and the slider 7, in another embodiment, when the U-shaped outer bottom of the U-shaped groove block 16 is fixed to the slider 7, it also includes a mounting plate 15, and the mounting plate 15 is fixed to the U-shaped outer bottom of the U-shaped groove block 16. The mounting plate 15 is provided with a mounting hole and is fixed to the slider 7 through the mounting hole.

[0036] The fasteners in the compression connection mechanism can use a fastening nut 19 and a fastening screw 18 to ensure the fastening effect while controlling the manufacturing cost. The fastening nut 19 is located inside the U-shaped groove block 16, and the fastening screw 18 passes through the U-shaped groove block 16 and the pressing plate 17 from one side of the U-shaped outer bottom of the U-shaped groove block 16 and is threadedly fastened with the fastening nut 19.

[0037] The tightening of the connection mechanism and the steel wire rope 8 without relative displacement is the basis for controlling the smooth movement of the terminal finger 4. Therefore, in this embodiment, arc-shaped protrusions are arranged on the two U-shaped sides of the U-shaped groove block 16, and the curve of the arc-shaped protrusion is adapted to the outer peripheral curve of the fastening nut 19. At the same time, the spacing between the two U-shaped sides of the U-shaped groove block 16 is adapted to the outer diameter of the fastening nut 19, so that the fastening nut 19 can be just embedded in the U-shaped groove block 16, so that the fastening can be completed when the fastening screw 18 rotates. At the wire rope penetration position, the inner bottom of the U-shaped groove block 16, one U-shaped side of the U-shaped groove block 16, the fastening screw 18 and the pressing plate 17 constitute an effective limiting space, and under the action of the fastening screw 18 and the fastening nut 19, the pressing plate 17 presses the steel wire rope 8 tightly against the inner bottom of the U-shaped groove block 16 to ensure that there is no relative displacement between the steel wire rope 8 and the U-shaped groove block 16.

[0038] like Figure 7 As shown, in order to improve space utilization, the pressing plate 17 includes a flat pressing block 1701 and two protruding columns 1702. The space between the flat pressing block 1701 and the bottom of the U-shaped groove block 16 is used as a place for the wire rope to pass through. The two columns 1702 are respectively placed at the U-shaped openings on both sides of the U-shaped groove block 16. The columns 1702 are used to fix with the end finger connector 2.

[0039] During the installation of the clamping connection mechanism, first remove the pressing plate 17 and the fastening nut 19 from the U-shaped groove block 16, insert the fastening screw 18 into the U-shaped groove block 16, then put the wire rope 8 into the wire rope insertion position, and sequentially install the pressing plate 17 and the fastening nut 19 back into the U-shaped groove block 16, turn the fastening screw 18 until the fastening screw 18 and the fastening nut 19 are tightened, and then fix them to the slider 7 through the mounting hole on the mounting plate 15, and fix the end finger connector 2 through the threaded hole on the column 1702 of the pressing plate 17.

[0040] Since the parallel sections are arranged relative to each other with a certain interval, in order to enable the two end fingers 4 to complete the clamping action, the positions of the two end fingers 4 may need to be adjusted. Figure 8 As shown, in another embodiment, a steering extension member 3 is introduced to adjust the position of the end finger 4 located in the parallel section to the middle of the two parallel sections. The steering extension member 3 includes an extension plate 301 and a C-shaped fixing block 302, wherein the extension plate 301 extends from one end of the end finger connector 2 toward the target position to be adjusted, and the C-shaped fixing block 302 is used to fix the end finger 4, and the upper and lower sides of the C-shaped fixing block 302 are provided with threaded holes for threaded connection with the end finger 4.

[0041] It should be noted that the steering extension member 3 is not necessary. When the end fingers 4 and the end finger connector 2 are directly fixed to meet the clamping requirements, the steering extension member 3 does not need to be introduced. Alternatively, when there are multiple pairs of end fingers 4, even if the positions of two end fingers 4 in the same pair are staggered, the clamping can be completed based on multiple pairs of staggered end fingers 4, and the steering extension member 3 does not need to be introduced.

[0042] like Fig. 9 As shown, considering the change in tension caused by the long-term use of the wire rope 8, among the four guide pulleys 9 of the guide assembly of this embodiment, the two guide pulleys 9 located on the same side of the parallel section are fixedly connected to the housing 1, and the two guide pulleys 9 located on the other side of the parallel section are connected to the tension adjustment block 20, and the tension adjustment block 20 is slidably arranged inside the housing 1, and the sliding direction of the tension adjustment block 20 is the same as the extension direction of the parallel section. In this embodiment, the tension adjustment block 20 is not fixedly arranged in structure, and limited movement is performed along the extension direction of the parallel section, wherein the tension adjustment block 20 can be installed inside the housing 1 in the form of a guide rail slider to support limited movement, and other mechanisms supporting sliding can also be used, which are not limited in this embodiment.

[0043] In the sliding adjustment and limiting of the tension adjustment block 20, this embodiment is achieved by threading the tension adjustment block 20 to the tension adjustment screw 5, and a threaded hole is provided on the tension adjustment block 20, which cooperates with the tension adjustment screw 5, and the tension adjustment screw 5 passes through the tension avoidance hole 102 of the housing 1 and the rear head is exposed to the outside of the housing 1. The rotation of the tension adjustment screw 5 can realize the sliding of the tension adjustment block 20, so that the position of the corresponding side guide pulley 9 is moved, thereby tensioning the wire rope 8.

[0044] The tension of the steel wire rope 8 can be adjusted by manual experience or monitored and adjusted with the help of a tension detection device. In this embodiment, one tension adjustment screw 5 is used to achieve the sliding of the tension adjustment block 20. Considering the stable force, multiple tension adjustment screws 5 can be used on one side or both sides to connect with the tension adjustment block 20 to achieve the same effect.

[0045] In another embodiment, in order to make the end clamping device have a larger clamping area, the two end fingers 4 can also be deformed: For example Fig.10 As shown, on the basis of two parallel sections and two clamping connection mechanisms, a plurality of C-shaped fixing blocks 302 are provided by turning the expansion member 3 to expand the two end fingers 4 to a plurality of end fingers 4 (for example Fig.10 The four end fingers 4 are shown in FIG. 1 ). This method can expand the clamping area simply and at low cost based on the original structure. In practical applications, the load bearing of the steering expansion member 3 and the clamping connection mechanism needs to be considered.

[0046] For example Fig.11 As shown, Figure 3 The overall structure shown as a unit is extended to multiple units (e.g. Fig.11 This method can ensure that each unit has excellent operating effect. In practical applications, the problem of simultaneous driving needs to be considered.

[0047] For example Fig.12 As shown, based on the present embodiment, the V-shaped connection structure between the guide pulley 9 and the gear is deformed, and the V-shaped connection structure is used for guiding to provide parallel sections (for example Fig.12 Two sets of parallel segments with opposite running directions are provided in the embodiment). The cost of this method is relatively low, but the matching method of the driven gear 10, the transmission gear 11 and the driving gear 12 in this embodiment is abandoned, and the driving effect is limited. In addition, in this method, there are many auxiliary segments of the wire rope 8 other than the parallel segments, which need to be selected according to actual needs.

[0048] The above are only some of the variation schemes provided by the present application based on the basic structure. Variations based on the same principle may also be performed in other embodiments, all of which fall within the protection scope of the present application.

[0049] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0050] The above-mentioned embodiments only express several implementation modes of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the invention. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the attached claims.

Claims

1. A rope-driven end clamping device, characterized in that: The rope-driven end clamping device comprises a housing, a driving guide mechanism, a steel wire rope, at least two pressing connection mechanisms and at least two end fingers; The driving guide mechanism is connected inside the housing, and the driving guide mechanism provides a driving position and a guiding position. The steel wire rope is arranged at the driving position and the guiding position in a head-to-tail manner, and provides at least one group of two parallel sections arranged oppositely under the guidance of the guiding position. The steel wire rope rotates unidirectionally under the action of the driving guide mechanism, and the two parallel sections in the same group move in opposite directions. The shell is provided with a clamping avoidance hole, the extension path of the clamping avoidance hole is the same as the extension path of the parallel section, the clamping connection mechanism passes through the clamping avoidance hole from the inside of the shell and is exposed to the outside of the shell, the part of the clamping connection mechanism located inside the shell is connected to the parallel section, and the part exposed outside the shell is connected to the end finger.

2. The rope-driven end clamping device according to claim 1, characterized in that: The driving guide mechanism comprises at least one guide assembly, wherein the guide assembly has four guide pulleys, and the guide pulleys provide guide positions. Two of the four guide pulleys form a group, and the two guide pulleys in the same group are located on both sides of the same parallel segment.

3. The rope-driven end clamping device according to claim 2, characterized in that: Among the four guide pulleys of the guide assembly, two guide pulleys located on the same side of the parallel section are fixedly connected to the shell, and two guide pulleys located on the other side of the parallel section are connected to a tension adjustment block, which is slidably arranged inside the shell, and the sliding direction of the tension adjustment block is the same as the extension direction of the parallel section.

4. The rope-driven end clamping device according to claim 3, characterized in that: The tension adjusting block is threadedly connected with a tension adjusting screw, and the tension adjusting screw is used to adjust the sliding position and limit position of the tension adjusting block. The tension adjusting screw passes through the rear head of the shell and is exposed outside the shell.

5. The rope-driven end clamping device according to claim 1, characterized in that: The driving guide mechanism comprises a driving assembly, which comprises a driven gear, a transmission gear and a driving gear. The transmission gear is meshed with the driven gear and the driving gear at the same time, and the driven gear and the driving gear provide a driving position.

6. The rope-driven end clamping device according to claim 1, characterized in that: The clamping connection mechanism includes a guide rail, a slider, a U-shaped groove block, a pressing sheet, a fastener and an end finger connector; The guide rail is fixed inside the shell, the slider is slidably connected to the guide rail, the U-shaped outer bottom of the U-shaped groove block is fixed to the slider, the U-shaped groove block passes through the clamping avoidance hole from the inside of the shell and is exposed to the outside of the shell, the pressing plate is arranged inside the U-shaped groove block, and the space between the pressing plate and the inner bottom of the U-shaped groove block is used as a wire rope passing position, the fastener is used to limit the wire rope located at the wire rope passing position, the end finger connector is located on the side of the U-shaped groove block exposed to the outside of the shell and is fixed to the pressing plate, and the end finger is installed on the end finger connector.

7. The rope-driven end clamping device according to claim 6, characterized in that: When the U-shaped outer bottom of the U-shaped groove block is fixed to the slider, it also includes a mounting plate, which is fixed to the U-shaped outer bottom of the U-shaped groove block. The mounting plate is provided with mounting holes and is fixed to the slider through the mounting holes.

8. The rope-driven end clamping device according to claim 6, characterized in that: The fastener comprises a fastening nut and a fastening screw, wherein the fastening nut is located inside the U-shaped groove block, and the fastening screw penetrates the U-shaped groove block from one side of the U-shaped outer bottom of the U-shaped groove block, and is fastened to the fastening nut thread after being pressed.

9. The rope-driven end clamping device according to claim 6, characterized in that: The pressing sheet includes a flat pressing block and two raised columns. The space between the flat pressing block and the bottom of the U-shaped groove block is used as a wire rope passing position. The two columns are respectively placed at the U-shaped openings on both sides of the U-shaped groove block. The columns are used to be fixed to the end finger connector.

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