Incomplete worm wheel rope-driven clamping jaw module

Abstract

The invention provides an incomplete worm wheel rope-driven clamping jaw module. The incomplete worm wheel rope-driven clamping jaw module comprises a worm wheel assembly; the rotary driving assembly is in transmission connection with the worm gear assembly to control the worm gear assembly to rotate; the first clamping jaw and the second clamping jaw are rotationally arranged on the worm gear assembly; the grabbing driving assembly comprises a first elastic rope, a second elastic rope, a first driving piece and a rope winding worm; a part of the first elastic rope is wound on the rope winding worm, and the two ends of the first elastic rope are connected with the first clamping jaw and the second clamping jaw correspondingly. According to the incomplete worm wheel rope-driven clamping jaw module and the worm wheel assembly, rotation control is achieved through the rotation driving assembly, opening and closing control over the clamping jaw is achieved through cooperation of the first driving piece and the rope winding worm, the driving structure of the whole clamping jaw is simplified, the maintenance cost is reduced, and the working efficiency is improved. And the grabbing precision and the response speed of the clamping jaw are also remarkably improved.

Description

Technical Field

[0001] The invention relates to the technical field of medical equipment, and in particular to an incomplete worm gear rope driven clamping jaw module. Background Art

[0002] In the field of modern medical and industrial automation, accurate, efficient and reliable gripping mechanisms are essential for completing various delicate operations. As a representative of high-end medical equipment, the handle operating device of ultrasound catheter intracardiac echocardiography (ICE) has extremely high requirements for operating accuracy and stability. In order to meet such requirements, it is particularly important to design a gripper module with excellent gripping performance and high flexibility.

[0003] Traditional gripper modules mostly use mechanical linkage or electric drive, which have certain limitations in terms of precision, reliability and flexibility. For example, mechanical linkage mechanisms are often complex in structure and have high maintenance costs, and due to friction and wear between the linkages, long-term use may lead to a decrease in precision. Although the electric drive method improves flexibility to a certain extent, it is limited by the size and power of the motor, and its gripping force and response speed are often difficult to meet the requirements of high precision and high efficiency at the same time. Summary of the invention

[0004] The invention provides an incomplete worm gear rope driven clamping claw module, which is used to solve the problem that the existing grasping mechanism is difficult to meet the requirements of high precision and high efficiency at the same time.

[0005] The present invention provides an incomplete worm gear rope driven clamping jaw module, comprising: Worm gear assembly; A rotation drive assembly, drivingly connected to the worm gear assembly to control the rotation of the worm gear assembly; A first clamping jaw and a second clamping jaw are both rotatably disposed on the worm gear assembly; A grabbing drive assembly, comprising a first elastic rope, a second elastic rope, a first driving member and a rope-winding worm; a portion of the first elastic rope is wound around the rope-winding worm, two ends of the first elastic rope are respectively connected to the first clamping jaw and the second clamping jaw, two ends of the second elastic rope are respectively connected to the first clamping jaw and the second clamping jaw, and the first driving member is drivingly connected to the rope-winding worm; When the first driving member drives the rope-winding worm gear to rotate in a first direction, the first elastic rope and the second elastic rope drive the first clamping jaw and the second clamping jaw to rotate in a direction approaching each other; when the first driving member drives the rope-winding worm gear to rotate in a second direction opposite to the first direction, the first elastic rope and the second elastic rope drive the first clamping jaw and the second clamping jaw to rotate in a direction away from each other.

[0006] According to an incomplete worm gear rope drive clamping jaw module provided by the present invention, the bottom of the first clamping jaw and the bottom of the second clamping jaw are both rotatably connected to the worm gear assembly, the top of the first clamping jaw is provided with a first connection position, the middle position of the first clamping jaw is provided with a second connection position, the top of the second clamping jaw is provided with a third connection position, and the middle position of the second clamping jaw is provided with a fourth connection position; One end of the first elastic rope is connected to the first connection position, and the other end is connected to the fourth connection position; one end of the second elastic rope is connected to the second connection position, and the other end is connected to the third connection position.

[0007] According to an incomplete worm gear rope driven clamping claw module provided by the present invention, the grabbing drive assembly further comprises: a first guide member, disposed on the worm gear assembly, a portion of the first elastic cord abutting against the first guide member, so that two ends of the first elastic cord are respectively connected to the first connection position and the fourth connection position; The second guide member is arranged on the worm gear assembly, and a part of the second elastic rope abuts against the second guide member so that two ends of the second elastic rope are respectively connected to the second connection position and the third connection position.

[0008] According to an incomplete worm gear rope drive clamping jaw module provided by the present invention, the grab driving assembly further comprises: a plurality of rope knot pins and a plurality of first retaining rings; The knot pin is fixed to the first connection position, the second connection position, the third connection position and the fourth connection position through the corresponding first retaining ring, so as to be used for connecting the first elastic rope or the second elastic rope.

[0009] According to an incomplete worm gear rope driven clamping jaw module provided by the present invention, the first guide member includes: a first rope winding roller, a second rope winding roller and a third rope winding roller; the second guide member includes: a second rope winding roller, a third rope winding roller and a fourth rope winding roller; The first rope winding roller, the second rope winding roller, the third rope winding roller and the fourth rope winding roller are rotatably arranged on the worm gear assembly in sequence along a ring shape, the first clamping jaw is rotatably arranged between the first rope winding roller and the second rope winding roller, and the second clamping jaw is rotatably arranged between the third rope winding roller and the fourth rope winding roller; The first elastic rope is guided sequentially through the first rope winding roller, the second rope winding roller and the third rope winding roller, and two ends are connected to the first connecting position and the fourth connecting position respectively; The second elastic rope is guided in sequence through the second rope winding roller, the third rope winding roller and the fourth rope winding roller, and two ends are respectively connected to the second connecting position and the third connecting position.

[0010] According to an incomplete worm gear rope drive clamping jaw module provided by the present invention, the grab driving assembly further comprises: a plurality of roller pins and a plurality of second retaining rings; The first rope winding roller, the second rope winding roller, the third rope winding roller and the fourth rope winding roller are rotatably arranged on the worm gear assembly in sequence along a ring shape through the corresponding roller pins and the second retaining ring.

[0011] According to an incomplete worm gear rope driven clamping jaw module provided by the present invention, a groove for abutting the first elastic rope or the second elastic rope is formed in the first rope winding roller, the second rope winding roller, the third rope winding roller and the fourth rope winding roller.

[0012] According to an incomplete worm gear rope drive clamping jaw module provided by the present invention, the worm gear assembly comprises: an incomplete worm gear; A first transmission pair is formed on at least a portion of the incomplete worm wheel in the circumferential direction, and the first clamping jaw, the second clamping jaw and the grabbing drive assembly are arranged on the incomplete worm wheel; The rotary drive assembly is provided with a second transmission pair meshing with the first transmission pair for driving the incomplete worm gear to rotate through the second transmission pair and the first transmission pair.

[0013] According to an incomplete worm gear rope driven clamping jaw module provided by the present invention, the worm gear assembly further comprises: a roller guide rail and a worm gear seat; The incomplete worm wheel is connected to a roller guide rail arranged along a ring shape, the rotary drive assembly is arranged on the worm wheel seat, a limiting roller is provided on the worm wheel seat, and the limiting roller abuts against the roller guide rail so that the incomplete worm wheel moves along a ring shape during the driving of the rotary drive assembly.

[0014] According to an incomplete worm gear rope driven clamping jaw module provided by the present invention, the rotary drive assembly comprises: a worm and a second drive member; The second transmission pair is arranged on the worm, the worm is rotatably arranged on the worm gear seat, and the rotating end of the second driving member is transmission-connected to the worm.

[0015] The incomplete worm gear rope driven clamping jaw module provided by the present invention comprises a worm gear assembly, a rotation drive assembly, a first clamping jaw and a second clamping jaw, and a grabbing drive assembly. The worm gear assembly realizes rotation control through the rotation drive assembly; the first clamping jaw and the second clamping jaw are rotatably arranged on the worm gear assembly to realize the grabbing action; the grabbing drive assembly utilizes the elasticity of the first elastic rope and the second elastic rope, and realizes the opening and closing control of the clamping jaw through the cooperation of the first driving member and the rope winding worm. During the grabbing process, the first driving member drives the rope winding worm to rotate in the first direction, at which time the first elastic rope and the second elastic rope are pulled and gradually tightened, thereby driving the first clamping jaw and the second clamping jaw to rotate in a direction close to each other to realize the grabbing action. On the contrary, when the first driving member drives the rope winding worm to rotate in the opposite second direction, the first elastic rope and the second elastic rope are gradually relaxed, and the clamping jaw rotates in a direction away from each other to realize the releasing action. The incomplete worm gear rope driven clamping jaw module not only simplifies the driving structure of the entire clamping jaw, reduces the maintenance cost, but also significantly improves the grabbing accuracy and response speed of the clamping jaw. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 It is a schematic diagram of the overall structure of an incomplete worm gear rope driven clamping jaw module provided by an embodiment of the present invention.

[0018] Figure 2 This is one of the disassembly schematic diagrams of the incomplete worm gear rope drive clamping jaw module provided by an embodiment of the present invention.

[0019] Figure 3 This is the second disassembly schematic diagram of the incomplete worm gear rope drive clamping jaw module provided by an embodiment of the present invention.

[0020] Reference numerals: 1. Worm gear assembly; 11. Incomplete worm gear; 12. Roller guide; 13. Worm gear seat; 14. Limit roller; 15. Limit wheel pin; 2. Rotary drive assembly; 3. First clamp; 31. First connection position; 32. Second connection position; 33. Worm; 34. Second drive member; 4. second clamping jaw; 41. third connection position; 42. fourth connection position; 5. Grab drive assembly; 51. First elastic rope; 52. Second elastic rope; 53. First drive member; 54. Rope winding worm; 55. Rope knot pin; 56. First retaining ring; 57, first rope winding roller; 58, second rope winding roller; 59, third rope winding roller; 60, fourth rope winding roller; 61, roller pin; 62, second retaining ring; DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are 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.

[0022] Combine the following Figures 1-3 The invention describes an incomplete worm gear 11 rope driven clamping jaw module.

[0023] In one embodiment provided by the present invention, Figures 1 to 3 As shown, the incomplete worm gear 11 rope-driven clamping jaw module includes: a worm gear assembly 1, a rotation drive assembly 2, a first clamping jaw 3, a second clamping jaw 4 and a grabbing drive assembly 5. The rotary drive assembly 2 is transmission-connected with the worm gear assembly 1 to control the rotation of the worm gear assembly 1; the first clamping jaw 3 and the second clamping jaw 4 are both rotatably arranged on the worm gear assembly 1; the grabbing drive assembly 5 comprises a first elastic rope 51, a second elastic rope 52, a first driving member 53 and a rope-winding worm 54; a part of the first elastic rope 51 is wound around the rope-winding worm 54, the two ends of the first elastic rope 51 are respectively connected to the first clamping jaw 3 and the second clamping jaw 4, the two ends of the second elastic rope 52 are respectively connected to the first clamping jaw 3 and the second clamping jaw 4, and the first driving member 53 is transmission-connected with the rope-winding worm 54; in the process in which the first driving member 53 drives the rope-winding worm 54 to rotate in a first direction, the first elastic rope 51 and the second elastic rope 52 drive the first clamping jaw 3 and the second clamping jaw 4 to rotate in a direction approaching each other; in the process in which the first driving member 53 drives the rope-winding worm 54 to rotate in a second direction opposite to the first direction, the first elastic rope 51 and the second elastic rope 52 drive the first clamping jaw 3 and the second clamping jaw 4 to rotate in a direction away from each other.

[0024] In this embodiment, the worm gear assembly 1 is used as the basis for the arrangement of other components, and the rotation drive assembly 2 is connected to the worm gear assembly 1 in a transmission manner to provide the power required for the rotation of the worm gear assembly 1. The rotation drive assembly 2 can be a motor, a pneumatic device or a hydraulic device, etc., and the specific selection depends on the application scenario and requirements. The first clamping jaw 3 and the second clamping jaw 4 can be rotatably arranged on the worm gear assembly 1. When the worm gear assembly 1 rotates, the first clamping jaw 3 and the second clamping jaw 4 rotate accordingly, so that the rotation operation of the first clamping jaw 3 and the second clamping jaw 4 can be realized. The grabbing drive assembly 5 includes a first elastic rope 51, a second elastic rope 52, a first driving member 53 and a rope winding worm 54. The first elastic rope 51 and the second elastic rope 52 are respectively connected to the first clamping jaw 3 and the second clamping jaw 4 to form a closed loop structure. The rope winding worm 54 is connected to the first driving member 53 in a transmission manner, and the first elastic rope 51 (partially wound on the rope winding worm 54) and the second elastic rope 52 are extended and retracted through its rotation, thereby driving the opening and closing of the clamping jaws.

[0025] When the first driving member 53 drives the rope winding worm 54 to rotate in the first direction, the thread groove on the rope winding worm 54 drives one end of the first elastic rope 51 to gradually tighten and the other end to gradually loosen. Since the two ends of the first elastic rope 51 are respectively connected to the first clamping jaw 3 and the second clamping jaw 4, for example, the tightening of the first elastic rope 51 will drive the second clamping jaw 4 to tighten, thereby driving the second elastic rope 52 to tighten and pull the first clamping jaw 3 to tighten, and the first clamping jaw 3 and the second clamping jaw 4 rotate in a direction close to each other to achieve a grasping action.

[0026] When the first driving member 53 drives the rope winding worm 54 to rotate in a second direction opposite to the first direction, one end of the first elastic rope 51 of the threaded groove on the rope winding worm 54 is gradually loosened, and the other end is gradually tightened. Since the two ends of the first elastic rope 51 are respectively connected to the first clamping jaw 3 and the second clamping jaw 4, for example, the tightening of the first elastic rope 51 will drive the first clamping jaw 3 to rotate outward, thereby driving the second elastic rope 52 to tighten and pull the second clamping jaw 4 to rotate outward, driving the first clamping jaw 3 and the second clamping jaw 4 to rotate in a direction away from each other, thereby achieving a release action.

[0027] The incomplete worm gear 11 rope-driven clamping jaw module provided by the present invention comprises a worm gear assembly 1, a rotation drive assembly 2, a first clamping jaw 3 and a second clamping jaw 4, and a grabbing drive assembly 5. The worm gear assembly 1 realizes rotation control through the rotation drive assembly 2; the first clamping jaw 3 and the second clamping jaw 4 are rotatably arranged on the worm gear assembly 1 to realize the grabbing action; the grabbing drive assembly 5 utilizes the elasticity of the first elastic rope 51 and the second elastic rope 52, and realizes the opening and closing control of the clamping jaw through the cooperation of the first driving member 53 and the rope-winding worm 54. During the grabbing process, the first driving member 53 drives the rope-winding worm 54 to rotate in the first direction, at which time the first elastic rope 51 and the second elastic rope 52 are gradually tightened, thereby driving the first clamping jaw 3 and the second clamping jaw 4 to rotate in a direction approaching each other, thereby realizing the grabbing action. On the contrary, when the first driving member 53 drives the rope-winding worm 54 to rotate in the opposite second direction, the first elastic rope 51 and the second elastic rope 52 are gradually loosened, and the clamping jaws rotate in a direction away from each other, thereby realizing the releasing action. This design not only simplifies the structure and reduces maintenance costs, but also significantly improves the gripping accuracy and response speed of the gripper.

[0028] In some embodiments, Figures 1 to 3 As shown, the bottom of the first jaw 3 and the bottom of the second jaw 4 are both rotatably connected to the worm gear assembly 1, the top of the first jaw 3 is provided with a first connecting position 31, the middle position of the first jaw 3 is provided with a second connecting position 32, the top of the second jaw 4 is provided with a third connecting position 41, and the middle position of the second jaw 4 is provided with a fourth connecting position 42; one end of the first elastic rope 51 is connected to the first connecting position 31, and the other end is connected to the fourth connecting position 42; one end of the second elastic rope 52 is connected to the second connecting position 32, and the other end is connected to the third connecting position 41.

[0029] In order to more flexibly control the opening and closing of the clamping jaws, a first connection position 31 is provided at the top of the first clamping jaw 3, and a second connection position 32 is provided at the middle position; correspondingly, a third connection position 41 is provided at the top of the second clamping jaw 4, and a fourth connection position 42 is provided at the middle position. This design enables different parts of the clamping jaw to be connected to the elastic rope to improve the sensitivity of the clamping jaw when it moves.

[0030] In terms of connection, one end of the first elastic cord 51 is connected to the first connection position 31 of the first clamping jaw 3, and the other end is connected to the fourth connection position 42 of the second clamping jaw 4. When the first elastic cord 51 is pulled to tighten or loosen, it drives the first clamping jaw 3 and the second clamping jaw 4 to move in a relative manner, that is, when one clamping jaw rotates inward, the other clamping jaw rotates inward, and vice versa. Similarly, one end of the second elastic cord 52 is connected to the second connection position 32 of the first clamping jaw 3, and the other end is connected to the third connection position 41 of the second clamping jaw 4. The flexibility and stability of the movement of the clamping jaw are enhanced, so that the clamping jaw can be more accurate and efficient when grasping and releasing objects. At the same time, by adjusting the length and tension of the elastic cord, the grasping force and speed of the clamping jaw can be further fine-tuned to adapt to objects of different sizes and shapes.

[0031] In some embodiments, Figure 1 and Figure 2 As shown, the grab driving assembly 5 further includes: a first guide member and a second guide member. The first guide member is arranged on the worm gear assembly 1, and a portion of the first elastic rope 51 abuts against the first guide member, so that the two ends of the first elastic rope 51 are respectively connected to the first connection position 31 and the fourth connection position 42; the second guide member is arranged on the worm gear assembly 1, and a portion of the second elastic rope 52 abuts against the second guide member, so that the two ends of the second elastic rope 52 are respectively connected to the second connection position 32 and the third connection position 41.

[0032] Specifically, the main function of the first guide member is to ensure that the first elastic rope 51 can be abutted and passed smoothly and orderly, so that the two ends of the first elastic rope 51 can be firmly connected to the first connecting position 31 of the first clamping jaw 3 and the fourth connecting position 42 of the second clamping jaw 4 respectively.

[0033] Similarly, the second guide member is also provided on the worm gear assembly 1, and similar to the first guide member, it is responsible for guiding the movement path of the second elastic cord 52. A portion of the second elastic cord 52 abuts against the second guide member, thereby ensuring that both ends of the second elastic cord 52 can be accurately connected to the second connection position 32 of the first clamping jaw 3 and the third connection position 41 of the second clamping jaw 4, respectively.

[0034] The addition of the first guide member and the second guide member not only optimizes the movement path of the elastic rope, but also improves the working efficiency and stability of the entire clamping jaw module, thereby further enhancing the performance and reliability of the incomplete worm gear 11 rope-driven clamping jaw module in practical applications.

[0035] In this embodiment, Figure 1 and Figure 2As shown, the grabbing drive assembly 5 also includes: a plurality of knot pins 55 and a plurality of first retaining rings 56; the knot pins 55 are fixed to the first connecting position 31, the second connecting position 32, the third connecting position 41 and the fourth connecting position 42 through the corresponding first retaining rings 56 for connecting the first elastic rope 51 or the second elastic rope 52.

[0036] Specifically, the knot pin 55 is firmly fixed to the first connection position 31, the second connection position 32, the third connection position 41 and the fourth connection position 42 through the corresponding first retaining ring 56. These knot pins 55 are used as connection points to tightly connect the first elastic rope 51 or the second elastic rope 52 with various parts of the clamping jaws. The first retaining ring 56 plays a role in positioning and fixing, ensuring that the knot pin 55 can be accurately installed at the predetermined position, thereby ensuring that the connection between the elastic rope and the clamping jaw is both firm and stable.

[0037] In this embodiment, Figure 1 and Figure 2 As shown, the first guide member includes: a first rope winding roller 57, a second rope winding roller 58, and a third rope winding roller 59; the second guide member includes: a second rope winding roller 58, a third rope winding roller 59 and a fourth rope winding roller 60; the first rope winding roller 57, the second rope winding roller 58, the third rope winding roller 59 and the fourth rope winding roller 60 are rotatably arranged on the worm gear assembly 1 in a ring shape in sequence, the first clamping jaw 3 is rotatably arranged between the first rope winding roller 57 and the second rope winding roller 58, and the second clamping jaw 4 is rotatably arranged between the third rope winding roller 59 and the fourth rope winding roller 60; the first elastic rope 51 is guided by the first rope winding roller 57, and its two ends are connected to the first connecting position 31 and the fourth connecting position 42 respectively; the second elastic rope 52 is guided by the second rope winding roller 58, the third rope winding roller 59 and the fourth rope winding roller 60 in sequence, and its two ends are connected to the second connecting position 32 and the third connecting position 41 respectively.

[0038] In this embodiment, the first elastic rope 51 is guided in sequence by the first rope winding roller 57, the second rope winding roller 58, and the third rope winding roller 59, and its two ends are respectively connected to the first connection position 31 of the first clamping jaw 3 and the fourth connection position 42 of the second clamping jaw 4, so that when the first driving member 53 drives the rope winding worm 54 to rotate, the first elastic rope 51 can smoothly extend and retract along the first rope winding roller 57, the second rope winding roller 58, and the third rope winding roller 59, thereby driving the opening and closing of the first clamping jaw 3 and the second clamping jaw 4. Similarly, the second elastic rope 52 is also guided in sequence by the second rope winding roller 58, the third rope winding roller 59, and the fourth rope winding roller 60. Its two ends are respectively connected to the second connection position 32 of the first clamping jaw 3 and the third connection position 41 of the second clamping jaw 4. The stability of the second elastic rope 52 during the extension and retraction process is ensured, and the two clamping jaws can more accurately realize the opening and closing action.

[0039] In some embodiments, Figure 1 and Figure 2 As shown, the grabbing drive assembly 5 also includes: a plurality of roller pins 61 and a plurality of second retaining rings 62; the first rope winding roller 57, the second rope winding roller 58, the third rope winding roller 59 and the fourth rope winding roller 60 are rotatably arranged in a ring on the worm gear assembly 1 in sequence through the corresponding roller pins 61 and the second retaining rings 62.

[0040] Specifically, the first rope winding roller 57, the second rope winding roller 58, the third rope winding roller 59 and the fourth rope winding roller 60 are rotatably arranged in sequence along the ring on the worm gear assembly 1 through the corresponding roller pins 61 and the second retaining ring 62. Such a design not only ensures that the rope winding roller can stably rotate on the worm gear assembly 1, but also effectively prevents the rope winding roller from falling off or shifting through the second retaining ring 62, thereby improving the reliability and durability of the entire clamping jaw module.

[0041] These rope winding rollers play a role in guiding and transmitting force in the grabbing drive assembly 5, and cooperate with the first elastic rope 51 and the second elastic rope 52 to ensure that the elastic rope can be extended and retracted along a predetermined path, thereby accurately controlling the opening and closing actions of the first clamping jaw 3 and the second clamping jaw 4.

[0042] In some embodiments, Figures 1 to 3 As shown, the first rope winding roller 57, the second rope winding roller 58, the third rope winding roller 59 and the fourth rope winding roller 60 are all V-shaped rollers, each of which has a groove (V-shaped) formed therein for abutting the first elastic rope 51 or the second elastic rope 52. The shape of the V-shaped groove perfectly matches the shape of the elastic rope, which greatly improves the holding force and stability of the roller on the elastic rope, ensuring that the elastic rope can move smoothly and continuously on the roller without slipping or falling off. Secondly, the design of the V-shaped roller also helps to disperse and reduce the friction and wear generated by the elastic rope during movement, thereby extending the service life of the elastic rope and the roller.

[0043] In some embodiments, Figure 1 and Figure 3 As shown, the worm gear assembly 1 includes: an incomplete worm gear 11; a first transmission pair is formed on at least a portion of the circumference of the incomplete worm gear 11, and a first clamping jaw 3, a second clamping jaw 4 and a grasping drive assembly 5 are provided on the incomplete worm gear 11; and a rotation drive assembly 2 is provided with a second transmission pair meshing with the first transmission pair to drive the incomplete worm gear 11 to rotate through the second transmission pair and the first transmission pair.

[0044] Specifically, at least a portion of the circumference of the incomplete worm gear 11 is designed with a first transmission pair (first thread). The first transmission pair is the main structure for meshing with the second transmission pair in the rotary drive assembly 2 to achieve power transmission.

[0045] The rotation drive assembly 2 is the power source that drives the entire clamping jaw module to rotate and grasp. It is provided with a second transmission pair (second thread) that meshes with the first transmission pair on the incomplete worm gear 11. When the rotation drive assembly 2 is working, it drives the first transmission pair through the second transmission pair, thereby driving the incomplete worm gear 11 to rotate.

[0046] At the same time, the worm gear assembly 1 also includes: a roller guide rail 12 and a worm gear seat 13; the incomplete worm gear 11 is connected to the roller guide rail 12 arranged along a ring, the rotation drive assembly 2 is arranged on the worm gear seat 13, and the worm gear seat 13 is provided with a limiting roller 14, which abuts against the roller guide rail 12 to limit the incomplete worm gear 11 from moving along a ring during the driving process of the rotation drive assembly 2.

[0047] Specifically, the roller guide 12 is arranged along a ring shape, providing stable support and guidance for the incomplete worm gear 11. The worm gear seat 13 is the installation base of the rotary drive assembly 2. It not only bears the weight of the rotary drive assembly 2, but also abuts against the roller guide 12 through the limiting roller 14 thereon. The limiting roller 14 is arranged on the worm gear seat 13, and the limiting roller 14 is arranged on the worm gear seat 13 through the limiting wheel pin 15, and abuts against the roller guide 12. In the process of the rotary drive assembly 2 driving the incomplete worm gear 11 to rotate, the limiting roller 14 plays a limiting role, which can effectively ensure that the incomplete worm gear 11 moves along a ring shape during the rotation process.

[0048] In some embodiments, Figure 3 As shown, the rotary drive assembly 2 includes: a worm 33 and a second drive member 34 ; a second transmission pair is provided on the worm 33 , the worm 33 is rotatably arranged on the worm gear seat 13 , and the rotating end of the second drive member 34 is drivingly connected to the worm 33 .

[0049] Specifically, the worm 33 is provided with a second transmission pair, which can cooperate with the first transmission pair on the incomplete worm wheel 11 to achieve power transmission. The rotatability of the worm 33 is achieved by being arranged on the worm wheel seat 13, so that the worm 33 can perform a smooth rotation movement on the worm wheel seat 13.

[0050] The second transmission pair on the worm 33 corresponds to the first transmission pair on the incomplete worm wheel 11 , and the matching mode between them may be gear transmission, worm wheel 33 transmission, etc., depending on the design requirements.

[0051] The second driving member 34 is the power source in the rotation drive assembly 2. The rotating end of the second driving member 34 is in transmission connection with the worm 33, and drives the worm 33 to rotate by providing continuous rotational power. The second driving member 34 may be a power device such as an electric motor or a hydraulic motor, depending on the overall design and application environment of the incomplete worm gear 11 rope drive clamp module.

[0052] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An incomplete worm gear rope driven clamping jaw module, characterized in that: include: Worm gear assembly; A rotation drive assembly, drivingly connected to the worm gear assembly to control the rotation of the worm gear assembly; A first clamping jaw and a second clamping jaw are both rotatably disposed on the worm gear assembly; A grabbing drive assembly, comprising a first elastic rope, a second elastic rope, a first driving member and a rope-winding worm; a portion of the first elastic rope is wound around the rope-winding worm, two ends of the first elastic rope are respectively connected to the first clamping jaw and the second clamping jaw, two ends of the second elastic rope are respectively connected to the first clamping jaw and the second clamping jaw, and the first driving member is drivingly connected to the rope-winding worm; When the first driving member drives the rope-winding worm gear to rotate in a first direction, the first elastic rope and the second elastic rope drive the first clamping jaw and the second clamping jaw to rotate in a direction approaching each other; when the first driving member drives the rope-winding worm gear to rotate in a second direction opposite to the first direction, the first elastic rope and the second elastic rope drive the first clamping jaw and the second clamping jaw to rotate in a direction away from each other.

2. The incomplete worm gear rope drive clamping jaw module according to claim 1, characterized in that: The bottom of the first jaw and the bottom of the second jaw are both rotatably connected to the worm gear assembly, the top of the first jaw is provided with a first connection position, the middle position of the first jaw is provided with a second connection position, the top of the second jaw is provided with a third connection position, and the middle position of the second jaw is provided with a fourth connection position; One end of the first elastic rope is connected to the first connection position, and the other end is connected to the fourth connection position; one end of the second elastic rope is connected to the second connection position, and the other end is connected to the third connection position.

3. The incomplete worm gear rope driven clamping jaw module according to claim 2, characterized in that: The grab drive assembly also includes: a first guide member, disposed on the worm gear assembly, a portion of the first elastic cord abutting against the first guide member, so that two ends of the first elastic cord are respectively connected to the first connection position and the fourth connection position; The second guide member is arranged on the worm gear assembly, and a part of the second elastic rope abuts against the second guide member so that two ends of the second elastic rope are respectively connected to the second connection position and the third connection position.

4. The incomplete worm gear rope drive clamping jaw module according to claim 2, characterized in that: The grab drive assembly further includes: a plurality of knot pins and a plurality of first retaining rings; The knot pin is fixed to the first connection position, the second connection position, the third connection position and the fourth connection position through the corresponding first retaining ring, so as to be used for connecting the first elastic rope or the second elastic rope.

5. The incomplete worm gear rope driven clamping jaw module according to claim 3, characterized in that: The first guide member includes: a first rope winding roller, a second rope winding roller and a third rope winding roller; the second guide member includes: the second rope winding roller, the third rope winding roller and a fourth rope winding roller; The first rope winding roller, the second rope winding roller, the third rope winding roller and the fourth rope winding roller are rotatably arranged on the worm gear assembly in sequence along a ring shape, the first clamping jaw is rotatably arranged between the first rope winding roller and the second rope winding roller, and the second clamping jaw is rotatably arranged between the third rope winding roller and the fourth rope winding roller; The first elastic rope is guided sequentially through the first rope winding roller, the second rope winding roller and the third rope winding roller, and two ends are connected to the first connecting position and the fourth connecting position respectively; The second elastic rope is guided in sequence through the second rope winding roller, the third rope winding roller and the fourth rope winding roller, and two ends are respectively connected to the second connecting position and the third connecting position.

6. The incomplete worm gear rope drive clamping jaw module according to claim 5, characterized in that: The grab drive assembly further includes: a plurality of roller pins and a plurality of second retaining rings; The first rope winding roller, the second rope winding roller, the third rope winding roller and the fourth rope winding roller are rotatably arranged on the worm gear assembly in sequence along a ring shape through the corresponding roller pins and the second retaining ring.

7. The incomplete worm gear rope drive clamping jaw module according to claim 5, characterized in that: A groove for abutting against the first elastic rope or the second elastic rope is formed in the first rope winding roller, the second rope winding roller, the third rope winding roller and the fourth rope winding roller.

8. The incomplete worm gear rope drive clamping jaw module according to any one of claims 1 to 7, characterized in that: The worm gear assembly includes: an incomplete worm gear; A first transmission pair is formed on at least a portion of the circumference of the incomplete worm wheel, and the first clamping jaw, the second clamping jaw and the grabbing drive assembly are arranged on the incomplete worm wheel; The rotary drive assembly is provided with a second transmission pair meshing with the first transmission pair for driving the incomplete worm gear to rotate through the second transmission pair and the first transmission pair.

9. The incomplete worm gear rope drive clamping jaw module according to claim 8, characterized in that: The worm gear assembly also includes: a roller guide rail and a worm gear seat; The incomplete worm wheel is connected to a roller guide rail arranged along a ring shape, the rotary drive assembly is arranged on the worm wheel seat, a limiting roller is provided on the worm wheel seat, and the limiting roller abuts against the roller guide rail so that the incomplete worm wheel moves along a ring shape during the driving of the rotary drive assembly.

10. The incomplete worm gear rope drive clamping jaw module according to claim 9, characterized in that: The rotary drive assembly comprises: a worm and a second drive member; The worm is provided with the second transmission pair, the worm is rotatably arranged on the worm gear seat, and the rotating end of the second driving member is transmission-connected to the worm.

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