Parallel retractable jaw using belt as active surface

Abstract

The invention discloses a parallel telescopic clamping jaw using a belt as an active surface, and belongs to the technical field of robot manipulators. The parallel telescopic clamping jaw with the belts as the driving surface comprises a base, the upper end of the base is provided with two installation frames capable of being horizontally adjusted in a sliding mode, the two installation frames are each provided with a finger capable of being adjusted in a lifting mode, the two fingers are each provided with a belt, and each belt is wound around a plurality of driven winding drums and a power winding drum; a rotary motion steering engine is arranged on the installation frame to drive the power winding drum to rotate so as to drive the belt to operate, and the object can be clamped and driven to move and rotate in the horizontal direction and the vertical direction at the same time.

Description

Technical Field

[0001] The invention belongs to the technical field of robot manipulation hands, and in particular relates to a parallel retractable clamping claw using a belt as an active surface. Background Art

[0002] The current demand for the production of small-scale and diversified items has placed higher demands on robots. They need to have the ability to grasp and manipulate various non-specialized objects and be able to reliably perform tasks in non-ideal working environments (such as narrow spaces). A variety of robot solutions have been developed on the market, including parallel grippers, suction grippers, and multi-finger dexterous hands. Among them, parallel grippers have become the most widely used type of robots due to their simple structure, high reliability, and strong adaptability. However, although parallel grippers still have obvious limitations in grasping reliability, flexibility, and working in narrow spaces: when the size of the gripper body is significantly larger than the object to be grasped in the workspace, it is easy to interfere with surrounding objects, and it is difficult to grasp and perform manipulation tasks in narrow spaces. The low flexibility is reflected in the fact that the grasped object can only be moved up and down. It is difficult to make the grasped object rotate.

[0003] Chinese invention patent CN117901162A discloses a rigid-flexible coupling gripper, comprising: a support unit; a rigid gripper unit and a flexible gripper unit connected to the support unit. The device is convenient for firmly grasping horizontally placed objects, but the device is limited by its own structure and size, and cannot grasp objects in narrow positions and cannot realize rotational movement of objects.

[0004] Chinese invention patent CN219152927U discloses a flexible gripper for automatic loading of materials by a robot, including a pneumatic gripper with a guide rail at one end. Although the device has a compact structure and can be used for gripping in narrow places, the gripper cannot be extended or retracted, occupies a large space, and has a single function, which can only achieve horizontal movement and cannot cause objects to achieve rotational movement.

[0005] To this end, a parallel retractable gripper using a belt as the active surface is proposed. Summary of the Invention

[0006] In view of the deficiencies of the prior art, the present invention aims to provide a parallel retractable clamping jaw using a belt as an active surface, thereby solving the problems in the prior art.

[0007] The purpose of the present invention can be achieved through the following technical solutions:

[0008] A parallel retractable gripper using a belt as an active surface comprises a base, the upper end of which is provided with two mounting frames capable of horizontal sliding adjustment, each of which is provided with a finger capable of lifting and lowering adjustment, and each finger is provided with a belt, each of which is wound around multiple driven reels and a power reel; a rotary motion servo is provided on the mounting frame to drive the power reel to rotate, thereby driving the belt to run, capable of clamping an object and at the same time driving the object to move and rotate in the horizontal and vertical directions.

[0009] Furthermore, each belt is wound around five driven reels and one power reel; a driven reel is provided at the top and bottom of each finger, three driven reels are provided at the top, middle and bottom of the mounting frame respectively, and a power reel is also provided at the bottom of the mounting frame. The belt passes around the driven reels at the top and bottom of the finger in turn, and passes around the two driven reels at the top and middle of the mounting frame in turn, then passes around the power reel, and finally passes around the driven reel at the bottom of the mounting frame, and returns to the driven reel at the top of the finger.

[0010] Furthermore, a horizontal slide rail is provided at the upper end of the base, and a horizontal slider that slides with the horizontal slide rail is fixed at the lower end of the two mounting frames; a horizontal movable servo is fixed at the lower end of each of the two mounting frames, and a gear is fixed on the driving shaft of each of the two horizontal movable servos to drive them to rotate, and a rack is fixed on the base, and both gears are engaged with the rack.

[0011] Furthermore, a vertical slide rail is provided on the mounting frame, a vertical slider is slidably fitted on the vertical slide rail, and the vertical slider is fixedly connected to the finger; a linear motor is installed in the mounting frame to drive the finger to rise and fall.

[0012] Furthermore, a driving screw is installed on the mounting frame, the driven reel is installed on the driving screw, a bearing is installed inside the driven reel, and the driven reel is fixed to the driving screw through a positioning sleeve.

[0013] Furthermore, a power output shaft is installed on the rotary motion steering gear, and a spline is milled on the power output shaft. The power output shaft and the power drum cooperate with each other through the spline to transmit power.

[0014] Furthermore, the power reel is embossed with a pattern.

[0015] Furthermore, two belts are provided on each of the fingers, and two rotary motion servos are provided on each mounting frame to respectively drive the two power drums to rotate, thereby respectively driving the two belts on the same finger to operate.

[0016] A robot is equipped with a plurality of the above-mentioned parallel retractable grippers.

[0017] The method for controlling the rotation of an object along the X-axis using the parallel retractable gripper includes the following steps:

[0018] S1, controls the two mounting frames to move closer to each other, allowing the belts on the fingers on both sides to clamp the object;

[0019] S2, controlling the two belts on the same finger to run in opposite directions, and the belts on the two fingers that are facing each other run in opposite directions.

[0020] Beneficial effects of the present invention:

[0021] 1. The retractable fingers of the present invention are made into a sandwich structure by cooperating with the front and rear plates and the plug screws, which greatly reduces the number of parts and the size of the device. At the same time, the motor and the slide rail are integrated into the sandwich structure, so that the fingers are very slender and can be used for gripping in narrow places. The length can be flexibly adjusted through the telescopic structure to adapt to objects at different distances and depths. There is no need to frequently adjust the position of the robotic arm. The servo drives the belt to move synchronously, pulling the object into the body, increasing the contact area and improving the success rate of grasping.

[0022] 2. The dual-finger gripper of this invention utilizes the inherent flexibility of the belts to prevent damage to the target object when gripping it, compared to rigid gripping. A servo drives the four belts to move relative to each other, enabling the gripping, rotation, and transfer of the object. Furthermore, the relative motion of the four belts driven by the servo, along with the horizontal movement of the servo-driven gears, enables four-degree-of-freedom manipulation of the grasped object within the hand: two translations and two rotations. This allows the operator to flexibly control the grasped object.

[0023] 3. Existing clamping devices usually use a symmetrical finger structure of the same length, which performs well when clamping flat objects. However, when operating in an inclined or narrow irregular space such as a gap or an oblique slot, since the two fingers are of the same length, it may not be able to adapt to the inclined clamping of objects. When the clamp is tilted into the gap, since the two fingers are of equal length, one of the fingers may touch the clamped object, and the other finger cannot touch the clamped object, resulting in the object being unable to be clamped or being clamped unstable. The present invention includes two fingers with telescopic function, and their length can be flexibly adjusted. Through the telescopic design of the linear motor, the two fingers can be extended to different lengths respectively to adapt to various grasping requirements. Even in an inclined grasping environment, the retractable finger structure can still achieve stable clamping of flat objects, significantly improving the adaptability and reliability of the grasping operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0025] Figure 1 It is a functional schematic diagram of the parallel retractable gripper of the present invention;

[0026] Figure 2 is an axonometric view of the parallel retractable clamping jaws of the present invention;

[0027] Figure 3 is a front view of the parallel retractable clamping jaws of the present invention;

[0028] Figure 4 is a top view of the parallel retractable clamping jaws of the present invention;

[0029] Figure 5 is a schematic diagram of the parallel retractable gripper fingers of the present invention being fully opened;

[0030] Figure 6 This is a diagram of the telescopic dimensions of the parallel telescopic gripper fingers of the present invention;

[0031] Figure 7 This is a schematic diagram of the parallel retractable gripper of the present invention moving after grasping an object;

[0032] Figure 8 It is a schematic diagram of the process of the parallel retractable clamping jaws of the present invention grasping screws in an inclined narrow space;

[0033] Figure 9 It is a schematic diagram of the process of the parallel retractable gripper of the present invention grasping a cylinder in a narrow space;

[0034] Figure 10 Schematic diagram of the parallel retractable gripper of the present invention grasping a hexagonal prism and rotating it 30° counterclockwise along the Y axis;

[0035] Figure 11 Schematic diagram of the parallel retractable clamping jaws of the present invention holding the sleeve rotating counterclockwise along the X-axis;

[0036] Figure 12 This is a geometric relationship diagram of the single-sided retractable clamping jaw of the present invention when it is working.

[0037] In the figure: 1. belt, 1-1. first belt, 1-2. second belt, 1-3. third belt, 1-4. fourth belt; 2. finger; 3. linear motor; 4. mounting frame; 5. rotary motion servo, 5-1. first rotary motion servo, 5-2. second rotary motion servo, 5-3. third rotary motion servo, 5-4. fourth rotary motion servo, 6. horizontal slide rail, 7. horizontal movement servo, 8. connecting pin; 9. vertical slide rail, 10. driven reel, 10-1. first driven reel, 10-2. second driven reel, 10-3. third driven reel, 10-4. fourth driven reel, 10-5. fifth driven reel, 11. driving screw, 12. gear, 13. base, 17. power reel, 19. rack. DETAILED DESCRIPTION

[0038] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making any creative efforts shall fall within the scope of protection of the present invention.

[0039] Example 1

[0040] like Figures 2 to 4 As shown, a parallel retractable gripper using a belt as an active surface includes a base 13, with two mounting brackets 4 capable of horizontal sliding adjustment provided at the upper end of the base 13, and a finger 2 capable of lifting and lowering adjustment provided on each mounting bracket 4. A belt 1 is provided on each finger 2, and each belt 1 is wound around a plurality of driven reels 10 and a power reel 17. Driven by the power reel 17, the belt 1 is driven to run. The belts 1 on the two fingers 2 can hold an object, and when the belts 1 run, they can drive the object to move and rotate in the horizontal and vertical directions. In addition, the effective length of the finger 2 can be adjusted by controlling the lifting and lowering of the finger 2.

[0041] In this embodiment, each belt 1 is wound around five driven reels 10 and one power reel 17; a driven reel 10 is provided at the top and bottom of each finger 2, three driven reels 10 are provided at the top, middle and bottom of the mounting frame 4, and a power reel 17 is provided at the bottom of the mounting frame 4. The belt 1 is sequentially wound around the driven reels 10 at the top and bottom of the finger 2, and then around the two driven reels 10 at the top and middle of the mounting frame 4, then around the power reel 17, and finally around the driven reel 10 at the bottom of the mounting frame 4, and returns to the driven reel 10 at the top of the finger 2; specifically, the positional relationship between the belt 1, the driven reels 10 and the power reel 17 is as follows:

[0042] like Figure 6As shown, each belt 1 corresponds to five driven reels 10, named first to fifth. The three groups of driven reels 10 mounted on the mounting frame 4 are named, from bottom to top, the first driven reel, the second driven reel, and the third driven reel 10-1, 10-2, and 10-3, respectively. The driven reels 10 mounted on the fingers 2 are named, from bottom to top, the fourth driven reel 10-4 and the fifth driven reel 10-5, respectively. The first driven reel 10-1 is tangent to the fifth driven reel 10-5 at the top of the finger 2, the third driven reel 10-3 is tangent to the fourth driven reel 10-4 at the bottom of the finger 2, and the fourth driven reel 10-4 at the bottom of the finger 2 is tangent to the other side of the fifth driven reel 10-5 at the top of the finger 2. The geometric relationship of the five groups of driven reels ensures that the belt 1 can maintain a fixed length when the finger 2 is extended. In addition, the second driven reel 10-2 plays a guiding role, stretching the belt 1 to create space inside, so that the linear motor 3 and the vertical slide rail 9 can be installed in the internal cavity, saving space and reducing the size of the device.

[0043] In this embodiment, a horizontal slide rail 6 is provided at the upper end of the base 13, and a horizontal slider that slides with the horizontal slide rail 6 is fixed to the lower end of each of the two mounting frames 4, thereby realizing a sliding connection between the mounting frame 4 and the base 13; a horizontal movable servo 7 is fixed to the lower end of each of the two mounting frames 4, and a gear 12 is fixed to the driving shaft of each of the two horizontal movable servos 7, and a rack 19 is fixed to the base 13, and the two gears 12 are engaged with the rack 19. By controlling the two horizontal movable servos 7 to drive the gear 12 to rotate, the horizontal position and the horizontal relative distance of the two mounting frames 4 can be adjusted (i.e., movement in the X-axis direction); thereby, the horizontal position and the horizontal relative distance of the two fingers 2 can be adjusted.

[0044] In this embodiment, a vertical slide rail 9 is provided on the mounting frame 4, and a vertical slider is slidably fitted on the vertical slide rail 9. The vertical slider is fixedly connected to the finger 2, thereby realizing a sliding connection between the finger 2 and the mounting frame 4 in the vertical direction; a linear motor 3 is installed in the mounting frame 4, and the driving shaft of the linear motor 3 is connected to the finger 2 through a connecting pin 8, thereby driving the finger 2 to rise and fall.

[0045] In this embodiment, a driving screw 11 is installed on the mounting frame 4, and the driven reel 10 is installed on the driving screw 11. A bearing is installed inside the driven reel 10, and the driven reel is fixed to the driving screw 11 through a positioning sleeve. In this way, the driving screw 11 not only realizes the fixing function but also acts as the reel shaft, reducing the number of parts and making the device more compact.

[0046] In this embodiment, a rotary servo 5 is fixed to the mounting frame 4, and a power take-off shaft is mounted on the rotary servo 5. The power take-off shaft is milled with splines. The power take-off shaft and the power drum 17 are mated via the splines to transmit power. The inner wall of the power drum 17 tightly fits the outer ring of the positioning bearing. The positioning sleeve presses against the inner ring of the bearing, utilizing the rolling friction characteristics of the bearing to achieve precise positioning of the two power drums while avoiding wear caused by direct friction with the sleeve due to speed differences. The power drum 17 is also embossed with patterns to increase friction with the belt 1.

[0047] In this embodiment, bosses with a height of 0.5 mm are provided on both sides of the driven reel 10 and the power reel 17 , and the belt 1 is positioned by the bosses to prevent it from falling off.

[0048] In addition, in this embodiment, two belts 1 are provided on each finger 2, and each belt 1 is driven by a power reel, five driven reels 10, and a rotary motion servo 5. In other embodiments, the number of belts 1 on each finger 2 can still be one.

[0049] Example 2

[0050] In this embodiment, the function of the parallel retractable gripper is introduced;

[0051] Figure 1 The different working states of the parallel retractable gripper are shown. Figure 1 (a) shows the working state of the parallel retractable gripper jaws opening and closing. Figure 1 (b) shows the working state of the parallel retractable gripper where the two fingers can be extended and shortened respectively. Figure 1 (c) shows the working state of the four grabbing belts of the parallel retractable gripper that can rotate separately. Figure 1 (d) shows the working state of the parallel retractable gripper grasping an object from a narrow plane space. Figure 1 (e) shows the working state of the parallel retractable gripper grasping an object from an inclined narrow space. Figure 1 (f) shows the working state of the parallel retractable gripper rotating the grasped object around the X-axis. Figure 1 (g) in the figure shows the working state of the parallel retractable gripper rotating the grasped object around the Y-axis. The main functions are described below.

[0052] like Figure 1 (d) and Figure 9 As shown in the figure, the operation process of the parallel retractable gripper to grasp an object in a narrow space on a plane is as follows:

[0053] First, control the two horizontal moving servos 7 to open the fingers until the gap is larger than the cylinder. At the same time, the size of the fingers 2 cannot be too large, so that the fingers 2 can penetrate into the narrow gap. Figure 1 (a) in the Figure 9 As shown in (a) of FIG. The maximum diameter of the parallel retractable gripper that can grasp an object is 60 mm. Figure 5 After it is in place, the linear motor 3 pushes and pulls the rod out, so that the belt 1 on the finger 2 wraps the cylinder from both sides, and the horizontal moving servo 7 moves again to make the finger 2 clamp the cylinder as shown. Figure 9 As shown in (b), after completion, the linear motor 3 pushes and pulls the rod back, and the rotary motion servo 5 drives the belt 1 to move in the opposite direction. The belt 1 on one side rotates clockwise, and the belt 1 on the other side rotates counterclockwise. The belts 1 on both sides maintain the same speed as shown in Figure 1 (c) in Figure 9 As shown in (c), the cylinder is swallowed into the cavity and taken out from the slit at the same time, the horizontal movement of the steering gear 7 is carried out at the same speed, and the device moves to the right, and the captured object is moved away from the slit. Figure 9 In (d), the gripper-mounted robotic arm then moves the grasped object in space.

[0054] like Figure 7 As shown in FIG, the translation operation process of the parallel retractable gripper is as follows:

[0055] After the cylinder is wrapped by the belts 1 on both sides, the two horizontal moving servos 7 move in the same direction. At this time, the belt 1 drives the cylinder to move on the XY plane while the belt 1 can still form a stable envelope to achieve translation operation.

[0056] like Figure 8 and Figure 1 As shown in (e), the operation process of the parallel retractable gripper to grasp an object in an inclined gap is as follows:

[0057] To grab objects in an inclined gap, take screws as an example. First, tilt the frame with parallel retractable grippers to a specific angle, and adjust the belt to be parallel to the side wall of the gap. Figure 8 As shown in (a), the horizontal motion servo 7 is started to narrow the opening of the finger 2 so that the finger can smoothly penetrate into the gap. When the finger 2 successfully reaches the appropriate position in the gap, the linear motor 3 on one side starts to operate, pushing the corresponding finger 2 forward and pushing the screw in the gap upward. Figure 8 As shown in (b) in the figure. Then the finger 2 on the other side extends to complete the clamping action of the screw. Figure 8 Finally, the rotating servo 5 drives the belt 1 to operate, driving the clamp to clamp the screw steadily and make the whole device slowly withdraw from the gap. Figure 8 As shown in (d) in .

[0058] like Figure 10 and Figure 1 As shown in (g), the process of the parallel retractable gripper rotating along the Y axis is as follows:

[0059] The hexagonal prism is rotated along its Y-axis by moving the belts 1 on both sides in the same direction. The position of the finger 2 is adjusted by moving the servo 7 horizontally so that the belt 1 exerts an appropriate gripping force on the hexagonal prism to ensure that the belt 1 can provide the friction force required for rotation. When the hexagonal prism needs to rotate clockwise, the left-side rotary motion servo 5 drives the left-side belt 1 to rotate counterclockwise, and the right-side rotary motion servo 5 drives the right-side belt 1 to rotate counterclockwise. When the hexagonal prism needs to rotate counterclockwise, the left-side rotary motion servo 5 drives the left-side belt 1 to rotate clockwise, and the right-side rotary motion servo 5 drives the right-side belt 1 to rotate clockwise. When the hexagonal prism reaches the target position, the servo stops, achieving the in-hand rotation operation.

[0060] like Figure 11 (a)-(c) and Figure 1 As shown in (f), the process of the parallel retractable gripper rotating along the X-axis is as follows:

[0061] The sleeve is rotated about the X-axis by the coordinated movement of the four belts 1 on both sides. The position of the finger 2 is adjusted by the horizontal movement of the servo 7 so that the belt 1 forms an appropriate clamping force on the sleeve to ensure that the belt 1 can provide the friction force for rotation. When the sleeve needs to rotate about the X-axis, the two belts 1 on the same finger 2 run in opposite directions respectively, and the two belts 1 on different fingers 2 and facing each other run in opposite directions. Specifically, Figure 12 As shown:

[0062] When the sleeve needs to rotate clockwise around the X-axis, the third rotary motion servo 5-3 drives the third belt 1-3 to rotate clockwise, the fourth rotary motion servo 5-4 drives the fourth belt 1-4 to rotate counterclockwise, the first rotary motion servo 5-1 drives the first belt 1-1 to rotate counterclockwise, and the second rotary motion servo 5-2 drives the second belt 1-2 to rotate clockwise. When the sleeve needs to rotate counterclockwise around the X-axis, the third rotary motion servo 5-3 drives the third belt 1-3 to rotate counterclockwise, the fourth rotary motion servo 5-4 drives the fourth belt 1-4 to rotate clockwise, the first rotary motion servo 5-1 drives the first belt 1-1 to rotate clockwise, and the second rotary motion servo 5-2 drives the second belt 1-2 to rotate counterclockwise.

[0063] Example 3

[0064] In this embodiment, the position equation, velocity analysis, acceleration analysis, and velocity and acceleration of point A of the retractable gripper are introduced.

[0065] like Figure 12 As shown, list the analytical expression for the position of the fingertip on one side.

[0066] First, the device is converted into a simple diagram of the mechanism motion, and a coordinate system is established. The components are represented by the complex vector method. According to the various related components, closed vector polygons are found and the position equations are listed as shown in formula (1).

[0067]

[0068] Where L1 represents the horizontal movement distance of the gripper, L2 represents the distance between the upper end of the linear motor push rod and the base, L3 represents the finger length, L4 represents the distance between the finger tip and the origin, θ1 represents the angle between the line connecting the horizontal slider and the far point and the X-axis, θ2 represents the angle between the linear motor and the Z-axis, θ3 represents the angle between the finger and the Z-axis, and θ4 represents the distance between the line connecting the finger tip and the origin and the X-axis.

[0069] Using the Euler formula of formula (2), the position equation (1) is expanded to obtain formula (3):

[0070] e iθ =(cosθ+isinθ)#(2)

[0071] L1(cosθ1+isinθ1)+L2(cosθ2+isinθ2)+L3(cosθ3+isimθ3)

[0072] =L4(cosθ4+isinθ4)#(3)

[0073] Let the real part be equal to the real part, and the imaginary part be equal to the imaginary part, and we get

[0074]

[0075] Where θ1, θ2 are equal to 0, θ3 is equal to Simplified

[0076]

[0077] In formula 5, L3 is a fixed value, L1 and L2 are indirect known quantities that can be measured by the servo, so the expressions of L4 and θ4 with respect to L1, L2, and L3 are obtained, and

[0078]

[0079] So the position equation of the finger is

[0080]

[0081] Matrix method is used to analyze the velocity and acceleration of finger point A.

[0082] Find a closed vector equation based on each associated component and write the vector equation as a projection on the two coordinate axes.

[0083]

[0084] Solving equations 10 and 11 we can find out θ3, S3, L4, and θ4.

[0085] Take the first-order derivative of Equations 10 and 11 with respect to time and write them in matrix form, that is, the velocity equation

[0086]

[0087] In the formula Derivative of the component length with respect to S3, L1, and L2, where S3, L1, and L2 are variable length functions with respect to time.

[0088] The solution can be obtained to obtain ω3 and ω4. Equation 12 can be written as the matrix form of Equation 13.

[0089]

[0090] Take the first derivative of Equation 12 with respect to time and write it in matrix form, which is the acceleration equation

[0091]

[0092] Solving Equation 14 yields α3 and α4.

[0093] Throughout this specification, references to terms such as "one embodiment," "example," or "specific example" indicate that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present invention. In this specification, schematic representations of these terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0094] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention, and such changes and modifications fall within the scope of the invention as claimed.

Claims

1. Parallel retractable gripper using a belt as the active surface, characterized in that, The invention comprises a base (13), wherein the upper end of the base (13) is provided with two mounting frames (4) capable of horizontal sliding adjustment, and each mounting frame (4) is provided with a finger (2) capable of lifting and lowering adjustment, and each finger (2) is provided with a belt (1), and each belt (1) is wound around a plurality of driven reels (10) and a power reel (17); a rotary motion steering gear (5) is provided on the mounting frame (4) to drive the power reel (17) to rotate, thereby driving the belt (1) to run, and can clamp an object and drive the object to move and rotate in the horizontal and vertical directions.

2. The parallel retractable gripper using a belt as an active surface according to claim 1, characterized in that: Each belt (1) is wound around five driven reels (10) and one power reel (17); a driven reel (10) is provided at the top and bottom of each finger (2); three driven reels (10) are provided at the top, middle and bottom of each mounting frame (4); and a power reel (17) is provided at the bottom of each mounting frame (4); the belt (1) sequentially passes around the driven reels (10) at the top and bottom of each finger (2), and then passes around the two driven reels (10) at the top and middle of each mounting frame (4), then passes around the power reel (17), and finally passes around the driven reel (10) at the bottom of each mounting frame (4), and returns to the driven reel (10) at the top of each finger (2).

3. The parallel retractable gripper using a belt as an active surface according to claim 1, characterized in that: The upper end of the base (13) is provided with a horizontal slide rail (6), and the lower ends of the two mounting frames (4) are fixed with a horizontal slider that slides with the horizontal slide rail (6); the lower ends of the two mounting frames (4) are respectively fixed with a horizontal moving steering gear (7), and the driving shafts of the two horizontal moving steering gears (7) are respectively fixed with a gear (12) to drive them to rotate, and the base (13) is fixed with a rack (19), and the two gears (12) are meshed with the rack (19).

4. The parallel retractable gripper using a belt as an active surface according to claim 1, characterized in that: The mounting frame (4) is provided with a vertical slide rail (9), a vertical slider is slidably fitted on the vertical slide rail (9), and the vertical slider is fixedly connected to the finger (2); a linear motor (3) is installed in the mounting frame (4) to drive the finger (2) to rise and fall.

5. The parallel retractable gripper using a belt as an active surface according to claim 1, characterized in that: A driving screw (11) is installed on the mounting frame (4), and a driven reel (10) is installed on the driving screw (11). A bearing is installed inside the driven reel (10) and is fixed to the driving screw (11) through a positioning sleeve.

6. The parallel retractable gripper using a belt as an active surface according to claim 1, characterized in that: A power output shaft is installed on the rotary motion steering engine (5), and a spline is milled on the power output shaft. The power output shaft and the power reel (17) cooperate with each other through the spline to transmit power.

7. The parallel retractable gripper using a belt as an active surface according to claim 1, characterized in that: The power reel (17) is embossed with patterns.

8. The parallel retractable gripper using a belt as an active surface according to claim 1, characterized in that: Two belts (1) are provided on each finger (2), and two rotary motion servos (5) are provided on each mounting frame (4) to respectively drive two power reels (17) to rotate, thereby respectively driving the two belts (1) on the same finger (2) to operate.

9. A robot, characterized in that: It is equipped with several parallel retractable clamping jaws according to any one of claims 1 to 8.

10. A method for controlling the rotation of an object along the X-axis using the parallel retractable gripper according to claim 8, characterized in that: The following steps are involved: S1, controlling the two mounting frames (4) to move closer to each other, so that the belts (1) on the fingers (2) on both sides clamp the object; S2, controls the two belts (1) located on the same finger (2) to run in opposite directions, and the belts (1) located on the two fingers (2) and facing each other run in opposite directions.

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