Flexible clamping jaw and robot

Abstract

The embodiment of the utility model provides a flexible clamping jaw and a robot. The flexible clamping jaw comprises a base body, a driving part, a transmission assembly and at least one pair of clamping structures. The driving piece is arranged on the base body and used for providing driving force. The transmission assembly is connected to the driving piece and used for transmitting the driving force of the driving piece. The paired clamping structures are rotationally arranged at the two opposite ends of the base body correspondingly, so that the paired clamping structures can be arranged in an opening and closing mode, and the clamping structures are connected to the transmission assembly and rotate clockwise and anticlockwise relative to the base body under the action of driving force. The clamping structure comprises a transmission frame, a connecting structure and a clamping piece, the transmission frame is rotationally connected to the base body, the connecting structure comprises two connecting pieces, the two connecting pieces are rotationally connected, one connecting piece is rotationally connected to the transmission frame, the other connecting piece is rotationally connected to the base body, and the clamping piece is connected to one connecting piece. And the connecting piece is close to the connecting position of the two connecting pieces. The flexible clamping jaw is good in object clamping stability.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a flexible gripper and robot. Background Technology

[0002] As an essential end effector for robots, robotic grippers play a vital role in many scenarios in modern industrial production, logistics and handling, medical surgery assistance, and daily life, such as parts picking in manufacturing, warehouse goods sorting, surgical instrument operation, and home service robot clothing sorting.

[0003] A robot's gripper typically includes a drive structure, a transmission structure, and an execution structure. Usually, a gripper includes at least two execution structures that can move relative to or away from each other. The cooperation of the drive structure and the transmission structure can drive the two execution structures to open and close, thereby realizing the gripping of objects.

[0004] However, the actuators in related technologies often move with a large amplitude, resulting in a large deflection angle between the ends of the two actuators used to grip the item. When gripping the item, this can easily lead to a small contact area between the end used to grip the item and the item, thus affecting the stability of gripping the item. Utility Model Content

[0005] This application provides a flexible gripper and a robot, which is a flexible gripper used to increase the stability of gripping items.

[0006] In a first aspect, embodiments of this application provide a flexible gripper, including a base, a driving member, a transmission assembly, and at least one pair of gripping structures. The driving member is disposed on the base and is used to provide driving force. The transmission assembly is connected to the driving member and is used to transmit the driving force of the driving member. The pair of gripping structures are respectively rotatably disposed at opposite ends of the base, so that the pair of gripping structures can be opened and closed. The gripping structures are connected to the transmission assembly, so that the gripping structures rotate clockwise and counterclockwise relative to the base under the action of the driving force. The gripping structure includes a transmission frame, a connecting structure, and a gripping member. The transmission frame is rotatably connected to the base. The connecting structure includes two connecting members, which are rotatably connected. One connecting member is rotatably connected to the transmission frame, and the other connecting member is rotatably connected to the base. The gripping member is connected to one of the connecting members and is close to the connection position of the two connecting members.

[0007] The flexible gripper provided in this application embodiment allows the transmission frame to rotate relative to the base, causing the connecting member connected to it to move simultaneously. This, in turn, causes another connecting member to rotate relative to the base, forming a linkage mechanism between the transmission frame, the base, and the two connecting members. When the transmission frame rotates, the connecting structure moves as a driven member, and the gripping member is connected to the connecting structure. Compared to related technologies where the gripping member is directly connected to the transmission frame to perform circular motion with it, the gripping member in this application does not move in a circular motion with the transmission frame. This reduces the degree of angular deflection during the gripping member's movement, ensuring a smaller deflection angle between the end faces of the two gripping members used to grip the item, thus making the gripping member grip the item more stably.

[0008] In one possible implementation, the connection structure includes a first connector and a second connector. One end of the first connector is rotatably connected to the end of the transmission frame away from the base, and the other end of the first connector is rotatably connected to one end of the second connector. The other end of the second connector is rotatably connected to the base, and the clamping member is connected to the first connector at a position close to the second connector.

[0009] In one possible implementation, the first connector includes a first sub-part and a second sub-part connected to each other. One end of the first sub-part is rotatably connected to the second connector, and the other end of the first sub-part is rotatably connected to the second connector. The second sub-part is connected to the end of the first sub-part near the second connector, and a clamping member is connected to the second sub-part.

[0010] In one possible implementation, the shaft connecting the two connectors, the transmission frame, and the base forms a parallelogram structure, the clamping member has a clamping surface, and the clamping surfaces of the two corresponding clamping members are arranged in parallel.

[0011] In one possible implementation, the drive member has a drive shaft, and the transmission assembly includes a first wheel set and a transmission rope. The transmission rope is spirally wound around the drive shaft, and the two ends of the transmission rope form a first transmission part and a second transmission part. The first transmission part and the second transmission part are respectively wound around opposite sides of the first wheel set. The first transmission part and the second transmission part are also respectively wound around a portion of the clamping structure, and both the first transmission part and the second transmission part are fixed to the base.

[0012] In one possible implementation, the clamping structure includes a first connecting component and a second connecting component, the first wheel set having a first side and a second side opposite to each other, a first transmission part being sequentially wound around the first side of the first wheel set and the first connecting component, and a second transmission part being sequentially wound around the second side of the first wheel set and the second connecting component.

[0013] In one possible implementation, the first connecting component includes a first movable pulley that is rotatably disposed, the second connecting component includes a second movable pulley that is rotatably disposed, the first wheel set includes a transmission wheel that is rotatably connected to the base, and the axis of rotation of the first movable pulley and the axis of rotation of the second movable pulley are both orthogonal to the axis of rotation of the transmission wheel.

[0014] In one possible implementation, the transmission assembly further includes a second wheel set, which is rotatably connected to the base. The shaft of the second wheel set is parallel to the shaft of the first wheel set. The second wheel set is located between the first wheel set and the drive shaft of the drive member, and the second wheel set and the first wheel set are arranged along a second direction. A first transmission part located between the first wheel set and the drive shaft is wound around the second wheel set.

[0015] In one possible implementation, the base includes a base and support members connected to opposite ends of the base, a drive member is connected to the base, and a transmission frame is connected to the support members.

[0016] Secondly, embodiments of this application also provide a robot, including a robot body and the aforementioned flexible gripper. Attached Figure Description

[0017] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0018] Figure 1 Exploded view of the flexible gripper provided in this application;

[0019] Figure 2 A schematic diagram of a flexible gripper provided in this application;

[0020] Figure 3 Another structural schematic diagram of the flexible gripper provided in this application;

[0021] Figure 4 A top view of the flexible gripper provided in this application;

[0022] Figure 5 A cross-sectional view of the flexible gripper provided in this application;

[0023] Figure 6 Another top view of the flexible gripper provided in this application;

[0024] Figure 7 A bottom view of the flexible gripper provided in this application;

[0025] Figure 8 A side view of the flexible gripper provided in this application;

[0026] Figure 9 A partial structural diagram of the flexible gripper provided in this application;

[0027] Figure 10 Another partial structural diagram of the flexible gripper provided in this application;

[0028] Figure 11 A schematic diagram of the structure of the base provided in this application;

[0029] Figure 12 Another structural schematic diagram of the base provided in this application;

[0030] Figure 13 Another cross-sectional view of the flexible gripper provided in this application.

[0031] Explanation of reference numerals in the attached figures:

[0032] 10. Base; 11. Base; 111. First base body; 1111. Shaft groove; 1112. End bearing seat; 1113. Middle bearing seat; 1114. Fastener; 112. Second base body; 1121. Mounting groove; 113. Channel; 114. Wheel hole; 115. Guide wheel; 12. Support member; 121. First connecting part; 122. Second connecting part; 123. Third connecting part; 13. Driving member; 131. Drive shaft; 14. Reversing shaft;

[0033] 20. Clamping structure; 21. Transmission frame; 211. Frame body; 212. First connecting body; 213. Second connecting body; 214. First connecting assembly; 2141. First movable pulley; 2142. First fixed pulley; 215. Second connecting assembly; 2151. Second movable pulley; 2152. Second fixed pulley; 22. Clamping component; 221. Anti-slip component; 23. Connecting structure; 231. First connecting component; 2311. First sub-part; 2312. Second sub-part; 232. Second connecting component;

[0034] 30. First wheel assembly; 31. Transmission wheel; 311. First transmission wheel; 312. Second transmission wheel; 313. Third transmission wheel; 314. Fourth transmission wheel; 315. First limiting groove; 316. Second limiting groove; 317. First side; 318. Second side; 32. First wheel axle;

[0035] 40. Second wheel assembly; 41. Guide wheel; 411. First guide wheel; 412. Second guide wheel; 413. Third guide wheel; 414. Fourth guide wheel; 415. Third limiting groove; 42. Second wheel axle;

[0036] 50. Transmission rope; 51. First transmission unit; 52. Second transmission unit.

[0037] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0038] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0039] Grippers primarily utilize the opening and closing of their end-gripping structures to grasp items. In traditional gripper structures, the gripping structure is rotated, driven by a drive mechanism on the gripper itself, causing the two gripping structures to rotate relative to or away from each other to grasp the item. The gripping structure mainly includes end-gripping components and a rotating gripping body, with the end-gripping components serving as the final gripping element. In related technologies, the end-gripping components are directly connected to the gripping body, which rotates. This rotation of the end-gripping components results in a large change in the angle between the ends used to grip the item when they rotate, easily leading to a small contact area with the item, resulting in unstable gripping and a tendency for the item to fall.

[0040] To address the aforementioned issues, this application provides a flexible gripper. The flexible gripper utilizes a connecting structure to connect the gripping component and the transmission frame. The transmission frame is rotatably connected to the base. Through the cooperation of a driving component and a transmission assembly, the transmission frame can be driven to rotate. When the frame rotates, the gripping component does not rotate with the transmission frame. Instead, the motion is transmitted to the connecting structure via the transmission frame. The connecting structure performs a composite motion to drive the gripping component, preventing it from performing circular motion. This results in a smaller deflection angle between the two gripping components that grip the item, ensuring a sufficiently large contact area between the gripping component and the item.

[0041] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0042] The first aspect of this application provides a flexible gripper for use in a robot as an end effector capable of gripping objects. See also... Figures 1 to 3 As shown, in some possible implementations, the flexible gripper of this application includes a base 10, a drive member 13, a transmission assembly, and at least one pair of gripping structures 20. The base 10 serves as a mounting and fixing structure for the gripper, which can be used to mount it on the robot body. In addition, the base 10 can also serve as a structure to support the gripping structure 20, the drive member 13, and the transmission assembly, so as to realize the opening and closing movement of the gripping structure 20 in space, enabling it to grip objects.

[0043] The driving component 13 is disposed on the base 10. In this application, the driving component 13 is a drive motor, which is used to provide driving force. The transmission assembly is connected to the driving component 13 and is used to transmit the driving force of the driving component 13.

[0044] When using the clamping structure 20 to clamp an item, it is often necessary for two or more clamping structures 20 to cooperate with each other. For example, at least two clamping structures 20 can be set opposite each other and rotatably connected to the base 10. The rotation axes of the two clamping structures 20 are parallel. When the two clamping structures 20 rotate relative to each other, the distance between them decreases, thereby clamping the item. When the two clamping structures 20 rotate in opposite directions, the distance between the two clamping structures 20 increases, thereby putting the item down.

[0045] In this application, a pair of clamping structures 20 form a clamping unit. The pair of clamping structures 20 are rotatably disposed at opposite ends of the base 10, and the pair of clamping structures 20 are located on the same side of the base 10, so that the pair of clamping structures 20 can be opened and closed.

[0046] It should be noted that one or more gripping units can be provided on the base 10 to meet different gripping requirements. In this application, a pair of gripping structures 20 provided on the base 10 are used as an example for illustration.

[0047] The clamping structure 20 includes a transmission frame 21, a connecting structure 23, and a clamping member 22. The transmission frame 21 is rotatably connected to the base 10 and is connected to a transmission assembly. The transmission assembly can transmit the driving force of the driving member 13 to the transmission frame 21, causing the transmission frame 21 to rotate clockwise and counterclockwise relative to the base 10 under the action of the driving force. The transmission frame 21 can transmit the driving force of the driving member 13 to the clamping member 22 to drive the clamping member 22 to move.

[0048] The connecting structure 23 includes two connectors rotatably connected to each other. One connector is rotatably connected to the transmission frame 21, and the other connector is rotatably connected to the base 10. The gripping member 22 is connected to one of the connectors, near the connection point between the two connectors. The gripping member 22 is used to grip and release items when the gripping structure 20 opens and closes. The shape of the gripping member 22 can be set according to the actual application scenario. For example, the gripping member 22 can be set as a plate-like structure, or it can also be set as a claw-like structure. In this application, the gripping member 22 is described as a plate-like structure.

[0049] Thus, when the transmission frame 21 rotates relative to the base 10, the transmission frame 21 can drive the connecting member connected to it to move simultaneously, thereby driving another connecting member to rotate relative to the base 10. A linkage mechanism is formed between the transmission frame 21, the base 10, and the two connecting members. When the transmission frame 21 rotates, the connecting structure 23 moves with the transmission member as a driven member. The gripping member 22 is connected to the connecting structure 23. Compared with the related technology where the gripping member 22 is directly connected to the transmission frame 21 to make a circular motion with the transmission frame 21, the gripping member 22 in this application does not move in a circular motion with the transmission frame 21. This can reduce the degree of angular deflection of the gripping member 22 during its movement, ensuring that the deflection angle between the end faces of the two gripping members 22 used to grip the item is small, so that the gripping member 22 can grip the item more stably.

[0050] For example, as a structure for gripping items, in order to increase the stability when gripping items, an anti-slip element 221 can be provided on the end face of the gripper 22 for gripping items. The anti-slip element 221 can be an anti-slip rubber pad, or the anti-slip element 221 can also be multiple anti-slip blocks directly protruding on the gripper 22. The anti-slip blocks can be made of materials such as silicone or rubber. Alternatively, the end face of the gripper 22 can be provided with abrasive particles to increase the friction between the gripper 22 and the gripped item.

[0051] See Figures 1 to 3 As shown, in some possible implementations, the connection structure 23 includes a first connector 231 and a second connector 232. One end of the first connector 231 is rotatably connected to the transmission frame 21, and the connection position is located at the end of the transmission frame 21 away from the base 10. The other end of the first connector 231 is rotatably connected to one end of the second connector 232, and the end of the second connector 232 away from the first connector 231 is rotatably connected to the base 10. The clamping member 22 is connected to the end of the first connector 231 near the second connector 232.

[0052] In this embodiment of the application, the first connector 231 further includes a first sub-part 2311 and a second sub-part 2312 connected to each other. One end of the first sub-part 2311 is rotatably connected to the transmission frame 21, and the other end of the first sub-part 2311 is rotatably connected to the second connector 232. The second sub-part 2312 is connected to the end of the first sub-part 2311 near the second connector 232, and the clamping member 22 is connected to the end of the second sub-part 2312 away from the connection position of the first sub-part 2311 and the second connector 232.

[0053] By setting a first connecting member 231 and a second connecting member 232, the first connecting member 231 is rotatably connected to the transmission frame 21, and the end of the second connecting member 232 away from the first connecting member 231 is also rotatably connected to the base 10. This forms a linkage structure between the first connecting member 231, the second connecting member 232, the transmission frame 21, and the base 10. This linkage structure allows for better control of the gripper 22. For example, when the transmission frame 21 rotates around its axis, it can move the first connecting member 231. When the first connecting member 231 moves, it can rotate relative to the transmission frame 21, and simultaneously move the gripper 22. Furthermore, the movement of the first connecting member 231 can also drive the second connecting member 232 to rotate relative to the base 10, avoiding motion interference and allowing the gripper 22 to move smoothly. Moreover, through the linkage structure, the cooperation of the first connecting member 231 and the second connecting member 232 can transmit the movement of the transmission frame 21 to the gripper 22, which is beneficial for controlling the position of the gripper 22.

[0054] It should be noted that the linkage structure formed above can be a parallelogram structure. For example, the linkage structure has four rotational positions, where the first rotational position is the rotational connection position between the first sub-part 2311 and the transmission frame 21, the second rotational position is the connection position between the first sub-part 2311 and the second connecting member 232, the third rotational position is the connection position between the second connecting member 232 and the base 10, and the fourth rotational position is the connection position between the transmission frame 21 and the base 10. When the distance between the first rotational position and the second rotational position is equal to the distance between the third rotational position and the fourth rotational position, and when the distance between the first rotational position and the fourth rotational position is equal to the distance between the second rotational position and the third rotational position, the linkage structure formed above is a parallelogram structure.

[0055] It should be noted that the gripping member 22 has a gripping surface. The gripping surfaces of the two gripping members 22 used for gripping items are arranged opposite each other, and the gripping surfaces of the corresponding two gripping members 22 are parallel. Thus, when the transmission frame 21 rotates, the first sub-part 2311 moves with the transmission frame 21. Due to the limiting effect of the second connecting member 232, the first sub-part 2311 only undergoes translational motion. That is, when the first sub-parts 2311 of the two gripping structures 20 move closer or further apart, they move along a straight line. Since the gripping surfaces of the two gripping members 22 are set to be parallel, and the gripping members 22 are connected to the second sub-part 2312, the second sub-part 2312 moves with the first sub-part 2311, so the gripping members 22 also move with the first sub-part 2311. In this way, the two gripping members 22 used to grip the items move towards or away from each other along a straight line, and the corresponding gripping surfaces always remain parallel when the two gripping members 22 move. This can ensure that the contact area between the gripping surface and the item is maximized when gripping the item, thus ensuring the stability of gripping the item.

[0056] In some possible implementations, the drive member 13 has a rotatably configured drive shaft 131 that can provide a rotational driving force when the drive shaft 131 rotates, and the transmission assembly includes at least a first wheel set 30, through which the driving force can be transmitted to the clamping structure 20 to drive the clamping structure 20 to perform corresponding movements.

[0057] Specifically, the first wheel assembly 30 is rotatably connected to the base 10. Each clamping structure 20 and the base 10 are respectively provided with a first wheel assembly 30, and the first wheel assembly 30 and the corresponding clamping structure 20 rotate coaxially. It should be noted that the clamping structure 20 is rotatably connected to the base 10, and a clearance space can be provided near the connection position between the clamping structure 20 and the base 10. When the first wheel assembly 30 is connected to the base 10, it can be located within this clearance space.

[0058] A transmission rope 50 is provided on the drive shaft 131 for each clamping structure 20. In this way, the drive member 13 can drive the clamping structure 20 through the transmission rope 50. Each clamping structure 20 is provided with a transmission rope 50 for driving its rotation.

[0059] Specifically, the transmission rope 50 is wound in a spiral manner around the drive shaft 131, so that the two ends of the transmission rope 50 rotate in opposite directions on the drive shaft 131. Thus, when the drive shaft 131 rotates clockwise, one end of the transmission rope 50 is wound onto the drive shaft 131, while the other end is detached from the drive shaft 131. When the drive shaft rotates counterclockwise, the two ends of the transmission rope 50 are in the opposite state to those of the drive shaft rotating clockwise. It is worth noting that the terms "clockwise" and "counterclockwise" are relative and used to illustrate that the drive shaft 131 rotates in opposite directions.

[0060] The two ends of the transmission rope 50 are used to form a first transmission part 51 and a second transmission part 52. Both the first transmission part 51 and the second transmission part 52 extend toward the first wheel set 30, and the first transmission part 51 and the second transmission part 52 are respectively wrapped around the opposite sides of the first wheel set 30.

[0061] For ease of explanation, the orientation of the gripper structure in this application will be described, by Figure 1 As shown, the direction indicated by the X-axis represents the first direction, the direction indicated by the Y-axis represents the second direction, and the direction indicated by the Z-axis represents the third direction.

[0062] The first wheel assembly 30, the clamping structure 20, and the drive shaft 131 are all parallel to the first direction. The first wheel assembly 30 and the drive shaft 131 are spaced apart along the second direction. The transmission rope 50 is wound around the drive shaft 131, and both ends can extend from the drive shaft 131. The two ends of the transmission rope 50 extend from opposite sides of the drive shaft 131 in the third direction toward the first wheel assembly 30. The end of the transmission rope 50 extending above the drive shaft 131 in the third direction is wound around the upper side of the first wheel assembly 30 in the third direction (hereinafter referred to as "the upper side of the first wheel assembly 30"), and the end of the transmission rope 50 extending below the drive shaft 131 in the third direction is wound around the lower side of the first wheel assembly 30 in the third direction (hereinafter referred to as "the lower side of the first wheel assembly 30"), thus clamping the first wheel assembly 30 between the two ends of the transmission rope 50.

[0063] The first transmission part 51 and the second transmission part 52 are wound around the first wheel set 30 and extend toward the clamping structure 20 respectively, and are fixed to the base 10 after being wound around a portion of the clamping structure 20. In this way, the two ends of the transmission rope 50 can be movably connected to the clamping structure 20. When the drive shaft 131 winds up the transmission rope 50, the transmission rope 50 can move relative to the clamping structure 20, realizing the winding and unwinding of the transmission rope 50. The shortening and lengthening of the transmission rope 50 can drive the clamping structure 20 to move.

[0064] In this application, the transmission rope 50 is wound around the drive shaft 131. When the drive shaft 131 rotates, one end of the transmission rope 50 is always wound onto the drive shaft 131, while the other end is detached from the drive shaft. The two ends of the transmission rope 50 are respectively wound around the opposite sides of the first wheel assembly 30 and then wound around the clamping structure 20. After being wound around the clamping structure 20, the two ends of the transmission rope 50 are fixedly connected to the base 10. Thus, when one end of the transmission rope 50 is wound, the transmission rope 50 shortens, which in turn drives the clamping structure 20 and the position where the shortened end of the transmission rope 50 is connected to rotate toward the drive shaft 131, realizing clockwise and counterclockwise rotation of the clamping structure 20 around its axis. Because the two ends of the transmission rope 50 are respectively wound around the opposite sides of the first wheel assembly 30, when the transmission rope 50 wound on the opposite sides of the first wheel assembly 30 is wound, the rotation direction of the first wheel assembly 30 is also different, and the corresponding rotation direction of the clamping structure 20 is also different. For example, if the first transmission part 51 is wound around the upper side of the first wheel set 30, and the first wheel set 30 rotates clockwise when the first transmission part 51 is wound up, then the corresponding connection position between the clamping structure 20 and the first transmission part 51 rotates clockwise; if the second transmission part 52 is wound around the lower side of the first wheel set 30, and the first wheel set 30 rotates counterclockwise when the second transmission part 52 is wound up, then the corresponding connection position between the clamping structure 20 and the second transmission part 52 rotates counterclockwise. The relative rotation of the two clamping structures 20 can realize the clamping action, and the opposite rotation of the two clamping structures 20 can realize the releasing action.

[0065] This application achieves a simple, efficient, and precisely controllable variable stiffness function by changing the stiffness characteristics of the gripping structure 20 during gripping through the cooperation between the transmission rope 50 and the first wheel group 30. This successfully solves the problem of the difficulty in multi-rope coordinated control of existing rope-driven grippers.

[0066] In addition, when one end of the transmission rope 50 is wound up, the other end of the transmission rope 50 is disengaged from the drive shaft 131. For example, when the first transmission part 51 is wound up, the second transmission part 52 is disengaged from the drive shaft 131, and when the second transmission part 52 is wound up, the first transmission part 51 is disengaged from the drive shaft 131. In this way, the first transmission part 51 and the second transmission part 52 can be kept taut without the need for an additional tensioning device.

[0067] Therefore, the flexible gripper of this application can drive a gripping structure 20 to rotate clockwise or counterclockwise using only a transmission rope 50 and a driving component 13. This simple structure and driving method not only reduce the overall size of the gripper, minimizing its space requirements, but also lowers manufacturing costs and reduces the complexity associated with multi-structure control, thus simplifying maintenance. Furthermore, the flexible gripper in this application achieves tension by winding the transmission rope 50 around the driving shaft 131. When the driving shaft 131 rotates, one end of the transmission rope 50 is always wound around the driving shaft 131, while the other end remains detached. This ensures that both ends of the transmission rope 50 remain taut during the rotation of the gripping structure 20, eliminating the need for a separate tensioning structure. This simplifies the structure and reduces costs.

[0068] Reference Figure 4 and Figure 5 As shown, it should be noted that in this embodiment, only one driving member 13 or two driving members 13 may be provided. When one driving member 13 is provided, the driving shaft 131 of the driving member 13 is used to drive the two clamping structures 20 that cooperate to clamp the items to move relative to each other or in opposite directions. For example, a reversing shaft 14 is also rotatably connected to the base 10. The rotation axis of the reversing shaft 14 is parallel to the rotation axis of the driving shaft 131, and the reversing shaft 14 and the driving shaft 131 are spaced apart along the second direction.

[0069] Two transmission ropes 50 are wound around the drive shaft 131. Each transmission rope 50 has a first transmission part 51 and a second transmission part 52. Since the two clamping structures 20 are arranged symmetrically about the drive shaft 131, if the drive shaft 131 is to rotate so that the two clamping structures 20 can move towards or away from each other, the winding ends of the two transmission ropes 50 are respectively wound around the same side of the corresponding first wheel set 30 when the two drive shafts 131 are rotated, and the unwinding ends of the two transmission ropes 50 are respectively wound around the other side of the corresponding first wheel set 30.

[0070] Under normal circumstances, the winding ends of the transmission rope 50 wound on the same drive shaft 131 are led out from opposite sides of the drive shaft 131, so as to... Figure 13 For example, when the drive shaft 131 rotates clockwise or counterclockwise, the wound transmission rope 50 is led out at the upper and lower ends of the drive shaft 131 in the third direction. In this way, the ends of the transmission rope 50 used to drive the clamping structure 20 to move in opposite directions have a gap in the third direction. When it extends toward the first wheel set 30, it will extend to different sides of the first wheel set 30 in the third direction, causing the ends of the transmission rope 50 to be wrapped around different sides of the first wheel set 30. As a result, when the drive shaft 131 rotates, the two wound ends drive the first wheel set 30 to rotate in opposite directions.

[0071] In this application, by setting a reversing shaft 14, the extension direction of the end of one of the transmission ropes 50 can be changed. For example, if the first transmission parts 51 of the two transmission ropes 50 can be wound or unwound simultaneously when the drive shaft rotates, then the first transmission parts 51 of the two transmission ropes 50 are located on opposite sides of the drive shaft 131 when they are led out of the drive shaft 131. The first transmission part 51 of one of the transmission ropes 50 can be wound around the upper side of the reversing shaft 14, so that the first transmission part 51 of this transmission rope 50 and the first transmission part 51 of the other transmission rope 50 can be wound on the same side of the corresponding first wheel set 30.

[0072] Reference Figure 6 As shown, in another possible implementation, two driving members 13 can be provided to drive the two clamping structures 20 to move respectively. Under the drive of the two driving members 13, the two clamping structures 20 can move relative to each other or away from each other. The cooperation structure between the two driving members 13 and the two clamping structures 20 is consistent. This application will take the cooperation between one driving member 13 and one clamping structure 20 as an example for explanation.

[0073] In some feasible ways, please combine them together. Figures 7 to 8 The clamping structure 20 includes a first connecting component 214 and a second connecting component 215. The first wheel set 30 has a first side 317 and a second side 318 opposite to each other. The first transmission part 51 is sequentially wound around the first side 317 and the first connecting component 214 of the first wheel set 30. The second transmission part 52 is sequentially wound around the second side 318 and the second connecting component 215 of the first wheel set 30.

[0074] For example, the first side 317 and the second side 318 of the first wheel assembly 30 refer to the two opposite sides of the first wheel assembly 30 in the third direction. The first side 317 and the second side 318 are directional definitions and are not limited to a certain position on the surface of the first wheel assembly 30. Rather, they refer to the two sides of the first wheel assembly 30 in the third direction. Regardless of how the first wheel assembly 30 rotates, its two sides in the third direction are the first side 317 and the second side 318, respectively. In this application, the first side 317 is the upper side of the first wheel assembly 30 in the third direction, and the second side 318 is located below the first side 317 in the third direction, that is, the second side 318 is the lower side of the first wheel assembly 30 in the third direction.

[0075] The first connecting component 214 and the second connecting component 215 are respectively used to connect the first transmission part 51 and the second transmission part 52 of the transmission rope 50. The surface of the transmission rope 50 can be set as an arc surface, or the transmission rope 50 can be directly set as a cylinder.

[0076] For example, the first connecting component 214 and the second connecting component 215 can be protrusions provided on the clamping structure 20. The first transmission part 51 and the second transmission part 52 can be wound around the surface of the protrusion. When the first transmission part 51 and the second transmission part 52 are wound or unwound, the first transmission part 51 and the second transmission part 52 can move around the surface of the protrusion to ensure that the first transmission part 51 and the second transmission part 52 can be smoothly wound around the drive shaft 131.

[0077] It should be noted that, please refer to Figure 9 ,by Figure 9 Taking the direction shown as an example, the height of the first connecting component 214 in the third direction is lower than the height of the first side 317 of the first wheel set 30 in the third direction, and the height of the first transmission part 51 of the transmission rope 50 extending from the drive shaft 131 in the third direction is lower than the height of the first side 317 of the first wheel set 30. This ensures that the first transmission part 51 can smoothly wrap around the first side 317 of the first wheel set 30 and the first connecting component 214 after extending from the drive shaft 131. The height of the second connecting component 215 in the third direction is higher than the height of the second side 318 of the first wheel set 30 in the third direction, and the height of the second transmission part 52 of the transmission rope 50 extending from the drive shaft 131 in the third direction is higher than the height of the second side 318 of the first wheel set 30. This ensures that the second transmission part 52 can smoothly wrap around the second side 318 of the first wheel set 30 and the second connecting component 215 after extending from the drive shaft 131.

[0078] In some feasible ways, the first connecting component 214 and the second connecting component 215 can also be configured as rotatable structures to reduce the friction at the connection points between the transmission rope 50 and the first connecting component 214 and the second connecting component 215.

[0079] Specifically, the first connecting assembly 214 includes a first movable pulley 2141 rotatably disposed, and the second connecting assembly 215 includes a second movable pulley 2151 rotatably disposed. The first wheel set 30 can be configured as a rotating roller, which is cylindrical in shape, and the transmission rope 50 can be wound around the surface of the rotating roller. Alternatively, in this embodiment, the first wheel set 30 includes a transmission wheel 31 rotatably connected to the base 10, and the transmission rope 50 can be wound around the surface of the transmission wheel 31.

[0080] It should be noted that the rotation axes of the first movable pulley 2141 and the second movable pulley 2151 are both orthogonal to the rotation axis of the transmission wheel 31. The surfaces of the first movable pulley 2141 and the second movable pulley 2151 can also be provided with annular grooves around their rotation axes. The transmission rope 50 can be accommodated in the annular grooves on the first movable pulley 2141 and the second movable pulley 2151. The annular grooves can limit the position of the transmission rope 50, making it less likely to deviate from the position of the first movable pulley 2141 and the second movable pulley 2151. In addition, the annular grooves can also guide the movement of the transmission rope 50, allowing the transmission rope 50 to move along the path of the annular grooves.

[0081] For example, in combination Figure 9 As shown, there is an included angle A between the rotating shafts of the first movable pulley 2141 and the second movable pulley 2151. The included angle A is 100°-130°. For example, the included angle between the rotating shafts of the first movable pulley 2141 and the second movable pulley 2151 can be 100°, 110°, 120° and 130°. The specific angle needs to be determined according to the actual situation. This application does not limit it.

[0082] See Figures 1 to 3 , Figures 6 to 8 As shown, in some feasible embodiments, the first transmission part 51, after being wound around the first movable pulley 2141, can change its extension direction so that the first transmission part 51 extends toward the first wheel set 30. In this case, the first transmission part 51 can extend toward the first side 317 of the first wheel set 30, allowing it to be re-wound around the first side 317 of the first wheel set 30. Furthermore, the first transmission part 51 can continue to extend toward the base 10, and when it reaches the base 10, it can be connected to the base 10. Similarly, the second transmission part 52, after being wound around the second movable pulley 2151, can change its extension direction so that it extends toward the second side 318 of the first wheel set 30. In this case, the second transmission part 52 can be re-wound around the second side 318 of the first wheel set 30, and further extend toward the base 10, connecting to the base 10.

[0083] By rewinding the transmission rope 50, which is wound around the first movable pulley 2141 and the second movable pulley 2151, onto the first wheel set 30 and then connecting it to the base 10, the force on the transmission rope 50 can be made more uniform. Furthermore, by increasing the number of times or turns the transmission rope 50 is wound around the first wheel set 30, the transmission rope 50 can be made more efficient when pulling and clamping the structure 20.

[0084] In some feasible implementations, the number of times the first transmission part 51 and the second transmission part 52 are wound around the first wheel set 30 can be determined according to the actual situation. For example, they can be wound once or multiple times. When the number of times they are wound exceeds two, multiple movable pulleys are required to cooperate. For example, when the number of times the first transmission part 51 and the second transmission part 52 need to be wound around the first wheel set 30 exceeds two, multiple first movable pulleys 2141 and multiple second movable pulleys 2151 can be provided, and the multiple first movable pulleys 2141 and multiple second movable pulleys 2151 are arranged along the first direction.

[0085] To ensure that the first transmission unit 51 and the second transmission unit 52 are wound on the first wheel set 30 more than twice, the first connecting assembly 214 further includes a first fixed pulley 2142, and the second connecting assembly 215 further includes a second fixed pulley 2152. The first fixed pulley 2142 cooperates with the first movable pulley 2141, and the second fixed pulley 2152 cooperates with the second movable pulley 2151. Both the first fixed pulley 2142 and the second fixed pulley 2152 are connected to the base 10, and the first fixed pulley 2142 and the second fixed pulley 2152 are respectively located on opposite sides of the base 10 in a third direction. Specifically, the first fixed pulley 2142 is disposed on the end face of the base 10 facing the first side 317 of the first wheel set 30, and the second fixed pulley 2152 is disposed on the end face of the base 10 facing away from the first side 317 of the first wheel set 30. The first fixed pulley 2142 and the second fixed pulley 2152 are both rotatably connected to the base 10, and their axes of rotation are parallel and parallel to a third direction.

[0086] Multiple first movable pulleys 2141 are spaced apart along a first direction, and a first fixed pulley 2142 is disposed between two adjacent first movable pulleys 2141. Similarly, multiple second movable pulleys 2151 are spaced apart along the first direction, and a second fixed pulley 2152 is disposed between two adjacent second movable pulleys 2151. It should be noted that the positions of the first fixed pulley 2142 and the second fixed pulley 2152 refer to their spatial locations. For example, the projection of the first fixed pulley 2142 onto the end face of the first movable pulley 2141 could be between two adjacent first movable pulleys 2141, and the projection of the second fixed pulley 2152 onto the second movable pulley 2151 could be between two adjacent second movable pulleys 2151.

[0087] This increases the number of times the first transmission part 51 and the second transmission part 52 are wound on the first wheel set 30. Specifically, after extending from the drive shaft 131, the first transmission part 51 is sequentially wound around the first side 317 of the first wheel set 30, the first movable pulley 2141, and the first side 317 of the first wheel set 30 again, thus achieving two windings of the first transmission part 51 around the first side 317 of the first wheel set 30. When more windings are required, the first transmission part 51, which is re-wound around the first side 317 of the first wheel set 30, is wound around the first fixed pulley 2142. After being wound around the first fixed pulley 2142, the extension direction of the first transmission part 51 can be changed, allowing it to continue extending towards the first side 317 of the first wheel set 30 and winding around the first wheel set 30 again. Then, the first transmission part 51 can extend to the next first movable pulley 2141 and wound around it. The first movable pulley 2141 can change the extension direction of the first transmission part 51, so that it can be wound around the first wheel set 30 again. Thus, through the cooperation between the first movable pulley 2141 and the first fixed pulley 2142, the first transmission part 51 can be wound back and forth between the first movable pulley 2141, the first side 317 of the first wheel set 30 and the first fixed pulley 2142, thereby enabling the first transmission part 51 to be wound on the first side 317 of the first wheel set 30 more times.

[0088] The winding method of the second transmission part 52 is similar to that of the first transmission part 51. The difference is that the second transmission part 52 is wound in a loop between the second movable pulley 2151, the second side 318 of the first wheel group 30 and the second fixed pulley 2152. The winding method of the first transmission part 51 can be referred to, and will not be described in detail here.

[0089] Combination Figure 7 As shown, in some feasible methods, since the first wheel set 30 has a certain radial dimension, the first side 317 of the first wheel set 30 is higher than the height of the first fixed pulley 2142 in the third direction. Therefore, when the first transmission part 51 extends from the first side 317 of the first wheel set 30 toward the first fixed pulley 2142 and needs to be wound around the first fixed pulley 2142, the height difference makes the connection area between the first transmission part 51 and the first fixed pulley 2142 smaller, making it easier for the first transmission part 51 to detach from the first fixed pulley 2142.

[0090] In this application, to ensure the stability of the connection between the first transmission part 51 and the first fixed pulley 2142, the transmission assembly further includes a second wheel set 40. The second wheel set 40 is rotatably connected to the base 10, and the axis of rotation of the second wheel set 40 is parallel to the axis of rotation of the first wheel set 30. The second wheel set 40 and the first wheel set 30 are arranged along a second direction, such that the second wheel set 40 is located between the first wheel set 30 and the drive shaft 131 of the drive member 13 in the second direction. The first transmission parts 51 extending from the drive shaft 131 all need to first be wound around the lower side of the second wheel set 40 in a third direction, and then extend toward and be wound around the first side 317 of the first wheel set 30. The second wheel assembly 40 is located on the lower side of the base 10 in the third direction, so that the lower side of the second wheel assembly 40 is lower than the first side 317 of the first wheel assembly 30 in the third direction. In this way, the second wheel assembly 40 can constrain the first transmission part 51 led out from the drive shaft 131, so that it fits against the surface of the base 10. As a result, when the first transmission part 51 passes around the second wheel assembly 40 and is wrapped around the first wheel assembly 30, the size of the first transmission part 51 fitting against the first wheel assembly 30 is larger, which can increase the transmission efficiency of the first transmission part 51.

[0091] In addition, such as Figure 7 As shown, the second wheel set 40 is also located between the first wheel set 30 and the first fixed pulley 2142 in the second direction. As mentioned above, the first transmission part 51, which is led out from the drive shaft 131, first needs to pass over the surface of the second wheel set 40, and then be wound around the first side 317 of the first wheel set 30. After passing over the first side 317 of the first wheel set 30, the first transmission part 51 is wound around the first movable pulley 2141. After being led out from the first movable pulley 2141, the first transmission part 51 can be wound around the first side 317 of the first wheel set 30 and the first fixed pulley 2142 in sequence. During the process of the first transmission part 51 extending from the first side 317 of the first wheel set 30 toward the first fixed pulley 2142, the first transmission part 51 needs to be wound around the lower side of the second wheel set 40 in the third direction, and then led out from the lower side of the second wheel set 40 in the third direction to be wound around the first fixed pulley 2142. By setting the second wheel set 40, the first transmission part 51 extending from the first side 317 of the first wheel set 30 can be constrained to the surface close to the base 10. This changes the extension direction of the first transmission part 51 extending from the first side 317 of the first wheel set 30, making it almost parallel to the winding surface of the first fixed pulley 2142. This facilitates increasing the winding area between the first transmission part 51 and the first fixed pulley 2142, making it less likely for the first transmission part 51 to detach from the first fixed pulley 2142, and increasing the transmission efficiency.

[0092] See Figure 1 , Figure 6 , Figure 7 as well as Figure 10As shown, in some feasible implementations, the first transmission part 51 needs to be wound around the surface of the first wheel set 30 and the second wheel set 40, and the second transmission part 52 needs to be wound around the surface of the first wheel set 30. In order to prevent the two transmission parts of the transmission rope 50 from shifting position during the movement of the first transmission part 51 and the second transmission part 52 driven by the drive shaft 131, the present application also provides a first limiting groove 315 and a second limiting groove 316 around the axis of rotation on the peripheral wall of the first wheel set 30. Multiple first limiting grooves 315 and multiple second limiting grooves 316 are provided. The first transmission part 51 is wound around the first limiting groove 315, and the second transmission part 52 is wound around the second limiting groove 316.

[0093] Specifically, the first limiting groove 315 and the second limiting groove 316 are arranged in pairs, with one first limiting groove 315 and one second limiting groove 316 forming a group, and the two are arranged adjacent to each other. The number of first limiting grooves 315 and second limiting grooves needs to be determined according to the number of times the first transmission part 51 and the second transmission part 52 are wound around the first wheel set 30. The number of times the first transmission part 51 and the second transmission part 52 need to be wound is the number of corresponding first limiting grooves 315 and second limiting grooves 316 provided on the first wheel set 30.

[0094] In addition, a third limiting groove 415 is provided on the second wheel set 40 around its pivot, and when the first transmission part 51 is wound around the second wheel set 40, it is housed in the third limiting groove 415.

[0095] By providing the first limiting groove 315, the second limiting groove 316, and the third limiting groove 415, the first transmission part 51 and the second transmission part 52 can be accommodated, thereby limiting the position of the first transmission part 51 on the surface of the first wheel set 30 and the second wheel set 40, and limiting the position of the second transmission part 52 on the surface of the first wheel set 30, making it less prone to deviation and facilitating stable transmission. In addition, the first limiting groove 315, the second limiting groove 316, and the third limiting groove 415 can also serve as guides, guiding the first transmission part 51 and the second transmission part 52 to move around the axis of the first wheel set 30 and the second wheel set 40.

[0096] In some feasible implementations, the first wheel assembly 30 includes a plurality of transmission wheels 31 arranged along a first direction. A first wheel shaft 32 is rotatably mounted on the base 10, and the plurality of transmission wheels 31 are coaxially connected to the first wheel shaft 32, enabling the transmission wheels 31 to rotate relative to the base 10. Each transmission wheel 31 has a first limiting groove 315 and a second limiting groove 316 formed on its peripheral wall around its axis of rotation.

[0097] When the first transmission part 51 is wound on the first wheel set 30 more than twice, the number of transmission wheels 31 can be set to more than two. For example, in this embodiment, the transmission wheels 31 include at least a first transmission wheel 311, a second transmission wheel 312, a third transmission wheel 313, and a fourth transmission wheel 314 arranged sequentially along the first direction. In this application, the first transmission wheel 311 and the second transmission wheel 312 can be combined, and the third transmission wheel 313 and the fourth transmission wheel 314 can be combined. A first movable pulley 2141 and a second movable pulley 2151 are provided between the first transmission wheel 311 and the second transmission wheel 312, and between the third transmission wheel 313 and the fourth transmission wheel 314. A first fixed pulley 2142 and a second fixed pulley 2152 are provided between the second transmission wheel 312 and the third transmission wheel 313.

[0098] The second wheel assembly 40 of this application includes a plurality of guide wheels 41 arranged along a second direction. Each transmission wheel 31 is correspondingly provided with a guide wheel 41. For example, the guide wheels 41 include a first guide wheel 411, a second guide wheel 412, a third guide wheel 413, and a fourth guide wheel 414. The first guide wheel 411 corresponds to the first transmission wheel 311, the second guide wheel 412 corresponds to the second transmission wheel 312, the third guide wheel 413 corresponds to the third transmission wheel 313, and the fourth guide wheel 414 corresponds to the fourth transmission wheel 314. The third limiting groove 415 on each guide wheel 41 corresponds to the first limiting groove 315 on the corresponding transmission wheel 31, and is used to accommodate the first transmission part 51. A second wheel shaft 42 is rotatably connected to the base 10, and the guide wheels 41 are connected to the second wheel shaft 42 along the first direction to realize that the guide wheels 41 are rotatably disposed on the base 10.

[0099] In this embodiment, when the first wheel assembly 30 includes a transmission wheel 31, the first transmission part 51 is wound around the first side 317 of the transmission wheel 31, and the second transmission part 52 is wound around the second side 318 of the transmission wheel. Assuming the rotation angle of the clamping structure 20 is Δθ... jo This indicates that, assuming the first transmission unit 51 surrounds the first side 317 of the transmission wheel 31, the length of the first transmission unit 51 adhering to the first side 317 of the transmission wheel 31 is l. is Assuming that the length of the second transmission part 52 that is attached to the second side 318 of the transmission wheel 31 when the second transmission part 52 is around the second side 318 of the transmission wheel 31 is l os Then we have:

[0100]

[0101] In the formula, r jo Let θ be the radius of the transmission wheel 31. o1 and θ o2The central angles corresponding to the contact lengths of the first transmission part 51 and the first side 317 and the second transmission part 52 and the second side 318 when the clamping structure 20 has not yet rotated (initial position) are given, where n is the number of times or revolutions of the first transmission part 51 and the second transmission part 52 around the transmission wheel 31, and related frictional forces are ignored.

[0102] From the above formula, we can obtain that if the rotation angle of the drive shaft 131 of the drive component 13 is Δθ dr Then Δθ dr Movement Δθ with clamping structure 20 jo The relationship is:

[0103] Δθ dr =-Δl is / r dr =Δl os / r dr =nΔθ jo r jo / r dr

[0104] Where, r dr Let be the radius of the drive shaft 131 of the drive component 13. The above formula can be written as:

[0105] Δθ jo / Δθ dr =r dr / nr jo

[0106] As can be seen from the above formula, when the radius of the drive shaft 131 is smaller than the radius of the transmission wheel 31, when the drive shaft 131 rotates at a certain angle, the rotation angle of the clamping structure 20 is smaller than the rotation angle of the drive shaft 131. This makes the rotation speed of the clamping structure 20 smaller than the rotation speed of the drive shaft 131, thereby achieving a deceleration effect and better controlling the movement of the clamping structure 20.

[0107] Therefore, in this embodiment of the application, the radial dimension of the drive shaft 131 is set to be smaller than the radius of the transmission wheel 31.

[0108] Furthermore, assume that the output linear displacement of the clamping structure 20 is Δx out The linear displacement of drive shaft 131 is Δx in Combining the formula above, we can conclude that:

[0109] Δx out =Δθ jo r jo =Δθ dr r dr / n=Δx in / n

[0110] Therefore, -Δl is=Δl os =nΔθ jo r jo

[0111] It is understandable that regardless of whether the clamping structure 20 rotates clockwise or counterclockwise, during rotation, the length of the first transmission part 51 adhering to the first side 317 of the transmission wheel 31 when it rotates is equal to the length of the second transmission part 52 adhering to the second side 318 of the transmission wheel 31 when it rotates. Therefore, when the clamping structure 20 of this application rotates, the first transmission part 51 and the second transmission part 52 always remain taut, and the transmission rope 50 can be prevented from slackening during the rotation of the clamping structure 20 without the need for an additional tensioning structure.

[0112] In this application, regardless of the direction in which the clamping structure 20 rotates, the tension of the transmission rope 50 provided by the driving member 13 is amplified by being output to the clamping structure 20 through the movable pulley and the fixed pulley. Specifically, according to the pulley system principle, the tension of the transmission rope 50 acting on the clamping structure 20 is:

[0113] T out =nT in

[0114] Where n is the number of times or turns of the first transmission part 51 or the second transmission part 52 on the transmission wheel 31.

[0115] Considering the linear displacement relationship of the transmission rope 50, the equivalent stiffness K of the transmission rope 50 to the clamping structure 20 can be obtained from the above formula. out It can be represented as:

[0116]

[0117] In the formula, K represents the overall elastic coefficient of the transmission rope 50, which satisfies K = T in / Δx in It can be seen that the proposed solution can achieve a transmission rope stiffness of 50 n. 2 Magnified many times.

[0118] As can be seen from the above, the changes in some parameters when the transmission rope 50 and the first wheel set 30 are engaged are related to the stiffness of the transmission rope 50, the connection method between the transmission rope 50 and the drive shaft 131, and the number of times the transmission rope 50 is wound on the first wheel set 30. Although this application uses only one transmission rope 50 to control a clamping structure 20, the engagement between the transmission rope 50 and the first wheel set 30 is relatively flexible. For example, the number of times the transmission rope 50 is wound on the first wheel set 30 can be increased by setting the number of transmission wheels 31. Increasing the number of windings can ensure the stiffness of the clamping structure 20. Furthermore, the transmission rope 50 is spirally wound on the drive shaft 131. When the drive shaft 131 rotates, the first transmission part 51 and the second transmission part 52 of the transmission rope 50 have the same extension and retraction dimensions, thus ensuring that the transmission rope 50 is always kept taut without the need for an additional tensioning device. This application utilizes the cooperation between the transmission rope 50, the first connecting component 214 and the second connecting component 215 of the clamping structure 20 of the drive shaft 131, and the first wheel set 30 to achieve the clamping action of the clamping structure 20 driven by only one transmission rope 50. This ensures a simple structure and easy operation, avoids the complex problems of coordinating control of multiple transmission ropes 50, and also avoids the problems of interference and inconsistent movement between multiple transmission ropes 50 when they work together.

[0119] See Figures 1 to 3 , Figures 11 to 12 As shown, in some possible implementations, the base 10 includes a base 11 and two support members 12 connected to the base 11, respectively disposed at opposite ends of the base 11 in a second direction. Each support member 12 includes a first connecting portion 121, a second connecting portion 122, and a third connecting portion 123 connected together. The first connecting portion 121 is detachably connected to the base 11, for example, by means of screws. The second connecting portion 122 and the third connecting portion 123 are connected to the same side of the first connecting portion 121, and are spaced apart in the second direction, with the second connecting portion 122 positioned closer to the base 11 than the third connecting portion 123. A first wheel assembly 30 is rotatably connected to the third connecting portion 123 via a first wheel axle 32, and a second wheel assembly 40 is rotatably connected to the second connecting portion 122 via a second wheel axle 42. The end of the second connector 232 away from the first connector 231 is rotatably connected to the second connecting portion 122 of the support member 12.

[0120] For example, the base 11 further includes a first base body 111 and a second base body 112, wherein two second base bodies 112 are provided, and the two second base bodies 112 are respectively provided at opposite ends of the first base body 111 in a second direction. The second base bodies 112 can be detachably connected to the first base body 111 by means of screws or other structures, or, as in the embodiments of this application, the first base body 111 and the second base body 112 are integrally formed. The first connecting portion 121 of the support member 12 is fixedly connected to the end of the second base body 112 away from the first base body 111 by screws.

[0121] It should be noted that the first base 111 has two spaced end bearing seats 1112 and a middle bearing seat 1113 arranged along the middle position of the second direction. The two end bearing seats 1112 are arranged along the first direction and are used to connect one drive member 13. The middle bearing seat 1113 is disposed between the two end bearing seats 1112. The drive shafts 131 of the two drive members 13 extend toward the middle bearing seat 1113 along the first direction and are rotatably connected to the middle bearing seat 1113. The rotation axes of the drive shafts 131 of the two drive members 13 coincide.

[0122] In addition, a shaft groove 1111 is provided on the first housing 111 between the end bearing housing 1112 and the middle bearing housing 1113 along the first direction, and part of the structure of the drive shaft 131 can be accommodated in the shaft groove 1111. By providing the shaft groove 1111, part of the structure of the drive shaft 131 can be housed in the shaft groove 1111, thereby reducing the space occupied by the drive shaft 131 in the third direction.

[0123] It is worth mentioning that, in this embodiment of the application, the first fixed pulley 2142 is disposed on the first base 111 and is located on the end face of the first base 111 for opening the shaft groove 1111. The second fixed pulley 2152 is rotatably connected to the second base 112 and is located on the end face of the second fixed pulley 2152 facing away from the first fixed pulley 2142. The second base 112 is also provided with a mounting groove 1121 at the position for connecting the second fixed pulley 2152. The second fixed pulley 2152 can be accommodated in the mounting groove 1121 to reduce the space occupied by the second fixed pulley 2152.

[0124] Combination Figure 13In some feasible embodiments, the interior of the base 10 is further provided with a through channel 113, which passes through a portion of the first seat 111 and the second seat 112. The end of the channel 113 away from the second seat 112 is connected to the shaft groove 1111. One side of the drive shaft 131 is located within the shaft groove 1111. The first transmission part 51 and the second transmission part 52 of the transmission rope 50 on the drive shaft 131 extend from opposite sides of the drive shaft 131. For example, the first transmission part 51 extends from the side of the drive shaft 131 away from the shaft groove 1111 toward the first side 317 of the first wheel set 30, while the second transmission part 52 extends from the side of the drive shaft 131 toward the shaft groove 1111. The second transmission part 52 extends from the shaft groove 1111 to pass through the channel 113. The second transmission part 52 extends from the channel 113 toward the second side 318 of the first wheel set 30. After extending from the channel 113, the second transmission part 52 can be wrapped around the second side 318 of the first wheel set 30.

[0125] By setting a channel 113 inside the base 10, not only can the material used in the base 10 be reduced and the manufacturing cost of the base 10 be saved, but it can also be used to accommodate the second transmission part 52, so that the second transmission part 52 can be routed inside the base 10, avoiding occupying the routing space and making the flexible gripper smaller in size.

[0126] In some feasible embodiments, in order to fix the first transmission part 51 and the second transmission part 52 to the base 10, this application also provides a fastener 1114 on the base 10. Specifically, the fastener 1114 is provided on the first seat 111 of the base 10. The fastener 1114 can be a clamping structure or a block structure, and the fastener is also provided with fastening holes for the first transmission part 51 and the second transmission part 52 to pass through. When the ends of the first transmission part 51 and the second transmission part 52 are inserted into the fastening holes, the first transmission part 51 and the second transmission part 52 can be fixed in the fastening holes by using a set screw. The specific structure of the fastener 1114 is not limited in this application, as long as it can successfully fix the ends of the first transmission part 51 and the second transmission part 52 to the base 10.

[0127] It should be noted that when the end of the second transmission part 52 in this application needs to be fixed to the base 10, the end of the second transmission part 52 can be inserted into the channel 113, and a through hole communicating with the fastening hole of the fastener 1114 can be opened on the base 10. The end of the second transmission part 52 is inserted into the through hole and the end of the second transmission part 52 is inserted into the fastening hole of the fastener 1114. Then, the end of the second transmission part 52 is pressed into the fastener 1114 by the set screw.

[0128] In some feasible implementations, the base 10 also has a wheel hole 114 connected to the channel 113. A rotating guide wheel 115 is disposed within the wheel hole 114, and the axis of rotation of the guide wheel 115 is parallel to the axis of rotation of the first wheel set 30. When the end of the second transmission part 52 extends into the channel 113, it can be wound around the guide wheel 115 and then connected to the fastener 1114. By providing the guide wheel 115, not only can the position of the second transmission part 52 be restricted to prevent it from shifting, but the second transmission part 52 can also be guided, making it easier for it to extend to the fastener 1114.

[0129] In this application, the transmission frame 21 includes a frame body 211, a first connecting body 212 and a second connecting body 213. The first connecting body 212 and the second connecting body 213 are both connected to the frame body 211. The frame body 211 is rotatably connected to the base 10. Specifically, the frame body 211 is rotatably connected to the third connecting part 123 of the support member 12 via the same rotating shaft and the first wheel set 30.

[0130] The frame 211 may be provided with a clearance space to accommodate the first wheel set 30, or the frame 211 may also be provided with two spaced-apart connecting ends, the frame 211 being connected to the third connecting part 123 through the connecting ends, and the first wheel set 30 being located in the gap between the two connecting ends.

[0131] The first connecting component 214 of this application is connected to the first connecting body 212, and the second connecting component 215 is connected to the second connecting body 213. When the first connecting component 214 includes a plurality of first movable pulleys 2141, the plurality of first movable pulleys 2141 are arranged along the first direction on the first connecting body 212. When the second connecting component 215 includes a plurality of second movable pulleys 2151, the plurality of second movable pulleys 2151 are arranged along the first direction on the second connecting body 213.

[0132] The first movable pulley 2141 is disposed on the end face of the first connecting body 212 facing away from the first wheel assembly 30, and the second movable pulley 2151 is disposed on the end face of the second connecting body 213 facing the first connecting body 212. There is an included angle between the end face of the first connecting body 212 for mounting the first movable pulley 2141 and the end face of the second connecting body 213 for mounting the second movable pulley 2151. This included angle is complementary to the included angle between the rotation axis of the first movable pulley 2141 and the rotation axis of the second movable pulley 2151.

[0133] As can be seen from the above, when the drive shaft 131 winds up the first transmission part 51, the first transmission part 51 will pull the first movable pulley 2141 during the winding process to drive the two transmission frames 21 to rotate relative to each other. When the drive shaft winds up the second transmission part 52, the second transmission part 52 will pull the second movable pulley 2151 during the winding process to drive the two transmission frames 21 to rotate in opposite directions.

[0134] A second aspect of this application also provides a robot, including a robot body and the aforementioned flexible gripper. The robot body includes a robotic arm, and the flexible gripper is connected to the robotic arm.

[0135] Finally, it should be noted that other embodiments of this utility model will readily occur to those skilled in the art upon consideration of the specification and practice of the utility model disclosed herein. This utility model is intended to cover any variations, uses, or adaptations of this utility model that follow the general principles of this utility model and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this utility model is limited only by the appended claims.

Claims

1. A flexible gripper, characterized in that, include: Matrix; A driving element, disposed on the base, is used to provide driving force; A transmission assembly connected to the drive member for transmitting the driving force of the drive member; as well as At least one pair of clamping structures are provided, and the pair of clamping structures are rotatably disposed at opposite ends of the base, so that the pair of clamping structures can be opened and closed. The clamping structures are connected to the transmission assembly, so that the clamping structures rotate clockwise and counterclockwise relative to the base under the action of driving force. The clamping structure includes a transmission frame, a connecting structure, and a clamping member. The transmission frame is rotatably connected to the base. The connecting structure includes two connecting members that are rotatably connected. One connecting member is rotatably connected to the transmission frame, and the other connecting member is rotatably connected to the base. The clamping member is connected to one of the connecting members and is located near the connection point of the two connecting members.

2. The flexible gripper according to claim 1, characterized in that, The connection structure includes a first connector and a second connector. One end of the first connector is rotatably connected to the end of the transmission frame away from the base. The other end of the first connector is rotatably connected to one end of the second connector. The other end of the second connector is rotatably connected to the base. The clamping member is connected to the first connector at a position close to the second connector.

3. The flexible gripper according to claim 2, characterized in that, The first connector includes a first sub-part and a second sub-part connected to each other. One end of the first sub-part is rotatably connected to the second connector, and the other end of the first sub-part is rotatably connected to the second connector. The second sub-part is connected to the end of the first sub-part near the second connector, and the clamping member is connected to the second sub-part.

4. The flexible gripper according to claim 3, characterized in that, The two connecting members, the transmission frame, and the base form a parallelogram structure. The clamping member has a clamping surface, and the clamping surfaces of the two corresponding clamping members are arranged in parallel.

5. The flexible gripper according to claim 1, characterized in that, The driving component has a driving shaft, and the transmission assembly includes a first wheel set and a transmission rope. The transmission rope is spirally wound around the driving shaft, and the two ends of the transmission rope form a first transmission part and a second transmission part. The first transmission part and the second transmission part are respectively wound around opposite sides of the first wheel set. The first transmission part and the second transmission part are also respectively wound around a portion of the clamping structure, and both the first transmission part and the second transmission part are fixed to the base.

6. The flexible gripper according to claim 5, characterized in that, The clamping structure includes a first connecting component and a second connecting component. The first wheel set has a first side and a second side opposite to each other. The first transmission part is sequentially wound around the first side of the first wheel set and the first connecting component, and the second transmission part is sequentially wound around the second side of the first wheel set and the second connecting component.

7. The flexible gripper according to claim 6, characterized in that, The first connecting component includes a first movable pulley that is rotatably disposed, the second connecting component includes a second movable pulley that is rotatably disposed, the first wheel set includes a guide wheel that is rotatably connected to the base, and the axis of rotation of the first movable pulley and the axis of rotation of the second movable pulley are both orthogonal to the axis of rotation of the guide wheel.

8. The flexible gripper according to claim 5, characterized in that, The transmission assembly further includes a second wheel set, which is rotatably connected to the base. The axis of rotation of the second wheel set is parallel to the axis of rotation of the first wheel set. The second wheel set is located between the first wheel set and the drive shaft of the drive member, and the second wheel set and the first wheel set are arranged along a second direction. A first transmission part located between the first wheel set and the drive shaft is wound around the second wheel set.

9. The flexible gripper according to any one of claims 1-8, characterized in that, The base includes a base and support members connected to opposite ends of the base. The drive member is connected to the base, and the transmission frame is connected to the support members.

10. A robot, characterized in that, Includes the robot body and the flexible gripper as described in any one of claims 1-9.

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