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, at least one pair of clamping structures and a first wheel set. A driving piece is arranged on the base body, and the driving piece is provided with a driving shaft which is rotationally arranged; the paired clamping structures are rotationally arranged at the two opposite ends of the base body respectively. The first wheel set is rotationally connected to the base body. Transmission ropes corresponding to the clamping structures are arranged on the driving shaft and spirally wound around the driving shaft, a first transmission part and a second transmission part are formed at the two ends of each transmission rope, a channel penetrating through the base body is formed in the base body, the first transmission parts are sequentially wound around the first wheel set and the clamping structures and fixed to the base body, and the second transmission parts are arranged in the channel in a penetrating mode. The winding structure is sequentially wound around the first wheel set and the clamping structure and fixed to the base body. The flexible clamping jaw is compact in structure, and the size is reduced.

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. The transmission structure transmits the driving force from the drive structure to the execution structure, which then performs the gripping task.

[0004] However, the structural design of the robot gripper in the relevant technology is unreasonable, resulting in the gripper occupying a relatively large space. Utility Model Content

[0005] This application provides a flexible gripper and robot, which are used to provide a flexible gripper with a compact structure and small footprint.

[0006] In a first aspect, embodiments of this application provide a flexible gripper, including a base, at least one pair of gripping structures, and a first wheel set. A driving member is provided on the base, and the driving member has a rotatably configured driving shaft. The pair of gripping structures are respectively rotatably configured at opposite ends of the base, so that the pair of gripping structures can be opened and closed. The first wheel set is rotatably connected to the base. Each gripping structure and the base are correspondingly provided with a first wheel set, and the first wheel set and the corresponding gripping structure rotate coaxially. A transmission rope is provided on the driving shaft corresponding to each gripping structure. 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. A channel penetrating the base is provided. The first transmission part is sequentially wound around the first wheel set and the gripping structure, and the first transmission part is fixed to the base. The second transmission part passes through the channel and is sequentially wound around the first wheel set and the gripping structure, and the second transmission part is fixed to the base. The first transmission part and the second transmission part are wound on opposite sides of the first wheel set.

[0007] The flexible gripper provided in this application embodiment can drive a gripping structure to rotate clockwise or counterclockwise using only a transmission rope and a driving component. Its simple structure and driving method not only reduce the overall size of the gripper, minimizing its space occupation, but also lower manufacturing costs and reduce the complexity of multi-structure control, thus simplifying maintenance. Furthermore, the flexible gripper in this application achieves tension by winding the transmission rope around the driving shaft. When the driving shaft rotates, one end of the transmission rope is wound onto the driving shaft, while the other end detaches. This ensures that both ends of the transmission rope remain taut during the rotation of the gripping structure, eliminating the need for a separate tensioning structure. This simplifies the structure and reduces costs. Moreover, the base of this application has an internal channel through which the second transmission part of the transmission rope passes during its extension. This creates space within the base to accommodate the second transmission part, allowing at least a portion of the transmission rope to be housed within the base. This avoids excessive space occupation during transmission, improving space utilization and making the overall flexible gripper structure more compact.

[0008] In one possible implementation, the base includes a base, a drive member is connected to the base, the drive shaft, the first wheel set, and the clamping structure are all arranged along a first direction, the drive shaft is located between two pairs of clamping structures, and a channel extends through the base along a second direction perpendicular to the first direction, with the channel opening at the position corresponding to the drive shaft.

[0009] In one possible implementation, a shaft groove is provided on the base corresponding to the position of the drive shaft. The shaft groove is provided along the extension direction of the drive shaft and is connected to the channel. Part of the structure of the drive shaft is located in the shaft groove.

[0010] In one possible implementation, a fastener is provided on the substrate. The fastener has an end located on the surface of the substrate and an end located inside the channel. The end of a first transmission part is fixed to the end of the fastener located on the surface of the substrate, and the end of a second transmission part passes through the channel and is fixed to the end of the fastener located in the channel.

[0011] In one possible implementation, the base also includes a support member, one end of which is connected to the base, and the first wheel assembly and the transmission frame are rotatably connected to the end of the support member away from 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, and the first wheel set includes a transmission wheel that is rotatably connected to the base. 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 clamping structure further includes a transmission frame and a clamping member, the clamping member being connected to the transmission frame. The transmission frame includes a frame body, a first connecting body, and a second connecting body, both the first and second connecting bodies being connected to the frame body. The frame body is rotatably connected to the base body. A first connecting component is disposed on the first connecting body, and a second connecting component is disposed on the second connecting body.

[0015] In one possible implementation, a second wheel set is further included. The second wheel set 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. The second wheel set and the first wheel set are arranged along a second direction. The first transmission part located between the first wheel set and the drive shaft is also wound around the second wheel set.

[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 A cross-sectional view of the flexible gripper provided in this application;

[0019] Figure 2 A schematic diagram of the structure of the base provided in this application;

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

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

[0022] Figure 5 A schematic diagram of a flexible gripper provided in this application;

[0023] Figure 6 Another structural schematic diagram of the flexible gripper provided in this application;

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

[0025] Figure 8Another cross-sectional view of the flexible gripper provided in this application;

[0026] Figure 9 Another top view of the flexible gripper provided in this application;

[0027] Figure 10 A bottom view of the flexible gripper provided in this application;

[0028] Figure 11 A side view of the flexible gripper provided in this application;

[0029] Figure 12 A partial structural diagram of the flexible gripper provided in this application;

[0030] Figure 13 This is a schematic diagram of another partial structure 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 have illustrated 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 specific 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] With the increasing diversification of application scenarios and the continuous improvement of requirements for operational precision and adaptability, traditional rigid grippers, lacking flexibility and stiffness adjustment, are often unable to meet practical needs. Meanwhile, dedicated flexible grippers for specific scenarios suffer from drawbacks such as limited gripping capabilities. Therefore, enabling grippers to possess variable stiffness characteristics is crucial. Furthermore, traditional grippers, or some existing variable stiffness flexible grippers, rely on complex motor drive systems, such as using multiple motors as drive sources. In multi-motor driven gripper designs, each motor requires a separate control circuit, driver, and corresponding programming and debugging. Multiple motors and their associated complex control systems not only significantly increase the manufacturing cost of the equipment but also increase the overall structural complexity, undoubtedly increasing the difficulty and cost of research and development, production, and subsequent maintenance.

[0040] To address this issue, a rope-driven gripper has emerged on the market. It primarily comprises a gripper body and a rope-driven structure and a gripping structure mounted on the gripper body, utilizing rope drive to improve the aforementioned variable stiffness problem. However, existing rope-driven grippers often require multiple ropes to work together to achieve the gripper's movement, and controlling the tension balance and motion coordination among these ropes is extremely complex. Furthermore, the rope-driven structures are concentrated on the outer surface of the gripper body, which not only increases the structural complexity of the gripper body surface but also makes the overall gripper structure bulky and less compact. In actual operation, interference or inconsistent movement between ropes is easily encountered, which severely affects the gripper's normal gripping function, leading to gripping failure or a significant decrease in gripping accuracy.

[0041] To address the aforementioned issues, this application provides a flexible gripper. This flexible gripper utilizes a transmission rope to drive two gripping structures to move relative to or away from each other, thereby achieving the gripping and releasing of objects. Through the cooperation between the driving component and the transmission rope, the gripping structure's grasping operation can be realized. This method of using a transmission rope to drive the gripping structure effectively controls the stiffness variation accuracy of the gripping structure, reducing the likelihood of unstable gripping or damage to the object. Furthermore, this application uses only one transmission rope to drive the gripping structure on one side of the gripper, eliminating the need for multiple transmission ropes working together. Therefore, controlling the gripper's gripping operation in this application is relatively simple and ensures gripping accuracy. Additionally, the transmission ropes in this application are not all located on the surface of the substrate, but rather a portion is located inside the substrate. This not only prevents interference between the transmission ropes but also reduces the complexity of the structure on the substrate, making the flexible gripper's structure compact.

[0042] 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.

[0043] 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, at least one pair of gripping structures 20, and a first wheel set 30. The base 10 serves as a mounting and fixing structure for the gripper, which can be mounted on the robot body. Additionally, the base 10 can also serve as a structure supporting the gripping structures 20 and the first wheel set 30, enabling the gripping structures 20 to move in space and grip objects.

[0044] A drive member 13 is provided on the base 10. The drive member 13 in this application is a drive motor. The drive member 13 has a drive shaft 131 that is rotatably arranged. When the drive shaft 131 rotates, it can provide a rotational driving force. This driving force can be transmitted to the clamping structure 20 through the first wheel set 30 to drive the clamping structure 20 to make corresponding movements.

[0045] Specifically, 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 arranged opposite each other and rotatably connected to the base 10 with parallel axes of rotation. 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 them increases, thereby placing the item down.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] A transmission rope 50 is provided on the drive shaft 131 for each clamping structure 20. Thus, the drive member 13 can drive the clamping structure 20 via the transmission rope 50. Each clamping structure 20 is provided with a corresponding transmission rope 50 for rotating it. Specifically, the transmission rope 50 is spirally wound around the drive shaft 131, so that the two ends of the transmission rope 50 rotate in opposite directions on the drive shaft 131. 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 the clockwise rotation of the drive shaft 131. It is worth noting that the terms "clockwise" and "counterclockwise" are relative and are used to illustrate that the rotation direction of the drive shaft 131 is opposite.

[0050] 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.

[0051] It should be noted that the base 10 is provided with a channel 113 penetrating the base 10. As the first transmission part 51 extends toward the first wheel set 30, it can extend along the surface of the base 10 to one side of the first wheel set 30, and after bypassing part of the clamping structure 20, it is fixed to the base 10. As the second transmission part 52 extends toward the first wheel set 30, it first needs to pass through the channel 113, then exit from the channel 113 and wrap around the other side of the first wheel set 30, and after bypassing part of the clamping structure 20, it is fixed to the base 10.

[0052] For ease of explanation, the orientation of the gripper structure in this application will be described, by Figure 1 and 3 As shown, the X-axis represents the first direction, the Y-axis represents the second direction, and the Z-axis represents the third direction. The first, second, and third directions are all perpendicular to each other.

[0053] 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.

[0054] 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.

[0055] 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 around 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 set 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 is shortened, which can drive the clamping structure 20 and the position where the shortened transmission rope 50 is connected to rotate toward the drive shaft 131, so that the clamping structure 20 can rotate clockwise and counterclockwise around its axis.

[0056] Because the two ends of the transmission rope 50 are respectively wound around the opposite sides of the first wheel set 30, the rotation direction of the first wheel set 30 is different when the transmission rope 50 wound on the opposite sides of the first wheel set 30 is wound up, and the rotation direction of the corresponding 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.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] Furthermore, the base 10 of this application has a channel 113 inside, and the second transmission part 52 of the transmission rope 50 passes through the channel 113 during its extension. This creates a space inside the base 10 for housing the second transmission part 52, allowing at least a portion of the transmission rope 50 to be housed within the base 10. This avoids the transmission rope 50 occupying excessive space during transmission, thereby improving space utilization and making the entire flexible gripper structure more compact. Moreover, because the second transmission part 52 is located within the channel 113, it does not interfere with the first transmission part 51, ensuring transmission accuracy.

[0061] See Figures 1 to 3 As shown, in some possible implementations, the base 10 includes a base 11 and a support member 12 connected to the base 11. Two support members 12 are provided, respectively located at opposite ends of the base 11 in a second direction.

[0062] The drive shaft 131, the first wheel set 30, and the clamping structure 20 are all arranged along the first direction. The drive shaft 131 is located between two pairs of clamping structures 20. The channel 113 passes through the base 10 along the second direction perpendicular to the first direction, and the channel 113 is opened at the position corresponding to the drive shaft 131.

[0063] Specifically, the base 11 also includes a first seat body 111 and a second seat body 112, wherein two second seat bodies 112 are provided, and the two second seat bodies 112 are respectively provided at opposite ends of the first seat body 111 in a second direction. The second seat bodies 112 can be detachably connected to the first seat body 111 by means of screws or other structures, or, as in the embodiment of this application, the first seat body 111 and the second seat body 112 are integrally formed. The channel 113 is opened from the end face of the second seat body 112 facing away from the first seat body 111 along the second direction, and extends through the second seat body 112 toward the drive shaft 131. The opening of the channel 113 is located directly opposite the drive shaft 131, so that the second transmission part 52 can extend from the drive shaft 131 into the channel 113.

[0064] By providing a channel 113 inside the base 10, it can not only accommodate the second transmission part 52 and allow the second transmission part 52 to run inside the base 10, thus avoiding occupying the wiring space and making the flexible gripper smaller, but also reduce the material used in the base 10 and save the manufacturing cost of the base 10.

[0065] In some feasible embodiments, the first housing 111 has spaced end bearing seats 1112 and a middle bearing seat 1113 positioned at the midpoint along the second direction. Two end bearing seats 1112 are provided, arranged along the first direction, and each end bearing seat 1112 is used to connect to a driving member 13. The middle bearing seat 1113 is positioned between the two end bearing seats 1112. The drive shafts 131 of the two driving members 13 extend along the first direction toward the middle bearing seat 1113 and are rotatably connected to it. The rotation axes of the drive shafts 131 of the two driving members 13 coincide.

[0066] 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.

[0067] One 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 in 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, and 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 into 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.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] In some feasible implementations, the 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 a 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.

[0072] The first connecting part 121 of the support member 12 is fixedly connected to the end of the second base 112 away from the first base 111 by screws.

[0073] Reference Figure 7 and Figure 8 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.

[0074] 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. Since the two clamping structures 20 are similarly symmetrically arranged with the drive shaft 131 as the central axis, if it is to be possible to drive the two clamping structures 20 to move towards or away from each other when the drive shaft 131 rotates, the winding ends of the two transmission ropes 50 need to be wound around the same side of the corresponding first wheel set 30 when the two drive shafts 131 rotate, and the unwinding ends of the two transmission ropes 50 need to be wound around the other side of the corresponding first wheel set 30.

[0075] 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 1For 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.

[0076] 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.

[0077] Reference Figure 4-6 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.

[0078] In some feasible ways, please combine them together. Figures 9 to 11 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.

[0079] 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.

[0080] 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.

[0081] 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.

[0082] It should be noted that, please refer to Figure 12 ,by Figure 12 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.

[0083] 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.

[0084] 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.

[0085] 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.

[0086] For example, in combination Figure 12 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.

[0087] See Figures 4 to 6 , Figures 9 to 11 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.

[0088] 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.

[0089] 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.

[0090] 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.

[0091] 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.

[0092] 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.

[0093] 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.

[0094] 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.

[0095] Combination Figure 12As 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.

[0096] In this application, to ensure the stability of the connection between the first transmission part 51 and the first fixed pulley 2142, a second wheel set 40 is also provided. 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 part 51 extending from the drive shaft 131 needs to first be wound around the lower side of the second wheel set 40 in a third direction, and then extend towards and wound around the first side 317 of the first wheel set 30. Figure 12 As shown, the second wheel set 40 is close to the surface of the base 10 on its lower side in the third direction, so that the lower side of the second wheel set 40 is lower than the first side 317 of the first wheel set 30 in the third direction. In this way, the second wheel set 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. Thus, when the first transmission part 51 passes around the second wheel set 40 and is wrapped around the first wheel set 30, the size of the first transmission part 51 fitting against the first wheel set 30 is larger, which can increase the transmission efficiency of the first transmission part 51.

[0097] In addition, such as Figure 12As 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.

[0098] See Figure 4 , Figure 9 , Figure 10 as well as Figure 13 As 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.

[0099] 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.

[0100] 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.

[0101] 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.

[0102] 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.

[0103] 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.

[0104] 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.

[0105] 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 the length of the second transmission part 52 adhering to the second side 318 of the transmission wheel 31 when the second transmission part 52 surrounds the second side 318 of the transmission wheel 31 is l os Then we have:

[0106]

[0107] In the formula, r jo Let θ be the radius of the transmission wheel 31. o1 and θ o2 The 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.

[0108] 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:

[0109] Δθ dr =-Δl is / r dr =Δl os / r dr =nΔθjo r jo / r dr

[0110] Where, r dr Let be the radius of the drive shaft 131 of the drive component 13. The above formula can be written as:

[0111] Δθ jo / Δθ dr =r dr / nr jo

[0112] 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.

[0113] 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.

[0114] 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:

[0115] Δx out =Δθ jo r jo =Δθ dr r dr / n=Δx in / n

[0116] Therefore, -Δl is =Δl os =nΔθ jo r jo

[0117] 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.

[0118] 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:

[0119] T out =nT in

[0120] 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.

[0121] 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:

[0122]

[0123] 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.

[0124] 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.

[0125] See Figure 4As shown, in some possible implementations, the clamping structure 20 includes a transmission frame 21 and a clamping member 22. The clamping member 22 is connected to the transmission frame 21 and is used to clamp and release items when the clamping structure 20 opens and closes. The shape of the clamping member 22 can be set according to the actual application scenario. For example, the clamping member 22 can be set as a plate-like structure, or the clamping member 22 can also be set as a claw-like structure. In this application, the clamping member 22 is set as a plate-like structure for illustration.

[0126] As a structure for gripping items, in order to increase the stability when gripping items and to increase the friction between the gripping member 22 and the gripped item, an anti-slip member 221 can be provided on the end face of the gripping member 22 used for gripping items. The anti-slip member 221 can be an anti-slip rubber pad, or the anti-slip member 221 can also be multiple anti-slip blocks directly protruding on the gripping member 22. The anti-slip blocks can be made of materials such as silicone or rubber, or the end face of the gripping member 22 can be provided with abrasive particles.

[0127] In this application, the transmission frame 21 is used to transmit the driving force of the driving member 13 to the clamping member 22, so as to drive the clamping member 22. 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 through the same rotating shaft and the first wheel set 30.

[0128] 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.

[0129] 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.

[0130] 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.

[0131] 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.

[0132] In some feasible implementations, the clamping structure 20 further includes a connecting structure 23 for connecting the clamping member 22 and the transmission frame 21. Specifically, the connecting structure 23 includes a first connecting member 231 and a second connecting member 232. One end of the first connecting member 231 is rotatably connected to a second connecting body 213, and the other end of the first connecting member 231 is rotatably connected to one end of the second connecting member 232. The end of the second connecting member 232 away from the first connecting member 231 is rotatably connected to the base 10, specifically, the end of the second connecting member 232 away from the first connecting member 231 is rotatably connected to the second connecting portion 122 of the support member 12. The clamping member 22 is connected to the end of the first connecting member 231 near the second connecting member 232.

[0133] 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. The two ends of the first sub-part 2311 are rotatably connected to the second connector 213 and the second connector 232, respectively. The second sub-part 2312 is connected to the end of the first sub-part 2311 near the second connector 232. 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.

[0134] By setting up a connecting structure 23, the first connecting member 231 and the second connecting member 232 of the connecting structure 23 are rotatably connected, and the first connecting member 231 is also rotatably connected to the second connecting body 213 of the transmission frame 21. The end of the second connecting member 232 away from the first connecting member 231 is also rotatably connected to the second connecting part 122 of the support member 12. In this way, the first connecting member 231, the second connecting member 232, the second connecting body 213 and the support member 12 form a linkage structure. Through this linkage structure, the movement of the gripper 22 can be better driven. For example, when the transmission frame 21 rotates around the axis, it can drive the first connecting member 231 to move. When the first connecting member 231 moves, it can rotate relative to the transmission frame 21. At the same time, the first connecting member 231 can also drive the gripper 22 to move. Moreover, the movement of the first connecting member 231 can also drive the second connecting member 232 to rotate relative to the second connecting part 122. This can avoid motion interference and allow the gripper 22 to move smoothly. Furthermore, through the linkage structure, the cooperation between the first connector 231 and the second connector 232 can transmit the movement of the transmission frame 21 to the clamping member 22, which is beneficial for controlling the position of the clamping member 22.

[0135] 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 second connecting body 213, 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 second connecting part 122, and the fourth rotational position is the connection position between the frame 211 and the third connecting part 123. 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.

[0136] 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.

[0137] 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: A base, on which a driving component is provided, the driving component having a rotatably configured driving shaft; At least one pair of clamping structures, the pair of clamping structures are respectively rotatably disposed at opposite ends of the base, so that the pair of clamping structures can be opened and closed; as well as The first wheel set is rotatably connected to the base. Each clamping structure and the base are respectively provided with the first wheel set, and the first wheel set and the corresponding clamping structure rotate coaxially. A transmission rope is provided on the drive shaft corresponding to each clamping structure. 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. A channel penetrating the base is provided. The first transmission part is sequentially wound around the first wheel set and the clamping structure, and the first transmission part is fixed to the base. The second transmission part passes through the channel and is sequentially wound around the first wheel set and the clamping structure, and the second transmission part is fixed to the base. The first transmission part and the second transmission part are wound on opposite sides of the first wheel set.

2. The flexible gripper according to claim 1, characterized in that, The base includes a base, the drive member is connected to the base, the shaft of the drive shaft, the shaft of the first wheel set and the shaft of the clamping structure are all arranged along a first direction, the drive shaft is located between two pairs of clamping structures, the channel passes through the base along a second direction perpendicular to the first direction, and the channel is opened at the position of the drive shaft.

3. The flexible gripper according to claim 2, characterized in that, The base has a shaft groove corresponding to the position of the drive shaft. The shaft groove is opened along the extension direction of the drive shaft and is connected to the channel. Part of the structure of the drive shaft is located in the shaft groove.

4. The flexible gripper according to claim 3, characterized in that, The base is provided with a fastener, the fastener having an end located on the surface of the base and an end located inside the channel. The end of the first transmission part is fixed to the end of the fastener located on the surface of the base, and the end of the second transmission part passes through the channel and is fixed to the end of the fastener located in the channel.

5. The flexible gripper according to any one of claims 1-4, characterized in that, The base also includes a support member, one end of which is connected to the base, and the first wheel set and transmission frame are rotatably connected to the end of the support member away from the base.

6. The flexible gripper according to claim 1, 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 6, characterized in that, The clamping structure further includes a transmission frame and a clamping component. The clamping component is connected to the transmission frame. The transmission frame includes a frame body, a first connecting body, and a second connecting body. The first connecting body and the second connecting body are both connected to the frame body. The frame body is rotatably connected to the base. The first connecting component is disposed on the first connecting body, and the second connecting component is disposed on the second connecting body.

9. The flexible gripper according to claim 1, characterized in that, It also 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. The first transmission part located between the first wheel set and the drive shaft is also wound around the second wheel set.

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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