Clutch mechanism

Abstract

The utility model relates to the technical field of actuators, and provides a clutch mechanism which comprises a base body. The at least two clamping pieces are arranged on the base body, each clamping piece is configured to rotate around an eccentric axis and is provided with a friction surface, the friction surfaces of the at least two clamping pieces are oppositely arranged, each friction surface is provided with a first end and a second end which are far away from each other, and the distance between the first end and the axis is larger than that between the second end and the axis; an external rope passes through the space between the at least two clamping pieces; and the matching assembly is configured to enable the at least two clamping pieces to rotate relatively, so that the clamping pieces have a matching state in which the first ends of the clamping pieces are close to each other and a de-matching state in which the first ends of the clamping pieces are far away from each other, when the clamping pieces are in the matching state, the friction surfaces lock the rope, and when the clamping pieces are in the de-matching state, the friction surfaces release the rope.

Description

Technical Field

[0001] At least one embodiment of this utility model relates to the field of actuator technology, and more particularly to a clutch mechanism. Background Technology

[0002] Ropes, as a transmission medium, are widely used in assistive devices such as exoskeletons. Ropes can be used to connect actuators and driven components to transmit the motion output by the actuators and to achieve functions such as distal drive, bidirectional drive, and antagonistic drive of joints or structures.

[0003] In different usage scenarios, auxiliary devices typically need to have multiple operating modes. For example, in some cases, it is necessary to disconnect the power transmission between the actuator and the driven component, thus requiring a corresponding clutch mechanism. Currently, most common clutch mechanisms are electrically driven, but they have limitations due to their reliance on external power sources or built-in batteries. External power sources restrict the mobility and applicable scenarios of auxiliary devices, while battery configuration increases the size and weight of auxiliary devices and limits their battery life. Utility Model Content

[0004] To address at least one of the aforementioned and other technical problems in the prior art, this utility model provides a clutch mechanism that achieves the engagement and disengagement of the clamping member and the rope through a passive drive method.

[0005] This utility model provides a clutch mechanism, comprising: a base; at least two clamping members disposed on the base, each clamping member being configured to rotate about an eccentric axis and having a friction surface, the friction surfaces of the at least two clamping members being disposed opposite to each other, the friction surfaces having a first end and a second end that are far apart, the distance between the first end and the axis being greater than the distance between the second end and the axis; an external rope passing through the at least two clamping members; and a mating assembly configured to cause the at least two clamping members to rotate relative to each other, such that the clamping members have a mating state in which their respective first ends are brought close together and a dismounting state in which their first ends are far apart, wherein when the clamping members are in the mating state, the friction surfaces grip the rope, and when the clamping members are in the dismounting state, the friction surfaces release the rope.

[0006] In some illustrative embodiments, a cavity is provided within the matrix, and the rope passes through the cavity. At least two clamping members are disposed within the cavity and symmetrically arranged on both sides of the rope.

[0007] In some illustrative embodiments, the aforementioned mating assembly includes: an actuating part configured to apply an actuating force to at least two of the aforementioned clamping members to bring the first ends closer together, so that the clamping members have the aforementioned mating state; and an unlocking part configured to apply a pressure to at least two of the aforementioned clamping members to move the first ends away from each other, so that the clamping members have the aforementioned unmolding state.

[0008] In some illustrative embodiments, the actuating part includes a first magnetic element and a second magnetic element, the first magnetic element being disposed on one of the clamping members and the second magnetic element being disposed on another of the clamping members, and the attraction between the first magnetic element and the second magnetic element serving as the actuating force.

[0009] In some illustrative embodiments, the actuating part includes an elastic element, the elastic force applied by the elastic element to the clamping member serves as the actuating force; the elastic element is disposed between at least two of the clamping members, or the elastic element is disposed between the clamping member and the base.

[0010] In some illustrative embodiments, the unlocking part includes: at least two first mating members, each of the first mating members being disposed on one of the clamping members; a sliding member slidably disposed on the base; and at least two second mating members symmetrically disposed on both sides of the sliding member and moving synchronously between a first position and a second position with the sliding member; wherein, when the sliding member is in the first position, the second mating members form a clearance fit with the first mating members, and when the sliding member is in the second position, the second mating members abut against the first mating members, and apply pressure to the clamping member through the first mating members to overcome the actuating force, so that the clamping member is in the disengaged state.

[0011] In some illustrative embodiments, the first mating member is configured to protrude from the clamping member; the end face of the second mating member facing the first mating member forms a curved structure.

[0012] In some illustrative embodiments, a limiting component is also included, configured to hold the slider in the first position and / or the second position.

[0013] In some illustrative embodiments, the limiting component includes: at least two third magnetic elements, spaced apart from each other along the sliding direction of the slider; a fourth magnetic element, disposed on the substrate, wherein when one of the third magnetic elements is opposite to the fourth magnetic element, the slider is held in the first position, and when the other of the third magnetic elements is opposite to the fourth magnetic element, the slider is held in the second position; or, a third magnetic element is disposed on the slider; at least two fourth magnetic elements are spaced apart from each other along the sliding direction of the slider on the substrate, wherein when one of the third magnetic elements is opposite to the fourth magnetic element, the slider is held in the first position, and when the other of the third magnetic elements is opposite to the fourth magnetic element, the slider is held in the second position.

[0014] In some illustrative embodiments, one of the clamping member and the base is provided with a shaft structure, and the other is provided with a groove structure that rotatably engages with the shaft structure; wherein the shaft structure defines the axis.

[0015] In some illustrative embodiments, the rope described above includes a static rope.

[0016] In some illustrative embodiments, the friction surface is provided with at least one of a tooth structure, a groove structure, a protrusion structure, and a flexible structure.

[0017] As can be seen from the illustrative embodiment of this utility model, the eccentric structure and friction self-locking of at least two clamping members in the above-mentioned clutch mechanism achieve passive drive. When the engaging assembly rotates the clamping members to the engaging state, the first ends of the two clamping members approach each other, compressing the rope and generating a self-reinforcing locking effect due to the eccentricity; conversely, the mechanical action of the engaging assembly can also cause the clamping members to rotate back to the disengaged state, thereby releasing the rope. When the clamping members are switched between the engaging and disengaged states by the engaging assembly, it is achieved solely through the mechanical structure and is completely independent of electricity. Attached Figure Description

[0018] Figure 1 A schematic diagram of a clutch mechanism according to an embodiment of the present invention is shown.

[0019] Figure 2 yes Figure 1 The schematic diagram of the clutch mechanism shown omits the paddle shifters.

[0020] Figure 3 yes Figure 1 The clutch mechanism shown omits the structural diagram of the base and illustrates the disengaged state of the clamping components.

[0021] Figure 4 yes Figure 1The diagram shown illustrates the clutch mechanism in the engaged state.

[0022] In the accompanying drawings, the meanings of the reference numerals are as follows:

[0023] 100. Clutch mechanism; 110. Base; 111. Through hole; 112. Cavity; 120. Clamping component; 121. Shaft structure; 122. Friction surface; 130. Rope; 140. Mating assembly; 141. Sliding component; 142. First magnetic component; 143. Second magnetic component; 144. First mating component; 145. Second mating component; 150. Limiting assembly; 151. Third magnetic component; 152. Fourth magnetic component. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0025] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of the invention. The terms “comprising,” “including,” etc., as used herein indicate the presence of the stated features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0026] All terms used herein, including technical and scientific terms, have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein are to be interpreted in a manner consistent with the context of this specification, and not in an idealized or overly rigid way.

[0027] When using expressions such as "at least one of A, B, and C," the meaning should generally be interpreted according to the understanding of someone skilled in the art. For example, "a system having at least one of A, B, and C" should include, but is not limited to, systems having A alone, having B alone, having C alone, having A and B, having A and C, having B and C, and / or having A, B, and C. Similarly, when using expressions such as "at least one of A, B, or C," the meaning should generally be interpreted according to the understanding of someone skilled in the art. For example, "a system having at least one of A, B, or C" should include, but is not limited to, systems having A alone, having B alone, having C alone, having A and B, having A and C, having B and C, and / or having A, B, and C.

[0028] Figure 1 A schematic diagram of a clutch mechanism according to an embodiment of the present invention is shown.

[0029] According to the clutch mechanism 100 provided in this utility model, referring to Figure 1 As shown, it includes a base 110, at least two clamping members 120, and a mating assembly 140. At least two clamping members 120 are disposed on the base 110, each clamping member 120 being configured to rotate about an eccentric axis and having a friction surface 122. Figure 1 Not shown, see Figure 3 At least two clamping members 120 have friction surfaces 122 arranged opposite to each other. Each friction surface 122 has a first end and a second end that are far apart. The distance between the first end and the axis is greater than the distance between the second end and the axis. An external rope 130 passes between the at least two clamping members 120. A mating assembly 140 is configured to rotate the at least two clamping members 120 relative to each other, such that the clamping members 120 have a mating state in which their respective first ends approach each other, and a dismounting state in which their first ends move away from each other. When the clamping members 120 are in the mating state, the friction surfaces 122 grip the rope 130; when the clamping members 120 are in the dismounting state, the friction surfaces 122 release the rope 130.

[0030] Reference Figure 1 As shown, in some illustrative embodiments, the clutch mechanism 100 includes a base 110, which includes, but is not limited to, a shell assembly configured as a body structure. Specifically, through holes 111 are provided on opposite sides of the shell assembly. The inner diameter of the through holes 111 is configured to be greater than or equal to the diameter of the rope 130, allowing the rope 130 to pass through the through holes 111 through the shell assembly. That is, when the clamping member 120 of the clutch mechanism 100 is disengaged from the rope 130, the rope 130 is movable relative to the clutch mechanism 100, and the movement of the rope 130 along its extension direction does not cause displacement of the clutch mechanism 100.

[0031] According to an embodiment of this utility model, the friction surface 122 is provided with a toothed structure (see specific details). Figure 3 As shown, these tooth structures are spaced apart along the extension direction of the friction surface 122 (i.e., from the first end to the second end). Of course, the friction surface 122 can also adopt a groove structure, a protrusion structure, a flexible structure, or any other related structure suitable for increasing the friction between the clamping member 120 and the rope 130.

[0032] According to embodiments of the present invention, the rope 130 includes, but is not limited to, a static rope. A static rope, also known as a static cord, is understood to be one whose length hardly changes when subjected to a load (e.g., its elongation is less than or equal to 5%). Thus, when the clamping member 120 is in the engaged state, the clutch mechanism 100 can be used to transmit the displacement of the rope 130 by the actuator along the traction direction. It should be understood that embodiments of the present invention are not limited to this.

[0033] For example, the rope 130 may also be a dynamic rope, which measures the amount of displacement and / or change in force of the rope 130 along the traction direction.

[0034] Based on this, the clutch mechanism 100 includes, but is not limited to, having two clamping members 120, which are arranged in pairs. A portion of the rope 130 passes through the friction surfaces 122 provided by the two clamping members 120. The friction surface 122 can be understood as a continuous or discontinuous non-smooth surface. When the clamping member 120 is in a engaged state where its friction surface 122 holds the rope 130 tightly, it can be understood that the friction surface 122 and the rope 130 are effectively connected through friction. Thus, when the rope 130 moves along its extension direction, the clamping member 120 will drive the clutch mechanism 100 to move synchronously with the rope 130.

[0035] Specifically, refer to Figure 1 As shown, the clamping member 120 includes, but is not limited to, a structure configured as generally fan-shaped or partially disk-shaped, and rotatably mounted on the base 110. Specifically, the clamping member 120 rotates about an axis offset from its geometric center, thereby forming an eccentric rotation structure. Further, the clamping member 120 has a friction surface 122 extending radially outward along the axis, the friction surface 122 being generally continuous and including a second end near the axis and a first end located on the outer side and away from the axis. The distance from the first end to the axis is greater than the distance from the second end to the axis, thereby forming an asymmetrical lever arm structure.

[0036] Based on the eccentric design of the clamping member 120, when the clamping member 120 rotates around its axis, the clamping force of its friction surface 122 on the rope 130 changes accordingly. That is, during the tension of the rope 130, the distance between the first ends of the two clamping members 120 gradually decreases, thereby applying a gradually increasing clamping force to the rope 130, ultimately achieving a self-locking effect through frictional torque. When the rope 130 displaces in the opposite direction, the traction direction of the rope 130 is the same as the swing direction of the clamping member 120 towards its second end. Therefore, the distance between the first ends of the two clamping members 120 can be increased, allowing the rope to move along this displacement direction. In other words, this allows the clutch mechanism to connect with the rope 130 only in one direction, while in the opposite direction, it allows the rope 130 to disengage from the clutch mechanism and displace unrestricted.

[0037] In this implementation, the clutch mechanism 100 achieves a completely power-free clutch function through the eccentric structure of at least two clamping members 120 and a friction self-locking mechanism. When the engaging component 140 drives the clamping members 120 to rotate into the engaging state, the first ends of the two clamping members 120 approach each other, pressing the rope 130 passing between them, and generating a self-reinforcing locking effect through the eccentric effect, thereby achieving reliable locking. Conversely, through the mechanical action of the same engaging component 140, the clamping members 120 can be rotated back to the disengaged state, quickly releasing the rope 130. The entire workflow, including state switching and position holding, is completed through a purely mechanical structure without any electrical intervention. This not only ensures the reliability of the clutch function but also completely avoids dependence on batteries or external power sources, effectively reducing the system weight and size, and significantly improving the applicability and endurance of the auxiliary equipment in different scenarios.

[0038] Figure 2 yes Figure 1 The schematic diagram of the clutch mechanism shown omits the paddle shifters. Figure 3 yes Figure 1 The clutch mechanism shown omits the structural diagram of the base and illustrates the disengaged state of the clamping components. Figure 4 yes Figure 1 The diagram shown illustrates the clutch mechanism in the engaged state.

[0039] According to an embodiment of the present invention, referring to Figure 2 As shown, a cavity 112 is provided inside the base 110. A rope 130 passes through the cavity 112. At least two clamping members 120 are provided inside the cavity 112 and are symmetrically arranged on both sides of the rope 130.

[0040] According to an embodiment of the present invention, referring to Figure 2 and Figure 3 As shown, one of the clamping member 120 and the base 110 is provided with a shaft structure 121, and the other is provided with a groove structure that rotatably engages with the shaft structure 121. The shaft structure 121 defines an axis.

[0041] In some illustrative embodiments, reference is made to Figure 1 As shown, the housing assembly (i.e., base 110) serves as the mounting base for the clutch mechanism 100. Specifically, the housing assembly is provided with a cavity 112 (see reference). Figure 2 As shown), the cavity 112 can specifically be a groove, which is configured to conform to the outer contour of the clamping member 120 so that the clamping member 120 can be rotatably fitted into the groove.

[0042] In some illustrative embodiments, reference is made to Figure 2As shown, a protruding shaft structure 121 is provided on the side of the clamping member 120 facing the bottom of the cavity 112. Correspondingly, the bottom of the cavity 112 is provided with a groove structure to accommodate the shaft structure 121. The shape and size of the groove structure (including but not limited to the inner diameter and depth of the groove structure) are adapted to the shaft structure 121, so that a rotating pair about the axis of the shaft structure 121 is formed between the shaft structure 121 and the groove structure. Thus, the clamping member 120 can be rotatably connected to the housing assembly. It should be understood that the embodiments of this utility model are not limited thereto.

[0043] For example, the clutch mechanism 100 may also be provided with 2 pairs (i.e. 4), 3 pairs (i.e. 6), 4 pairs (i.e. 8), and any other number of clamping members 120. Multiple pairs of clamping members 120 may be arranged at intervals in the cavity 112 along the extension direction of the rope 130, thereby increasing the contact points between the clutch mechanism 100 and the rope 130 to distribute the force on each clamping member 120.

[0044] For example, a protruding shaft structure 121 can be formed in the cavity 112, and a groove structure is correspondingly provided in the clamping member 120, which is similar to the rotating pair formed in the above embodiment. Therefore, it will not be described in detail again.

[0045] According to an embodiment of the present invention, referring to Figure 2 and Figure 3 As shown, the mating assembly 140 includes an actuating part and an unlocking part. The actuating part is configured to apply an actuating force to at least two clamping members 120 to bring their first ends closer together, so that the clamping members 120 are in a mating state. The unlocking part is configured to apply a pressure to at least two clamping members 120 to move their first ends away from each other, so that the clamping members 120 are in a disengaged state.

[0046] According to an embodiment of the present invention, referring to Figure 2 As shown, the actuation unit includes a first magnetic element 142 and a second magnetic element 143. The first magnetic element 142 is disposed on a clamping member 120, and the second magnetic element 143 is disposed on another clamping member 120. The attraction between the first magnetic element 142 and the second magnetic element 143 serves as the actuating force.

[0047] In some illustrative embodiments, reference is made to Figures 2 to 4 As shown, the mating assembly 140 includes at least an actuating part and an unlocking part. Specifically, the actuating part and the unlocking part are responsible for controlling the switching of the clamping member 120 between the mating state and the unmatting state, respectively.

[0048] In some illustrative embodiments, the aforementioned actuator includes, but is not limited to, the use of, such as Figure 2 and Figure 3The first magnetic element 142 and the second magnetic element 143 are shown. Specifically, they are respectively embedded within two clamping members 120 (e.g., disposed in slots provided in the clamping members 120) and configured to have opposite magnetic poles, thereby continuously applying an actuating force that brings the first ends of the two clamping members 120 closer together through the magnetic force (magnetic attraction) generated therebetween. Based on this magnetic force, the clamping members 120 can automatically engage and maintain a locked state on the rope 130 without external energy input, achieving reliable self-locking. At least one of the first magnetic element 142 and the second magnetic element 143 is a magnet (such as a permanent magnet), and the other can be a permanent magnet or a magnetic element made of a magnetic material that can be attracted by a magnet (such as at least one of iron, cobalt, and nickel). It should be noted that the aforementioned first magnetic element 142 and second magnetic element 143 are only used to distinguish magnetic elements disposed on different clamping members 120, and are not intended to limit the specific number of magnetic elements. That is to say, the aforementioned first magnetic element 142 and / or second magnetic element 143 can be 1, 2, 3, 4, or any other arbitrary number, preferably to meet the corresponding magnetic force requirements. It should be understood that the embodiments of this utility model are not limited thereto.

[0049] In some other illustrative embodiments, not shown in the figures, the actuating element includes an elastic member that applies a spring force to the clamping member 120, which serves as the actuating force. The elastic member is disposed between at least two clamping members 120.

[0050] Similarly, in some other illustrative embodiments, the elastic element may also be disposed between the clamping member 120 and the base 110.

[0051] In a specific embodiment, when the elastic element is disposed between the two clamping members 120, a tension spring can be selected as the elastic element. The two ends of the tension spring are respectively connected to the two clamping members 120 (such as the first end), thereby continuously applying a pulling force to the first end to bring them closer together, causing the clamping members 120 to tend towards a mating state.

[0052] If an elastic element is placed between the clamping member 120 and the base 110, a torsion spring can be used as the elastic element. This torsion spring is fitted outside the shaft structure 121, with its long arm (or short arm) connected to the base 110 and its short arm (or long arm) connected to the clamping member 120. The restoring torque generated by its torsional deformation drives the clamping member 120 to rotate about its axis, thereby achieving mutual contact at the first ends. It should be understood that the embodiments of this utility model are not limited to this.

[0053] For example, the above-mentioned elastic element may also be a compression spring or other elastic structure that can apply opposing forces to the first end of the clamping member 120. Any structure that can achieve the same actuation function is within the protection scope of this embodiment.

[0054] In addition to the aforementioned mechanical structure, the actuation unit can also be electrically driven to move the clamping member 120 between the first and second positions. Specifically, it can be a motor and gears (or belts, pulleys, etc.) that drive the clamping member 120 to rotate around its axis.

[0055] It should be noted that although an electric drive is introduced into the part that drives the clamping member 120 to rotate, this part is only used for the clamping member 120 to swing within a small range, and its power consumption is very low. Therefore, compared with the related technology, it still has the advantage of smaller size and weight.

[0056] According to an embodiment of the present invention, referring to Figure 2 As shown, the unlocking part includes at least two first mating members 144, a sliding member 141, and at least two second mating members 145. Each first mating member 144 is disposed on a clamping member 120. The sliding member 141 is slidably disposed on the base 110. At least two second mating members 145 are symmetrically disposed on both sides of the sliding member 141 and move synchronously between a first position and a second position with the sliding member 141. When the sliding member 141 is in the first position, the second mating members 145 form a clearance fit with the first mating members 144. When the sliding member 141 is in the second position, the second mating members 145 abut against the first mating members 144, and apply pressure against the actuating force to the clamping member 120 through the first mating members 144, so that the clamping member 120 is in an unlocked state.

[0057] According to an embodiment of the present invention, referring to Figure 2 As shown, the first mating member 144 is configured to protrude from the clamping member 120. The second mating member 145 has a curved surface structure on its end face facing the first mating member 144.

[0058] In some illustrative embodiments, reference is made to Figure 2 As shown, the unlocking part includes a slider 141, which is slidably disposed on the shell assembly (i.e., the base 110), and its sliding direction is configured to be parallel to the extension direction of the rope 130. Furthermore, the unlocking part also includes at least two first mating members 144 and at least two second mating members 145.

[0059] Based on this, the aforementioned first mating member 144 includes, but is not limited to, being configured as a columnar structure. Two first mating members 144 are respectively fixed to the corresponding clamping member 120 and protrude from the end face of the clamping member 120 away from the shell assembly. Correspondingly, the sliding member 141 is symmetrically provided with second mating members 145 on both sides, and the end face of the sliding member 145 facing the first mating member 144 is designed as a curved surface so as to form a clearance fit with the first mating member 144 and to make the second mating member 145 push the first mating member 144 more smoothly.

[0060] The gap between the second mating member 145 and the first mating member 144 is configured to be greater than or equal to zero. When the gap is zero, although they are in contact, the second mating member 145 has not yet applied effective pressure to the first mating member 144. When the sliding member 141 is in the first position, this gap ensures that the second mating member 145 and the first mating member 144 do not interfere with each other. The clamping member 120 remains in a mating state under the magnetic force of the first magnetic member 142 and the second magnetic member 143, thus locking the rope 130. When the sliding member 141 is pushed to the second position, the second mating member 145 moves with it, abutting against the first mating member 144 with its curved surface and applying pressure, forcing the two clamping members 120 to rotate against the magnetic force, causing the first ends to move away from each other, thereby switching to the unmating state and reliably releasing the rope 130.

[0061] In addition, to facilitate user operation, a paddle is provided on the end face of the slider 141 facing away from the housing assembly to increase the contact area between the user and the slider 141. The surface of the paddle may be provided with anti-slip structures such as stripes or protrusions to enhance the friction during operation and facilitate the user to reciprocate the slider 141.

[0062] According to an embodiment of the present invention, referring to Figure 3 As shown, the clutch mechanism 100 also includes a limiting component 150. The limiting component 150 is configured to hold the slider 141 in a first position and / or a second position.

[0063] According to an embodiment of the present invention, referring to Figure 3 As shown, the limiting assembly 150 includes at least two third magnetic elements 151 and at least one fourth magnetic element 152. The at least two third magnetic elements 151 are spaced apart on the slider 141 along the sliding direction of the slider 141. The fourth magnetic element 152 is disposed on the base 110. When one third magnetic element 151 is opposite to the fourth magnetic element 152, the slider 141 is held in a first position; when the other third magnetic element 151 is opposite to the fourth magnetic element 152, the slider 141 is held in a second position.

[0064] In some illustrative embodiments, reference is made to Figure 3As shown, the limiting component 150 mainly includes two third magnetic elements 151 disposed on the slider 141, and one fourth magnetic element 152 mounted on the base 110. Specifically, the third magnetic elements 151 are arranged at intervals along the sliding direction of the slider 141, while the fourth magnetic element 152 is fixed to a corresponding position on the base 110. The third magnetic elements 151 and 152 are similar to the first magnetic element 142 and second magnetic element 143 described above; that is, at least one of the third magnetic element 151 and 152 is a magnet, while the other can be either a magnet or a magnetic element made of a magnetic material that can be attracted by a magnet.

[0065] Thus, when the slider 141 moves to the first position, one of the third magnetic elements 151 and the fourth magnetic element 152 face each other, and the magnetic attraction between them keeps the slider 141 stably in the first position. When the slider 141 is moved to the second position, the other third magnetic element 151 corresponds to the same fourth magnetic element 152, and the position is maintained by magnetic force as well. This magnetic limiting structure not only makes the user's operation feel clear and the positioning reliable, but also further enhances the passive drive characteristics of the entire clutch mechanism 100, achieving stable maintenance and switching of states without relying on electricity. It should be understood that the embodiments of this utility model are not limited thereto.

[0066] For example, in other embodiments, refer to Figure 3 As shown, the limiting component 150 includes at least one third magnetic element 151 and at least two fourth magnetic elements 152. At least one third magnetic element 151 is disposed on the sliding member 141. At least two fourth magnetic elements 152 are spaced apart on the base 110 along the sliding direction of the sliding member 141. When a third magnetic element 151 is opposite to one of the fourth magnetic elements 152, the sliding member 141 is held in the first position; when a third magnetic element 151 is opposite to another of the fourth magnetic elements 152, the sliding member 141 is held in the second position. The principle of this embodiment is the same as described above. Figure 3 The embodiments shown are similar, so they will not be described in detail here.

[0067] For example, the slider 141 can also be moved by a tight fit, a snap-fit, a detachable fastener, or any other connection method that can position and release the slider 141.

[0068] It should also be noted that the directional terms mentioned in the embodiments, such as "up," "down," "front," "back," "left," and "right," are only for reference to the directions in the accompanying drawings and are not intended to limit the scope of protection of this utility model. Throughout the drawings, the same elements are represented by the same or similar reference numerals. Conventional structures or constructions will be omitted where they may cause confusion in understanding this utility model.

[0069] The embodiments of the present invention have been described above. However, these embodiments are for illustrative purposes only and are not intended to limit the scope of the present invention. Although various embodiments have been described above, this does not mean that the measures in the various embodiments cannot be used advantageously in combination. The scope of the present invention is defined by the appended claims and their equivalents. Various substitutions and modifications can be made by those skilled in the art without departing from the scope of the present invention, and all such substitutions and modifications should fall within the scope of the present invention.

Claims

1. A clutch mechanism, characterized in that, include: Matrix; At least two clamping members are disposed on the base, each clamping member is configured to rotate about an eccentric axis and has a friction surface, the friction surfaces of the at least two clamping members are disposed opposite each other, the friction surfaces have a first end and a second end that are far apart, the distance between the first end and the axis is greater than the distance between the second end and the axis, and an external rope passes through the at least two clamping members; The mating assembly is configured to rotate at least two of the clamping members relative to each other, such that the clamping members have a mating state in which their respective first ends approach each other and a disengaged state in which their first ends move away from each other. When the clamping members are in the mating state, the friction surfaces grip the rope, and when the clamping members are in the disengaged state, the friction surfaces release the rope.

2. The clutch mechanism according to claim 1, characterized in that, The matrix has a cavity, and the rope is threaded through the cavity; At least two of the clamping members are disposed within the cavity and are symmetrically disposed on both sides of the rope.

3. The clutch mechanism according to claim 2, characterized in that, The mating components include: An actuator is configured to apply an actuating force to at least two of the clamping members to bring the first ends closer together, so that the clamping members have the engagement state; The unlocking part is configured to apply pressure to at least two of the clamping members to move the first ends apart, so that the clamping members have the disengaged state.

4. The clutch mechanism according to claim 3, characterized in that, The actuating part includes a first magnetic element and a second magnetic element. The first magnetic element is disposed on one of the clamping members, and the second magnetic element is disposed on the other clamping member. The attraction between the first magnetic element and the second magnetic element serves as the actuating force.

5. The clutch mechanism according to claim 3, characterized in that, The actuating part includes an elastic element, and the elastic force applied by the elastic element to the clamping member serves as the actuating force; The elastic element is disposed between at least two of the clamping elements, or the elastic element is disposed between the clamping elements and the base.

6. The clutch mechanism according to any one of claims 3 to 5, characterized in that, The unlocking unit includes: At least two first mating parts, each of the first mating parts being disposed in one of the clamping parts; A sliding element is slidably disposed on the substrate; At least two second mating parts are symmetrically arranged on both sides of the slider and move synchronously between the first position and the second position with the slider; When the slider is in the first position, the second mating member forms a clearance fit with the first mating member. When the slider is in the second position, the second mating member abuts against the first mating member, and the first mating member applies pressure to the clamping member to overcome the actuating force, so that the clamping member is in the disengaged state.

7. The clutch mechanism according to claim 6, characterized in that, The first mating member is configured to protrude from the clamping member; The end face of the second mating component facing the first mating component forms a curved structure.

8. The clutch mechanism according to claim 6, characterized in that, It also includes a limiting component configured to hold the slider in the first position and / or the second position.

9. The clutch mechanism according to claim 8, characterized in that, The limiting component includes: At least two third magnetic elements are disposed at intervals on the slider along the sliding direction of the slider; At least one fourth magnetic element is disposed on the substrate. When one of the third magnetic elements is opposite to the fourth magnetic element, the slider is held in the first position, and when another of the third magnetic elements is opposite to the fourth magnetic element, the slider is held in the second position. Alternatively, at least one third magnetic element may be disposed on the slider; At least two fourth magnetic elements are disposed at intervals on the substrate along the sliding direction of the slider. When the third magnetic element is opposite to one of the fourth magnetic elements, the slider is held in the first position, and when the third magnetic element is opposite to another of the fourth magnetic elements, the slider is held in the second position.

10. The clutch mechanism according to claim 1, characterized in that, One of the clamping member and the base is provided with a shaft structure, and the other is provided with a groove structure that rotatably engages with the shaft structure. The shaft structure defines the axis.

11. The clutch mechanism according to claim 1, characterized in that, The rope includes a static rope.

12. The clutch mechanism according to claim 1, characterized in that, The friction surface is provided with at least one of the following: tooth structure, groove structure, protrusion structure, and flexible structure.

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