CN113968482A - Gear and belt wheel coupled passive clamping mechanism - Google Patents
Gear and belt wheel coupled passive clamping mechanism Download PDFInfo
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- CN113968482A CN113968482A CN202111155719.9A CN202111155719A CN113968482A CN 113968482 A CN113968482 A CN 113968482A CN 202111155719 A CN202111155719 A CN 202111155719A CN 113968482 A CN113968482 A CN 113968482A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 98
- 230000001360 synchronised effect Effects 0.000 claims abstract description 58
- 230000008878 coupling Effects 0.000 claims abstract description 40
- 238000010168 coupling process Methods 0.000 claims abstract description 40
- 238000005859 coupling reaction Methods 0.000 claims abstract description 40
- 230000005540 biological transmission Effects 0.000 claims abstract description 39
- 230000000694 effects Effects 0.000 claims abstract description 24
- 238000006073 displacement reaction Methods 0.000 claims abstract description 15
- 230000033001 locomotion Effects 0.000 claims description 20
- 230000006835 compression Effects 0.000 claims description 11
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- 230000008859 change Effects 0.000 abstract description 7
- 238000003825 pressing Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 10
- 230000008569 process Effects 0.000 description 10
- 238000005381 potential energy Methods 0.000 description 4
- 230000001681 protective effect Effects 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
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Abstract
The invention discloses a gear and pulley coupled passive clamping mechanism, which comprises a connecting assembly, a shear type pressure lever assembly, a clamping mechanism connecting assembly, a gear and rack coupled synchronous belt transmission assembly and a flexible fin effect assembly which are sequentially connected from top to bottom; the connecting assembly is connected with an external pressure rod; the shear type pressure lever component converts the vertical displacement of an external pressure lever into the horizontal displacement of the tail end of the shear type pressure lever component; the clamping mechanism connecting assembly provides support and fixation for the gear rack coupling synchronous belt transmission assembly and the flexible fin effect assembly; the gear rack coupling synchronous belt transmission assembly drives the flexible fin effect assembly to move when the shear type pressure bar assembly moves; the flexible fin-ray effect assembly is driven by the gear-rack coupling synchronous belt transmission assembly to clamp the surface of the circular tubular object. The clamping mechanism of the invention takes the pressing force of the external world to the clamping mechanism as a driving source, and realizes passive clamping without additional driving force by the change of the mechanical structure in the mechanism.
Description
Technical Field
The invention relates to the technical field of anthropomorphic robot hands, in particular to a gear and belt wheel coupled passive clamping mechanism.
Background
Mechanical gripping mechanisms designed to mimic the gripping function of a human hand have been used in various areas of life. In order to increase the personification of the hand, more joint freedom degrees are designed for the hand, the reliability of the mechanism is increased, but the structural complexity, the volume and the weight of the mechanism are increased by using a multi-driver control clamping mechanism; in addition, in order to better grab complex-shaped and fragile precise objects, the clamping mechanism is required to have certain self-adaptability when grabbing the objects; the existing clamping mechanism is often driven by a motor to clamp an object continuously, and the installation of the motor and the use of electric power limit the application universality to a certain extent.
For example: the Chinese invention patent document CN101767337B discloses a bevel gear-belt wheel coupling under-actuated two-joint robot finger device, which is driven by a motor, so that the whole mechanism is additionally provided with the installation space of the motor, and the simplicity of the mechanism structure is reduced; the invention uses a decoupling mode to self-adaptively coat an object, adapts to the shape of the object, but long-time decoupling can cause a certain degree of abrasion to parts.
For another example, chinese patent document CN101214652B discloses a transitional under-actuated robot finger device, which uses a spring to store potential energy to achieve decoupling and under-actuated self-adapting to the surface of a gripped object, and has a certain self-adjusting function under the condition of low control requirement, but the whole adjusting range is limited, and the spring has a certain degree of abrasion after storing and releasing potential energy for a long time, and the mechanism motion accuracy needs to be further adjusted.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a passive clamping mechanism which does not need a built-in motor as a driver and is coupled with a gear belt wheel.
In order to achieve the technical purpose, the invention adopts the technical scheme that:
a passive clamping mechanism coupled with a gear and a belt wheel comprises a connecting assembly, a shear type pressure bar assembly, a clamping mechanism connecting assembly, a gear and rack coupling synchronous belt transmission assembly and a flexible fin effect assembly;
the connecting assembly is connected with an external pressure rod;
the shear type pressure lever assembly is arranged at the lower end of the connecting assembly and converts the vertical displacement of an external pressure lever into the horizontal displacement of the tail end of the shear type pressure lever assembly;
the clamping mechanism connecting assembly is arranged at the lower end of the shear type pressure lever assembly and provides support and fixation for the gear rack coupling synchronous belt transmission assembly and the flexible fin effect assembly;
the gear rack coupling synchronous belt transmission assembly is arranged below the clamping mechanism connecting assembly through a bearing, is a front end movement executing mechanism in the whole mechanism and drives the flexible fin effect assembly to move when the shear type pressure lever assembly moves;
the flexible fin effect assembly is arranged at the tail end of the gear rack coupling synchronous belt transmission assembly and is a tail end movement executing mechanism of the whole mechanism, and the surface of the circular tubular object is clamped under the driving of the gear rack coupling synchronous belt transmission assembly.
Furthermore, the connecting assembly comprises a cross rod fastening block, an upper guide rail connecting plate, an upper vertical positioning block and a positioning shaft; the cross rod fastening block is positioned at the top of the connecting component and is connected with an external pressure rod through a bolt; the upper guide rail connecting plate is fixedly connected with the lower end of the cross rod fastening block; the upper vertical positioning blocks are fixedly arranged at the left end and the right end of the upper guide rail connecting plate, the top ends of the positioning shafts are fixedly arranged on the upper vertical positioning blocks, and the positioning shafts are used for ensuring that the space horizontal position of the guide rail relative to the whole clamping mechanism is stable when the shear type pressure bar assembly moves.
Furthermore, the shear type pressure lever assembly comprises a first guide rail, a second guide rail, a sliding block, a rack connecting seat, a pressure lever central shaft, a pressure lever side shaft, a first rack and a second rack; the first guide rail is fixedly connected to the lower end of an upper guide rail connecting plate of the connecting assembly; the second guide rail is fixedly connected to the upper end of a lower guide rail connecting plate of the clamping mechanism connecting assembly; the top or the bottom of the sliding block is respectively connected with the first guide rail or the second guide rail in a sliding way; the number of the rack connecting seats is four, and the large end faces of the rack connecting seats are fixedly connected with the sliding blocks respectively; the two compression bars are arranged in a shear mode, and the upper end and the lower end of each compression bar are respectively arranged on the upper rack connecting seat and the lower rack connecting seat to play a role in converting vertical displacement into horizontal displacement; the central shaft of the pressure lever is arranged at the center of the pressure lever, so that two pressure levers are arranged in a shear mode; the number of the side shafts of the pressure lever is four, and the side shafts of the pressure lever are matched with the shaft retainer ring to be used for connecting the pressure lever and the rack connecting seat; the first rack is fixedly connected to the front side of the rack connecting seat, and the second rack is fixedly connected to the rear side of the rack connecting seat.
Further, the first rack and the second rack have the same number of teeth and different modulus.
Furthermore, limit bolts are arranged on the upper guide rail connecting plate and the lower guide rail connecting plate and limit the stroke of the sliding block.
Furthermore, the clamping mechanism connecting assembly comprises a lower guide rail connecting plate, a lower vertical positioning block, a wheel axle connecting block and a bearing; the lower guide rail connecting plate is arranged between the wheel shaft connecting block and the second guide rail, the upper end of the lower guide rail connecting plate is fixedly connected with the second guide rail, and the lower end of the lower guide rail connecting plate is fixedly connected with the wheel shaft connecting block; the lower vertical positioning blocks are fixedly arranged on the left side and the right side of the lower guide rail connecting plate, and the central holes of the lower vertical positioning blocks are in clearance fit with the positioning shafts of the connecting assemblies; the wheel shaft connecting block is fixedly arranged at the bottom end of the lower guide rail connecting plate, and the bearing is arranged in the wheel shaft connecting block.
Further, the gear rack coupling synchronous belt transmission assembly comprises an upper wheel shaft, a pinion, a swing arm, a large belt wheel, a synchronous belt, a lower wheel shaft and a small belt wheel; the upper wheel shaft is connected with a wheel shaft connecting block of the clamping mechanism connecting assembly through a bearing; the pinion and the large belt wheel are arranged at the front end of the upper wheel shaft, are in clearance fit with the wheel shaft, are fixedly connected with the large belt wheel and are meshed with the first rack; the upper end of the swing arm is fixedly connected with the rear end of the upper wheel shaft and is meshed with the second rack, and the lower end of the swing arm is fixedly connected with the lower wheel shaft; the lower wheel shaft is arranged between the small belt wheel and the tail end of the swing arm, the small belt wheel is positioned at the front end of the lower wheel shaft and is in clearance fit with the lower wheel shaft, the tail end of the swing arm is fixedly connected to the rear end of the lower wheel shaft, the synchronous belt is arranged between the large belt wheel and the small belt wheel, and the large belt wheel transmits motion to the small belt wheel through the synchronous belt.
Further, gear rack coupling synchronous belt drive subassembly still includes the hold-in range protecting cover, the hold-in range protecting cover is located gear rack coupling synchronous belt drive subassembly is inboard, with the swing arm links firmly.
Further, the flexible fin effect assembly comprises a flexible fin strip block, a first mounting block and a second mounting block; the flexible fin strip block is arranged below a lower wheel shaft of the gear-rack coupling synchronous belt transmission assembly and is connected with the lower wheel shaft through a first mounting block and a second mounting block, and the flexible fin strip block is fixedly connected with the first mounting block and the second mounting block; the first mounting block is arranged between the small belt wheel and the flexible fin strip block and fixedly connected with the small belt wheel; the second mounting block is arranged between the lower wheel shaft and the flexible fin strip block and is in clearance fit with the lower wheel shaft.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention does not depend on a built-in motor as a driver, and the vertical displacement change of the scissor mechanism is converted into the rotation opening and closing of the clamping jaw by applying vertical pressing force, namely, the external potential energy change is used as a driving source, so that the passive object clamping is realized, and the invention can be widely applied to the scene of clamping cylindrical objects without the driving of the motor.
2. The invention adopts a gear rack transmission mechanism and a synchronous belt transmission mechanism, and the whole mechanism is a single-degree-of-freedom mechanism and only needs one driving force.
3. According to the invention, double-gear rack synchronous transmission is adopted, and the small belt wheel can rotate around the large belt wheel shaft as a center through the meshing of gear racks with different modules and the transmission of the synchronous belt, so that the mechanism can be highly folded on a non-clamping device, and the mechanism is simple in structure and portable.
4. The tail end of the clamping mechanism is provided with the flexible block applying the fin ray effect, can be automatically attached to the surface of a round tubular object, and has a certain self-adaptive function and a function of reducing instant impact force.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the structure seen from the direction A of FIG. 1;
FIG. 3 is a schematic view of the structure seen from the direction B of FIG. 1;
FIG. 4 is a schematic structural diagram of a triggering part consisting of a connecting assembly of the clamping mechanism, a shear type pressure lever assembly and a connecting assembly of the clamping mechanism;
FIG. 5 is a schematic structural diagram of a clamping part consisting of a gear rack coupling synchronous belt transmission assembly and a flexible fin effect assembly of the clamping mechanism;
reference numerals: 1-connecting assembly, 2-scissor type pressure lever assembly, 3-clamping mechanism connecting assembly, 4-gear rack coupling synchronous belt transmission assembly, 5-flexible fin effect assembly, 101-cross bar fastening block, 102-upper guide rail connecting plate, 103-upper vertical positioning block, 104-positioning shaft, 201-first guide rail, 202-second guide rail, 203-sliding block, 204-rack connecting seat, 205-pressure lever, 206-pressure lever central shaft, 207-pressure lever side shaft, 208-first rack, 209-second rack, 301-lower guide rail connecting plate, 302-lower vertical positioning block, 303-wheel shaft connecting block, 304-bearing, 401-upper wheel shaft, 402-pinion, 403-swing arm, 404-large pulley, 405-synchronous belt, 403-synchronous belt, 406-lower wheel shaft, 407-small belt wheel, 408-synchronous belt protective cover, 501-flexible fin strip block, 502-first mounting block, 503-second mounting block.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
A passive clamping mechanism coupled with a gear belt wheel comprises a connecting assembly 1, a shear type pressure bar assembly 2, a clamping mechanism connecting assembly 3, a gear rack coupling synchronous belt transmission assembly 4 and a flexible fin effect assembly 5, wherein the connecting assembly 1, the shear type pressure bar assembly 2 and the clamping mechanism connecting assembly 3 form a triggering part of the clamping mechanism and are responsible for converting potential energy change into kinetic energy of the clamping mechanism through mechanical transmission; the gear rack coupling synchronous belt transmission component 4 and the flexible fin effect component 5 form a clamping part of the clamping mechanism and are responsible for tightly clamping the surface of the circular tubular object.
The connecting assembly 1 connects the whole mechanism with an external pressure rod and provides support and fixation for the whole clamping mechanism; the shear type pressure lever assembly 2 is arranged at the lower end of the connecting assembly 1 and converts the vertical displacement of an external pressure lever into the horizontal displacement of the tail end of the pressure lever; the clamping mechanism connecting assembly 3 is arranged at the lower end of the shear type pressure rod assembly 2 and provides support and fixation for the gear rack coupling synchronous belt transmission assembly 4 and the flexible fin effect assembly 5; the gear rack coupling synchronous belt transmission assembly 4 is arranged below the clamping mechanism connecting assembly 3, is a front end movement executing mechanism in the whole device and drives the flexible fin effect assembly 5 to move when the shear type pressure lever assembly 2 moves; the flexible fin-ray effect component 5 is arranged at the tail end of the gear-rack coupling synchronous belt transmission component 4 and is a tail end movement executing mechanism of the whole device, and the surface of the round tubular object is clamped under the driving of the gear-rack coupling synchronous belt transmission component 4.
Specifically, the connecting assembly 1 comprises a cross bar fastening block 101, an upper guide rail connecting plate 102, an upper vertical positioning block 103 and a positioning shaft 104; the cross rod fastening block 101 is positioned at the top of the connecting assembly and connected with an external pressure rod through a bolt, and the position of the cross rod fastening block can be horizontally adjusted on the external pressure rod by adjusting the screwing degree of the bolt; the upper guide rail connecting plate 102 is fixedly connected with the lower end of the cross rod fastening block 101 through a bolt; the upper vertical positioning blocks 103 are arranged at the left end and the right end of the upper guide rail connecting plate 102, are fixedly connected with the upper guide rail connecting plate 102 through bolts and are used for mounting the positioning shafts 104; the positioning shaft 104 is arranged on the upper vertical positioning block 103, and the top end of the positioning shaft 104 is fixedly connected with the upper vertical positioning block 103 through a bolt, so that the guide rail is stable relative to the whole space horizontal position of the clamping mechanism when the shear type pressure lever assembly 2 moves.
The scissor type pressure lever assembly 2 comprises a first guide rail 201, a second guide rail 202, a sliding block 203, a rack connecting seat 204, a pressure lever 205, a pressure lever central shaft 206, a pressure lever side shaft 207, a first rack 208 and a second rack 209;
the first guide rail 201 is locked at the lower end of the upper guide rail connecting plate 102 of the connecting assembly 1 through bolts; the second guide rail 202 is locked at the upper end of a lower guide rail connecting plate 301 of the clamping mechanism connecting assembly 3 through a bolt; the number of the sliding blocks 203 is four, each two sliding blocks are respectively arranged on the left side and the right side of the first guide rail 201 and the second guide rail 202 in a group, the top or the bottom of each sliding block 203 is respectively in sliding connection with the first guide rail 201 or the second guide rail 202, the sliding blocks 203 can slide left and right, the upper guide rail connecting plate 102 and the lower guide rail connecting plate 301 are provided with limiting bolts, and the limiting bolts limit the maximum and the minimum strokes of the sliding blocks 203; the number of the rack connecting seats 204 is four, and the large end faces of the rack connecting seats are fixedly connected with the sliding blocks 203 through bolts; the two compression rods 205 are arranged in a shear mode, and the upper end and the lower end of each compression rod are respectively arranged on the upper rack connecting seat 204 and the lower rack connecting seat 204 through compression rod side shafts 207 to convert vertical displacement into horizontal displacement; the central shaft 206 of the pressure lever is arranged at the center of the pressure lever 205 to ensure that the two pressure levers 205 are arranged in a shear mode; four pressure lever side shafts 207 are matched with the shaft retainer ring to connect the pressure lever 205 and the rack connecting seat 204; the first rack 208 is fixedly connected to the front side of the rack connecting seat 204 through a bolt and is used for being meshed with a pinion 402 in the gear-rack coupling synchronous belt drive assembly 4; the second rack 209 is fixed to the rear side of the rack connecting seat 204 by bolts and is used for being meshed with a toothed swing arm 403 in the gear-rack coupling synchronous belt drive assembly 4.
The first rack 208 and the second rack 209 have the same tooth number and different modules, and respectively transmit motion through corresponding meshing, so that the small belt wheel 407 can rotate around the axle center of the lower axle 406 in the process of rotating around the axle center of the upper axle 401, and the upper and lower sections of the clamping part can be linked.
The clamping mechanism connecting assembly 3 comprises a lower guide rail connecting plate 301, a lower vertical positioning block 302, an axle connecting block 303 and a bearing 304.
The lower guide rail connecting plate 301 is arranged between the wheel axle connecting block 303 and the second guide rail 202, the upper end of the lower guide rail connecting plate is fixedly connected with the second guide rail 202 through a bolt, and the lower end of the lower guide rail connecting plate is fixedly connected with the wheel axle connecting block 303; the lower vertical positioning blocks 302 are arranged on the left side and the right side of the lower guide rail connecting plate 301 and are fixedly connected through bolts, and the central holes of the lower vertical positioning blocks 302 are in clearance fit with the positioning shafts 104 of the connecting assembly 1, so that the guide rail and the sliding block are kept stable in horizontal position when the shear type pressure lever assembly 2 moves; the wheel axle connecting block 303 is fixedly arranged at the bottom end of the lower guide rail connecting plate 301 and used for ensuring the stable spatial position of an upper wheel axle 401 of the gear-rack coupling synchronous belt transmission assembly 4, and the bearing 304 is arranged inside the wheel axle connecting block 303 and used for realizing the relative rotation of the upper wheel axle 401 and the wheel axle connecting block 303.
The gear rack coupling synchronous belt drive assembly 4 comprises an upper wheel shaft 401, a small gear 402, a swing arm 403, a large belt wheel 404, a synchronous belt 405, a lower wheel shaft 406, a small belt wheel 407 and a synchronous belt protective cover 408.
The upper wheel shaft 401 is connected with a wheel shaft connecting block 303 of the clamping mechanism connecting assembly 3 through a bearing 304 and is used for coupling gear and rack transmission and synchronous belt transmission; the small gear 402 and the large belt wheel 404 are arranged at the front end of an upper wheel shaft 401, the small gear 402 and the large belt wheel 404 are in clearance fit with the wheel shaft 401, and the small gear 402 is fixedly connected with the large belt wheel 404; the pinion 402 is meshed with the first rack 208, and plays a role of converting the horizontal motion of the first rack 208 into the rotation motion of the first rack 208, and simultaneously transmits power to the large belt wheel 404; the upper end of the swing arm 403 is fixedly connected to the rear end of the upper wheel axle 401 and is meshed with the second rack 209, and the lower end of the swing arm 403 is fixedly connected to the lower wheel axle 406, so that the horizontal motion of the second rack 209 is converted into the rotation motion of the second rack around the upper wheel axle 401;
the lower wheel shaft 406 is arranged between the small wheel shaft 407 and the tail end of the swing arm 403, the small wheel shaft 407 is positioned at the front end of the lower wheel shaft 406 and is in clearance fit with the lower wheel shaft 406, the tail end of the swing arm 403 is fixedly connected to the rear end of the lower wheel shaft 406, the synchronous belt 405 is arranged between the large wheel shaft 404 and the small wheel shaft 407, and the large wheel shaft 404 transmits motion to the small wheel shaft 407 through the synchronous belt 405; the small belt wheel 407 rotates around the upper wheel axle 401 synchronously along with the swing arm 403 while rotating around the lower wheel axle 406 as the center, and simultaneously transmits the output power transmitted by the synchronous belt 405 to the flexible fin-effect component 5; the synchronous belt protecting cover 408 is arranged on the inner side of the gear-rack coupling synchronous belt transmission assembly and fixedly connected with the swing arm 403 through a bolt and used for contacting the surface of a circular tube-shaped object and protecting the synchronous belt 405.
The flexible fin effect assembly 5 comprises a flexible fin strip block 501, a first mounting block 502 and a second mounting block 503.
The flexible fin strip block 501 is arranged below a lower wheel shaft 406 of the gear-rack coupling synchronous belt transmission assembly 4 and is connected with the lower wheel shaft 406 through a first mounting block 502 and a second mounting block 503, and the flexible fin strip block 501 is fixedly connected with the first mounting block 502 and the second mounting block 503 through bolts; the first mounting block 502 is arranged between the small belt wheel 407 and the flexible fin strip block 501, and the first mounting block 502 and the small belt wheel 407 rotate synchronously to transfer the rotation motion of the small belt wheel to the flexible fin strip block and lock the surface of the round tubular object; the second mounting block 503 is disposed between the lower axle 406 and the flexible fin strip block 501, and is in clearance fit with the lower axle 406, so as to maintain the relative position relationship between the flexible fin strip block 501 and the gear-rack coupling synchronous belt drive assembly 4.
In order to better understand the working principle of the present invention, the following detailed description is made on the working process of the present invention:
the working process when clamping the object is as follows: the outside applies pressure, the trigger part of the clamping mechanism is pressed, and the clamping part of the clamping mechanism tightens and clamps the surface of the round tubular object;
specifically, before the external pressure is applied, the synchronous belt protective cover 408 is preferentially contacted with the surface of an object, the pressure is continuously applied, the shear type pressure lever assembly 2 moves under the action of the compression force, the pressure lever 205 is arranged in a shear type manner, the sliding block 203 is forced to slide towards the left side and the right side, the limit bolt limits the stroke of the sliding block 203, and the upper vertical positioning block 103, the lower vertical positioning block 302 and the positioning shaft 104 ensure that the whole shear type pressure lever assembly cannot slide in the horizontal direction; the first rack 208 and the second rack 209 are respectively fixedly connected on a rack connecting seat 204 fixedly connected with the sliding block 203, the following sliding block 203 respectively moves in a translation manner towards the left and the right along the second guide rail 202, and the pinion 402 meshed with the first rack 208 and the swing arm 403 meshed with the second rack 209 start to rotate around the upper wheel shaft 401; the rotation speeds of the meshed pinion 402 and the swing arm 403 are different due to the different moduli of the first rack 208 and the second rack 209, and the rotation numbers of the meshed pinion 402 and the swing arm 403 are different due to the same horizontal movement stroke of the first rack 208 and the second rack 209; the small gear 402 and the large belt wheel 404 are locked to rotate synchronously, the motion is transmitted to the large belt wheel 404, and then the rotation motion is transmitted to the small belt wheel 407 through the transmission of the synchronous belt 405, so that the small belt wheel 407 rotates around the axis of the lower wheel shaft 406; the upper end and the lower end of the swing arm 403 are fixedly connected with the upper wheel axle 401 and the lower wheel axle 406 respectively, and the swing arm 403 can drive the gear and rack coupling synchronous belt transmission assembly 4 to rotate around the axis of the upper wheel axle 401 as a whole; by enabling the small gear 402 which is locked by the large belt wheel 404 to synchronously rotate to rotate for a larger angle than the swing arm 403 in the same time, the small belt wheel 407 can rotate around the axle center of the lower axle 406 in the process of rotating around the axle center of the upper axle 401, namely the flexible fin-effect assembly 5 fixedly connected with the small belt wheel 407 is driven to move from a position parallel to the central line of the swing arm 403 to a position relatively vertical to the central line of the swing arm 403, and the upper and lower sections of linkage of the clamping part is realized; the stable clamping of the clamping mechanism is realized through the large friction force generated by the flexible fin strip block 501 wrapping the surface of the object; the power source is the external pressure to the clamping mechanism in the whole mechanism change process, so that the passive clamping process is realized.
The working process of loosening the object is as follows: external pressure stops applying, presss from both sides and gets the automatic extension of mechanism, loosens and is pressed from both sides the thing by the clamp:
the motion of the clamping mechanism when releasing the object is opposite to the clamping process, and at the moment, the clamping mechanism is not stressed by the external force any more, namely, no driving force exists; due to the self gravity of the clamping mechanism, the scissor mechanism assembly 2 automatically stretches along with the descending of the height, the sliding blocks 203 at the two ends of the second guide rail 202 drive the first rack 208 and the second rack 209 to horizontally move from outside to inside along the second guide rail 202, and the pinion 402 and the swing arm 403 fixedly connected with the large belt wheel 404 are correspondingly rotated as being respectively meshed with the first rack 208 and the second rack 209; the clamping mechanism moves from the surface of the coated locking object to be completely opened and stops when reaching the initial position.
The clamping mechanism of the invention takes the pressing force of the external world to the clamping mechanism as a driving source, and realizes passive clamping without additional driving force through the change of the mechanical structure in the mechanism; the double-gear rack differential transmission and synchronous belt transmission scheme adopted by the invention solves the folding problem of the multi-section clamping jaw, the mechanism can be folded and arranged in a most space-saving mode during the non-clamping process, the mechanism is automatically lowered in the clamping process, the whole mechanism is in a single-drive single-degree-of-freedom mode, and the state change of the whole mechanism is controlled by single trigger; the invention uses the fin-ray effect to manufacture the flexible execution unit, can self-adaptively coat the clamped surface of the object in a certain range, effectively relieves the impact force on the precise object at the moment of clamping, and has certain universality by using the flexible unit as a clamping mechanism of the end effector.
The present invention is capable of other embodiments, and various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the invention.
Claims (9)
1. The utility model provides a mechanism is got to passive form clamp of gear band pulley coupling which characterized in that: the device comprises a connecting assembly (1), a shear type pressure lever assembly (2), a clamping mechanism connecting assembly (3), a gear and rack coupling synchronous belt transmission assembly (4) and a flexible fin effect assembly (5);
the connecting component (1) is connected with an external pressure lever;
the shear type pressure lever assembly (2) is arranged at the lower end of the connecting assembly (1), and vertical displacement of an external pressure lever is converted into horizontal displacement of the tail end of the shear type pressure lever assembly (2);
the clamping mechanism connecting assembly (3) is arranged at the lower end of the shear type pressure lever assembly (2) and provides support and fixation for the gear rack coupling synchronous belt transmission assembly (4) and the flexible fin effect assembly (5);
the gear rack coupling synchronous belt transmission assembly (4) is arranged below the clamping mechanism connecting assembly (3) through a bearing, is a front end movement executing mechanism in the whole mechanism, and drives the flexible fin effect assembly (5) to move when the shear type pressure lever assembly (2) moves;
the flexible fin effect assembly (5) is arranged at the tail end of the gear rack coupling synchronous belt transmission assembly (4) and is a tail end movement executing mechanism of the whole mechanism, and the surface of the circular tubular object is clamped under the driving of the gear rack coupling synchronous belt transmission assembly (4).
2. The geared pulley coupled passive gripper mechanism of claim 1, wherein: the connecting assembly (1) comprises a cross rod fastening block (101), an upper guide rail connecting plate (102), an upper vertical positioning block (103) and a positioning shaft (104); the cross rod fastening block (101) is positioned at the top of the connecting assembly and is connected with an external pressure rod through a bolt; the upper guide rail connecting plate (102) is fixedly connected with the lower end of the cross rod fastening block (101); the upper vertical positioning blocks (103) are fixedly arranged at the left end and the right end of the upper guide rail connecting plate (102), the top ends of the positioning shafts (104) are fixedly arranged on the upper vertical positioning blocks (103), and the positioning shafts (104) are used for ensuring that the spatial horizontal position of the guide rail relative to the whole clamping mechanism is stable when the shear type pressure lever assembly (2) moves.
3. The geared pulley coupled passive gripper mechanism of claim 2, wherein: the shear type pressure lever assembly (2) comprises a first guide rail (201), a second guide rail (202), a sliding block (203), a rack connecting seat (204), a pressure lever (205), a pressure lever central shaft (206), a pressure lever side shaft (207), a first rack (208) and a second rack (209); the first guide rail (201) is fixedly connected to the lower end of an upper guide rail connecting plate (102) of the connecting assembly (1); the second guide rail (202) is fixedly connected to the upper end of a lower guide rail connecting plate (301) of the clamping mechanism connecting assembly (3); the number of the sliding blocks (203) is four, each two sliding blocks are respectively arranged on the left side and the right side of the first guide rail (201) and the second guide rail (202), and the top or the bottom of each sliding block (203) is respectively in sliding connection with the first guide rail (201) or the second guide rail (202); the number of the rack connecting seats (204) is four, and the large end faces of the rack connecting seats are fixedly connected with the sliding blocks (203); the two compression rods (205) are arranged in a shear mode, and the upper end and the lower end of each compression rod are respectively arranged on the upper rack connecting seat and the lower rack connecting seat (204) to play a role in converting vertical displacement into horizontal displacement; the central shaft (206) of the pressure lever is arranged at the center of the pressure lever (205) to ensure that the two pressure levers (205) are arranged in a shear mode; the number of the compression bar side shafts (207) is four, and the compression bar side shafts are matched with the shaft retainer ring to be used for connecting the compression bar (205) and the rack connecting seat (204); the first rack (208) is fixedly connected to the front side of the rack connecting seat (204), and the second rack (209) is fixedly connected to the rear side of the rack connecting seat (204).
4. The geared pulley coupled passive gripper mechanism of claim 3, wherein: the first rack (208) and the second rack (209) have the same number of teeth and different modulus.
5. The geared pulley coupled passive gripper mechanism of claim 3, wherein: and limiting bolts are arranged on the upper guide rail connecting plate (102) and the lower guide rail connecting plate (301) and limit the stroke of the sliding block (203).
6. The geared pulley coupled passive gripper mechanism of claim 3, wherein: the clamping mechanism connecting assembly (3) comprises a lower guide rail connecting plate (301), a lower vertical positioning block (302), an axle connecting block (303) and a bearing (304); the lower guide rail connecting plate (301) is arranged between the wheel axle connecting block (303) and the second guide rail (202), the upper end of the lower guide rail connecting plate is fixedly connected with the second guide rail (202), and the lower end of the lower guide rail connecting plate is fixedly connected with the wheel axle connecting block (303); the lower vertical positioning blocks (302) are fixedly arranged at the left side and the right side of the lower guide rail connecting plate (301), and the central holes of the lower vertical positioning blocks (302) are in clearance fit with the positioning shafts (104) of the connecting components (1); the wheel axle connecting block (303) is fixedly arranged at the bottom end of the lower guide rail connecting plate (301), and the bearing (304) is arranged in the wheel axle connecting block (303).
7. The geared pulley coupled passive gripper mechanism of claim 6, wherein: the gear rack coupling synchronous belt transmission assembly (4) comprises an upper wheel shaft (401), a pinion (402), a swing arm (403), a large belt wheel (404), a synchronous belt (405), a lower wheel shaft (406) and a small belt wheel (407); the upper wheel shaft (401) is connected with a wheel shaft connecting block (303) of the clamping mechanism connecting assembly (3) through a bearing (304); the small gear (402) and the large belt wheel (404) are arranged at the front end of the upper wheel shaft (401), the small gear (402) and the large belt wheel (404) are in clearance fit with the wheel shaft (401), the small gear (402) is fixedly connected with the large belt wheel (404), and the small gear (402) is meshed with the first rack (208); the upper end of the swing arm (403) is fixedly connected with the rear end of the upper wheel shaft (401) and is meshed with the second rack (209), and the lower end of the swing arm (403) is fixedly connected with the lower wheel shaft (406); the lower wheel shaft (406) is arranged between the small wheel shaft (407) and the tail end of the swing arm (403), the small wheel shaft (407) is located at the front end of the lower wheel shaft (406) and is in clearance fit with the lower wheel shaft (406), the tail end of the swing arm (403) is fixedly connected to the rear end of the lower wheel shaft (406), the synchronous belt (405) is arranged between the large wheel shaft (404) and the small wheel shaft (407), and the large wheel shaft (404) transmits motion to the small wheel shaft (407) through the synchronous belt (405).
8. The geared pulley coupled passive gripper mechanism of claim 7, wherein: gear rack coupling synchronous belt drive subassembly (4) still includes hold-in range protecting cover (408), hold-in range protecting cover (408) are located gear rack coupling synchronous belt drive subassembly is inboard, with swing arm (403) link firmly.
9. The geared pulley coupled passive gripper mechanism of claim 7, wherein: the flexible fin effect assembly (5) comprises a flexible fin strip block (501), a first mounting block (502) and a second mounting block (503); the flexible fin strip block (501) is arranged below a lower wheel shaft (406) of the gear-rack coupling synchronous belt transmission assembly (4) and is connected with the lower wheel shaft (406) through a first mounting block (502) and a second mounting block (503), and the flexible fin strip block (501) is fixedly connected with the first mounting block (502) and the second mounting block (503); the first mounting block (502) is arranged between the small belt wheel (407) and the flexible fin strip block (501), and the first mounting block (502) is fixedly connected with the small belt wheel (407); the second mounting block (503) is arranged between the lower axle (406) and the flexible fin strip block (501) and is in clearance fit with the lower axle (406).
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| CN202111155719.9A CN113968482B (en) | 2021-09-29 | 2021-09-29 | Gear and belt wheel coupled passive clamping mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111155719.9A CN113968482B (en) | 2021-09-29 | 2021-09-29 | Gear and belt wheel coupled passive clamping mechanism |
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| CN113968482A true CN113968482A (en) | 2022-01-25 |
| CN113968482B CN113968482B (en) | 2022-05-17 |
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|---|---|
| CN113968482B (en) | 2022-05-17 |
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