CN119175730A - Self-adaptive two-finger clamp holder for quick response rope drive - Google Patents
Self-adaptive two-finger clamp holder for quick response rope drive Download PDFInfo
- Publication number
- CN119175730A CN119175730A CN202411686909.7A CN202411686909A CN119175730A CN 119175730 A CN119175730 A CN 119175730A CN 202411686909 A CN202411686909 A CN 202411686909A CN 119175730 A CN119175730 A CN 119175730A
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- rope
- differential
- axis
- finger
- fixed
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/0286—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by chains, cables or ribbons
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The invention relates to the technical field of mechanical arms, and particularly discloses a quick-response rope-driven self-adaptive two-finger clamp which comprises a transmission mechanism, a driving mechanism, a linear guide mechanism, a first clamping finger, a second clamping finger, a rope guide assembly, a differential rope winding wheel and four fixed-axis rope winding wheels, wherein the differential rope winding wheel is provided with a first rope, a second rope, a third rope and a fourth rope, the four fixed-axis rope winding wheels are in one-to-one correspondence with the first rope, the second rope, the third rope and the fourth rope, the swinging of the transmission mechanism can drive the first clamping finger and the second clamping finger to perform linear motion, and when tension formed by the four ropes is balanced, the two groups of ropes move the same, however, when the tension is unbalanced by the two groups of antagonistic ropes, the differential wheel is directly driven to rotate by the difference of the rope tension, so that the problem of high static gear transmission friction and high moment of inertia in the traditional technology is avoided, and the response delay caused by the static gear transmission force is reduced.
Description
Technical Field
The invention relates to the technical field of mechanical arms, in particular to a quick-response rope-driven self-adaptive two-finger clamp holder.
Background
The current adaptive grippers have the following problems:
(1) The existing gear type self-adaptive clamp is only suitable for a large-load scene, and a large force difference is needed to realize differential motion, so that quick and sensitive response of a small force difference is difficult to realize. And the gear-type self-adaptive gripper itself is heavy.
(2) The minimum cable force of the current sliding block type self-adaptive clamp holder needs to be larger than the maximum static friction force of the sliding block, so that the quick response is difficult to realize through small force difference, and self-adaptive grabbing is realized.
(3) Meanwhile, the clamp holder with the self-adaptive pose can not meet the larger load requirement due to the influence of materials, is constrained by feedback control, and is difficult to grasp a fast moving target in real time.
Disclosure of Invention
The invention provides the quick response rope-driven self-adaptive two-finger clamp for solving the technical problems, wherein the two groups of antagonistic rope pairs realize rotation direct-driven differential motion, when the tension forces formed by the four ropes are balanced, the two groups of ropes move the same, and when the two groups of antagonistic ropes are unbalanced to the tension forces, the differential wheel is directly driven to rotate by the difference of the tension forces of the ropes, so that the problems of large gear transmission friction and rotational inertia are avoided, the moving pair in the first sliding block differential is converted into the rotating pair, and the response delay caused by static friction force is greatly reduced.
In order to solve the problems, the invention adopts the following technical scheme:
A quick response rope drive self-adaptive two-finger clamp comprises a transmission mechanism, a driving mechanism, a linear guide mechanism, a first clamp finger, a second clamp finger, a rope guide assembly, a differential rope winding wheel and four fixed-shaft rope winding wheels.
The driving mechanism is used for driving the transmission mechanism to swing.
The first clamping finger is slidably arranged on the linear guide mechanism.
The second clamping finger is slidably arranged on the linear guide mechanism, and the second clamping finger is opposite to the first clamping finger.
The differential sheave has first, second, third and fourth ropes.
The four fixed-shaft rope winding wheels are configured to correspond to the first rope, the second rope, the third rope and the fourth rope one by one.
The fixed shaft rope winding wheel and the differential rope winding wheel are both in rotary connection with the transmission mechanism, and the swing axis of the transmission mechanism is coincident with the central axis of the fixed shaft rope winding wheel.
The first and second cords antagonize to form a first antagonism pair.
The third and fourth cords antagonize to form a second antagonism pair.
The first antagonism pair and the second antagonism pair are configured as differential antagonism.
The swinging motion of the transmission mechanism is converted into linear motion of the first clamping finger through the first rope, the second rope, the rope guiding assembly, the fixed shaft rope coiling wheel and the differential rope coiling wheel.
The swinging motion of the transmission mechanism is converted into linear motion of the second clamping finger through the third rope, the fourth rope, the rope guiding component, the fixed shaft rope coiling wheel and the differential rope coiling wheel.
In the quick response rope-driven self-adaptive two-finger clamp holder provided by at least one embodiment of the present disclosure, the transmission mechanism includes a connecting rod, a first connecting shaft, a second connecting shaft, a rotating shaft and a first polished rod.
The first connecting shaft is configured to be rotatably connected to the connecting rod and the fixed spool.
The second connecting shaft is configured to be rotatably connected to the connecting rod.
The rotating shaft is configured to be rotatably connected with the connecting rod and the differential rope reel.
And two ends of the first polished rod are fixedly connected with the first connecting shaft and the second connecting shaft respectively.
The driving mechanism is a crank driving mechanism, a first sliding block is arranged on the first polish rod, and a crank of the crank driving mechanism is rotationally connected with the first sliding block.
The first connecting shaft and the second connecting shaft are parallel to the rotating shaft, and the first connecting shaft and the second connecting shaft are perpendicular to the first polish rod.
In the self-adaptive two-finger gripper for quick response rope drive provided by at least one embodiment of the present disclosure, a first rope groove and a second rope groove are respectively provided on the fixed shaft rope winding wheel and the differential rope winding wheel, and the first rope groove and the second rope groove are oppositely provided.
The fixed shaft rope winding wheel is positioned at one side of the differential rope winding wheel, and the diameters of the first rope, the second rope, the third rope and the fourth rope are all larger than the gap between the fixed shaft rope winding wheel and the differential rope winding wheel.
In the fast response rope-driven self-adaptive two-finger clamp provided by at least one embodiment of the present disclosure, the linear guiding mechanism includes a second polished rod, a second slider and a third slider.
The second slider is configured for sliding connection with the second polish rod.
The third slider is configured to be in sliding connection with the second polish rod.
The first clamping finger is fixedly connected with the second sliding block, and the second clamping finger is fixedly connected with the third sliding block.
One end of the first rope and one end of the second rope are fixedly connected with the second sliding block, and the other ends of the first rope and the second rope are fixedly connected with the differential rope winding wheel.
One end of the third rope and one end of the fourth rope are fixedly connected with the third sliding block, and the other ends of the third rope and the fourth rope are fixedly connected with the differential rope coiling wheel.
The quick response rope drive self-adaptive two-finger clamp device provided by at least one embodiment of the present disclosure further comprises a frame, wherein the frame is provided with a movable opening.
And the second polish rod and the driving mechanism are fixedly connected with the frame.
The bearing is arranged on the frame, the outer ring of the bearing is fixedly connected with the frame, the first connecting shaft is fixedly connected with the inner ring of the bearing, and the frame is rotationally connected with the first connecting shaft through the bearing.
The first polish rod is located above the movable port, and the second connecting shaft penetrates through the movable port.
The movable opening is in a fan-shaped arrangement, and the center of the fan-shaped circle is positioned on the central axis of the fixed shaft rope winding wheel.
In a quick response rope drive self-adaptive two-finger gripper provided by at least one embodiment of the present disclosure, the rope guide assembly includes a plurality of fixed pulleys configured to be rotatably coupled to the frame.
In the fast response rope-driven self-adaptive two-finger clamp provided by at least one embodiment of the present disclosure, two connecting rods are provided, and the two connecting rods are vertically symmetrically distributed.
The fixed shaft winding rope wheel and the differential winding rope wheel are positioned between the two connecting rods.
In the fast response rope-driven self-adaptive two-finger clamp provided by at least one embodiment of the disclosure, threading holes are formed in the second sliding block and the third sliding block.
In the fast response rope-driven self-adaptive two-finger clamp provided by at least one embodiment of the present disclosure, a first insertion groove is formed in the first clamp finger, and the second slider is located in the first insertion groove.
The second clamping finger is provided with a second insertion groove, and the third sliding block is positioned in the second insertion groove.
The beneficial effects of the invention are as follows:
The differential motion is realized by utilizing the rope driving principle, and the quality of the differential mechanism is greatly reduced by the rope relative to the gear, so that the lightweight design is facilitated.
The differential mechanism is designed by utilizing the rope drive principle, so that the problem of large friction of a sliding pair of the sliding block differential mechanism is compensated, and the problem of large size moment of inertia and large accumulated influence of friction of a gear transmission line in the gear type differential mechanism is avoided.
The rope antagonism is essentially converted into the rotation motion with smaller static friction force directly, so that the effect of quick differential response is realized.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a fast response rope-driven self-adaptive two-finger gripper.
Fig. 2 is a schematic structural diagram of the quick response rope-driven self-adaptive two-finger gripper after the frame is removed.
Fig. 3 is a roping schematic of the first rope and the second rope.
Fig. 4 is a roping diagram of the third rope and the fourth rope.
Fig. 5 is a schematic structural view of a quick response rope-driven self-adaptive two-finger gripper of the present invention after removing part of the components.
Fig. 6 is a schematic view of the structure of the differential and fixed-axle sheaves after they are assembled to the transmission mechanism.
Fig. 7 is a schematic diagram of the distribution of the second rope grooves and the first rope grooves.
Fig. 8 is an assembled schematic view of the first clamping finger, the second clamping finger and the linear guide mechanism.
Fig. 9 is an assembly schematic of the second polish rod, the second slider, and the third slider.
Fig. 10 is a perspective view of a first finger.
Fig. 11 is a schematic diagram of four modes of taking a differential winding wheel a and a fixed-axis winding wheel B into consideration, according to the same-side wiring mode, different-side wiring mode and rope-out direction.
Fig. 12 is a schematic view of the AB lever rotated 90 ° clockwise assuming that the differential sheave a is antagonized against rotation during rotation.
In the figure:
10. A transmission mechanism; 11, connecting rods, 12, a first connecting shaft, 13, a second connecting shaft, 14, a rotating shaft, 15, a first polished rod, 151 and a first sliding block;
20. 21, motor, 22, crank;
30. The linear guide mechanism comprises a first polish rod 31, a second polish rod 32, a second slide block 33, a third slide block 321 and a threading hole;
40. 41, a first insertion groove;
50. A second clamping finger;
60. Differential rope winding wheel 61, first rope 62, second rope 63, third rope 64, fourth rope 65, second rope groove;
70. 71, a first rope groove;
80. a frame; 81, a bearing, 82, a movable port;
90. And a fixed pulley.
Detailed Description
The technical solutions in the embodiments will be clearly and completely described below with reference to the drawings in the embodiments, and it is obvious that the described embodiments are only some embodiments, not all embodiments.
Examples
As shown in fig. 1 to 5, the present embodiment provides a quick response rope-driven self-adaptive two-finger gripper, which includes a transmission mechanism 10, a driving mechanism 20, a linear guide mechanism 30, a first finger 40, a second finger 50, a rope guide assembly, a differential winding sheave 60, a frame 80, and four fixed-axis winding sheaves 70.
Specifically, the driving mechanism 20 is used for driving the transmission mechanism 10 to swing, the driving mechanism 20 includes a motor 21 and a crank 22, and an output shaft of the motor 21 is fixedly connected with the crank 22.
Specifically, the first clamping finger 40 is slidably disposed on the linear guide mechanism 30, the second clamping finger 50 is slidably disposed on the linear guide mechanism 30, and the second clamping finger 50 is opposite to the first clamping finger 40.
Specifically, the differential sheave 60 has a first rope 61, a second rope 62, a third rope 63, and a fourth rope 64. The four fixed sheave 70 are in one-to-one correspondence with the first rope 61, the second rope 62, the third rope 63, and the fourth rope 64, respectively.
Specifically, the fixed shaft winding sheave 70 and the differential winding sheave 60 are both rotatably connected to the transmission mechanism 10, and the swing axis of the transmission mechanism 10 coincides with the central axis of the fixed shaft winding sheave 70.
Specifically, the first cord 61 and the second cord 62 antagonize to form a first antagonizing pair, the third cord 63 and the fourth cord 64 antagonize to form a second antagonizing pair, and the first antagonizing pair is in a differential antagonizing relationship with the second antagonizing pair.
Specifically, the swinging motion of the transmission mechanism 10 is converted into the linear motion of the first gripper finger 40 by the first rope 61, the second rope 62, the rope guide assembly, the fixed shaft sheave 70, and the differential sheave 60, while the swinging motion of the transmission mechanism 10 is converted into the linear motion of the second gripper finger 50 by the third rope 63, the fourth rope 64, the rope guide assembly, the fixed shaft sheave 70, and the differential sheave 60.
According to the embodiment, the rotation direct-drive differential motion is realized through the two groups of antagonistic rope pairs, when the tensile force formed by the four ropes is balanced, the two groups of ropes move the same, and when the tensile force of the two groups of antagonistic ropes is unbalanced, the differential wheel is directly driven to rotate by the difference of the tensile force of the ropes, so that the problems of large gear transmission friction and large moment of inertia are avoided, and the response delay caused by static friction force is greatly reduced.
As shown in fig. 5 to 7, the structure of the transmission mechanism 10 will be further described with reference to the drawings.
In the present embodiment, the transmission mechanism 10 includes a link 11, a first connecting shaft 12, a second connecting shaft 13, a rotating shaft 14, and a first polished rod 15.
Specifically, the first connecting shaft 12 is configured to be in rotational connection with the connecting rod 11 and the fixed shaft winding rope pulley 70, the second connecting shaft 13 is configured to be in rotational connection with the connecting rod 11, the rotating shaft 14 is configured to be in rotational connection with the connecting rod 11 and the differential shaft winding rope pulley 60, two ends of the first polished rod 15 are respectively and fixedly connected with the first connecting shaft 12 and the second connecting shaft 13, the first connecting shaft 12 and the second connecting shaft 13 are parallel to the rotating shaft 14, and the first connecting shaft 12 and the second connecting shaft 13 are perpendicular to the first polished rod 15.
Specifically, the first polish rod 15 is provided with a first slider 151, and the crank 22 is rotatably connected to the first slider 151.
Specifically, the two connecting rods 11 are arranged symmetrically, and the fixed shaft winding rope wheel 70 and the differential winding rope wheel 60 are positioned between the two connecting rods 11.
As shown in fig. 3, 4 and 7, the structures of the fixed shaft sheave 70 and the differential sheave 60 will be further described with reference to the drawings.
In the present embodiment, the fixed sheave 70 and the differential sheave 60 are provided with a first rope groove 71 and a second rope groove 65, respectively, and the first rope groove 71 and the second rope groove 65 are disposed so as to face each other.
Specifically, the fixed-axis sheave 70 is located at one side of the differential sheave 60, and the diameters of the first rope 61, the second rope 62, the third rope 63 and the fourth rope 64 are larger than the clearance between the fixed-axis sheave 70 and the differential sheave 60, so that the first rope 61, the second rope 62, the third rope 63 and the fourth rope 64 have good stability after being assembled, and are difficult to fall off from the first rope groove 71 and the second rope groove 65.
As shown in fig. 8 and 9, the structure of the linear guide mechanism 30 will be further described with reference to the drawings.
In the present embodiment, the linear guide mechanism 30 includes a second polished rod 31, a second slider 32, and a third slider 33.
Specifically, the second slider 32 is configured to be slidably connected to the second polished rod 31, and the third slider 33 is configured to be slidably connected to the second polished rod 31.
Specifically, the first clamping finger 40 is fixedly connected to the second slider 32, and the second clamping finger 50 is fixedly connected to the third slider 33.
Specifically, one end of the first rope 61 and one end of the second rope 62 are fixedly connected with the second sliding block 32, the other end of the first rope 61 and the other end of the second rope 62 are fixedly connected with the differential rope winding wheel 60, one end of the third rope 63 and one end of the fourth rope 64 are fixedly connected with the third sliding block 33, and the other end of the third rope 63 and the other end of the fourth rope 64 are fixedly connected with the differential rope winding wheel 60.
As shown in fig. 1, 2, 3, 4, 5 and 8, the structure of the frame 80 will be further described with reference to the accompanying drawings.
In this embodiment, the frame 80 is used to provide support for a plurality of components.
Specifically, the frame 80 is provided with a movable opening 82, and the second polish rod 31 and the motor 21 are fixedly connected with the frame 80.
Specifically, a bearing 81 is provided on the frame 80, an outer ring of the bearing 81 is fixedly connected with the frame 80, the first connecting shaft 12 is fixedly connected with an inner ring of the bearing 81, and the frame 80 and the first connecting shaft 12 are rotatably connected through the bearing 81.
Specifically, the first polish rod 15 is located above the movable port 82, and the second connection shaft 13 passes through the movable port 82.
Specifically, the movable opening 82 is in a fan shape, and the center of the fan shape is located on the central axis of the fixed shaft rope winding wheel 70.
As shown in fig. 3 and 4, the rope guide assembly will be further described with reference to the accompanying drawings.
In this embodiment, the rope guide assembly includes a plurality of fixed pulleys 90, each fixed pulley 90 being rotatably coupled to the frame 80.
Specifically, the plurality of fixed pulleys 90 are divided into four groups, and the first rope 61, the second rope 62, the third rope 63, and the fourth rope 64 are respectively in one-to-one correspondence with the four groups of fixed pulleys 90, thereby realizing the guidance of the first rope 61, the second rope 62, the third rope 63, and the fourth rope 64, respectively.
As shown in fig. 9 and 10, the structure of the first finger 40, the second finger 50, the second slider 32, and the third slider 33 will be further described with reference to the drawings.
In the present embodiment, the second slider 32 and the third slider 33 are provided with the threading holes 321, and the first rope 61, the second rope 62, the third rope 63 and the fourth rope 64 can be conveniently routed by arranging the threading holes 321.
In this embodiment, the first finger 40 is provided with a first insertion groove 41, the second slider 32 is located in the first insertion groove 41, the second finger 50 is provided with a second insertion groove (not shown), and the third slider 33 is located in the second insertion groove.
The differential principle of the self-adaptive two-finger gripper driven by the quick response rope in the embodiment is described below with reference to the accompanying drawings, and the principle is as follows:
considering a differential winding rope wheel A and a fixed-axis winding rope wheel B, according to the same-side wiring mode, different-side wiring mode and rope outlet direction, four modes are taken into account, as shown in fig. 11, in the drawing, A represents the differential winding rope wheel, B represents the fixed-axis winding rope wheel, and a connecting rod is represented by a connecting line between two points AB.
Assuming that the link AB is a driving element rotating around the point B, and assuming that the differential winding sheave a is not rotated by an antagonistic force during rotation, the link AB is rotated clockwise by 90 ° as shown in fig. 12.
At this time, the corresponding rope variation amount of each group is divided into:
First, (a) and (b), (c) and (d) are two antagonistic pairs, which can compensate the unidirectional force transmission characteristic of the rope and realize the bidirectional movement driving of the first clamping finger and the second clamping finger. Secondly, when the differential speed winding wheel a is not subjected to the rotation of the antagonistic force, the rotation angles are respectively (clockwise is +, anticlockwise is-):
It can be seen that the differential winding sheaves a in (a) and (b) need only be clockwise, and the differential winding sheaves a in (c) and (d) need only be counterclockwise, and the two sets of antagonistic pairs cannot limit the rotation of the differential winding sheaves a by themselves, but the combination of the two sets of antagonistic pairs in (a) and (b), and (c) and (d) can form a set of differential antagonistic pairs, so that the differential winding sheaves a do not rotate when the tension is the same, and the differential is realized when the tension is different.
The principle of the differential speed is as follows:
① The connecting rod with the largest motion inertia is a driving element, namely, the minimum differential speed force difference can not be improved due to the large rotation inertia.
② The differential principle is the rotation of the differential rope winding wheel, which is a revolute pair, and the required differential force difference is far smaller than a movable pair of the sliding block.
③ The differential rope winding wheel only moves when the differential antagonism pair generates a force difference, if the differential antagonism pair does not generate a differential, the length of the winding rope on the differential rope winding wheel is unchanged, and the change is only the length of the rope on the fixed shaft rope winding wheel, namely the size of the differential rope winding wheel determines the differential range, and the fixed shaft rope winding wheel determines the stroke of the clamp holder.
Although embodiments of the application have been illustrated and described above, the scope of the application is not limited thereto, and any changes or substitutions that do not require inventive faculty are intended to be included within the scope of the application, and any element, act, or instruction used herein should not be interpreted as critical or essential unless explicitly described as such.
Claims (9)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411686909.7A CN119175730B (en) | 2024-11-25 | 2024-11-25 | Self-adaptive two-finger clamp holder for quick response rope drive |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411686909.7A CN119175730B (en) | 2024-11-25 | 2024-11-25 | Self-adaptive two-finger clamp holder for quick response rope drive |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN119175730A true CN119175730A (en) | 2024-12-24 |
| CN119175730B CN119175730B (en) | 2025-03-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202411686909.7A Active CN119175730B (en) | 2024-11-25 | 2024-11-25 | Self-adaptive two-finger clamp holder for quick response rope drive |
Country Status (1)
| Country | Link |
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| CN (1) | CN119175730B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4502585A (en) * | 1978-11-13 | 1985-03-05 | Walter Sticht | Workpiece carrier locating and clamping mechanism for assembly line arrangement |
| US5484181A (en) * | 1991-05-15 | 1996-01-16 | Saadat; Mohsen M. | Gripper mechanism |
| EP0747866A1 (en) * | 1995-06-06 | 1996-12-11 | International Game Technology | Bill Stacker |
| CN103423074A (en) * | 2012-05-20 | 2013-12-04 | 曲言明 | Weave power acquisition device adopting floating body and rope wheel |
| CN107601036A (en) * | 2017-09-08 | 2018-01-19 | 广东工业大学 | A kind of position-movable adsorption module of more adsorption sites for driving of restricting |
-
2024
- 2024-11-25 CN CN202411686909.7A patent/CN119175730B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4502585A (en) * | 1978-11-13 | 1985-03-05 | Walter Sticht | Workpiece carrier locating and clamping mechanism for assembly line arrangement |
| US5484181A (en) * | 1991-05-15 | 1996-01-16 | Saadat; Mohsen M. | Gripper mechanism |
| EP0747866A1 (en) * | 1995-06-06 | 1996-12-11 | International Game Technology | Bill Stacker |
| CN103423074A (en) * | 2012-05-20 | 2013-12-04 | 曲言明 | Weave power acquisition device adopting floating body and rope wheel |
| CN107601036A (en) * | 2017-09-08 | 2018-01-19 | 广东工业大学 | A kind of position-movable adsorption module of more adsorption sites for driving of restricting |
Also Published As
| Publication number | Publication date |
|---|---|
| CN119175730B (en) | 2025-03-14 |
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