CN112376520B - Flexible foldable large-deformation catching mechanism - Google Patents
Flexible foldable large-deformation catching mechanism Download PDFInfo
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- CN112376520B CN112376520B CN202011246183.7A CN202011246183A CN112376520B CN 112376520 B CN112376520 B CN 112376520B CN 202011246183 A CN202011246183 A CN 202011246183A CN 112376520 B CN112376520 B CN 112376520B
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- hand grip
- long arm
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B15/00—Cleaning or keeping clear the surface of open water; Apparatus therefor
- E02B15/04—Devices for cleaning or keeping clear the surface of open water from oil or like floating materials by separating or removing these materials
- E02B15/10—Devices for removing the material from the surface
Abstract
The invention relates to a catching mechanism, in particular to a flexible foldable large-deformation catching mechanism which comprises a flexible gripper, a flexible linear driver and a connecting piece, wherein the flexible linear driver is connected to the middle part of the flexible gripper through the connecting piece; when the flexible linear driver is shortened, the width direction of the long arm of the flexible gripper is narrowed under the action of stress, two sides of a long shaft of the middle hole of the flexible gripper, the side hole of the flexible gripper and the end hole of the flexible gripper are bent downwards, the long arm of the flexible gripper is bent reversely to an initial state, and the catching mechanism finishes unfolding action.
Description
Technical Field
The invention relates to a catching mechanism, in particular to a flexible foldable and unfoldable large-deformation catching mechanism.
Background
In recent years, with the continuous and deep ocean development activities, the quantity of marine garbage is increased rapidly, the safe operation of aircrafts such as ships, submarines, ocean detectors and the like is threatened seriously, and most of the marine garbage is in a suspension state, is difficult to capture and easy to be swallowed by marine organisms, can cause adverse effects on the health of a marine ecosystem, and further has serious negative effects on the development of economic society.
Therefore, the marine garbage cleaning is a key problem to be solved at present. The large deformation catching mechanism is one of the research hotspots in the robot field. At present, most of traditional mechanical arms are rigid grippers, the structural form, the driving mechanism and the control method of the rigid grippers are complex, and the stability and the durability in a deep sea environment are poor. Compared with a rigid mechanism, the flexible mechanism can realize complex actions under simpler driving and control by means of self structural deformation, and is suitable for the characteristics of marine garbage suspension and uncertain geometric appearance; a novel flexible foldable and unfoldable large-deformation catching mechanism does not exist in the prior art.
Disclosure of Invention
The invention aims to provide a flexible foldable large-deformation catching mechanism which can realize large-deformation catching through simple driving.
The purpose of the invention is realized by the following technical scheme:
the flexible foldable large-deformation catching mechanism comprises a flexible gripper, a flexible linear driver and a connecting piece, wherein the flexible linear driver is connected to the middle of the flexible gripper through the connecting piece, and the flexible linear driver extends to drive the flexible gripper to be closed.
As a further optimization of the technical scheme, the flexible foldable and expandable large-deformation catching mechanism comprises a flexible gripper long arm and a flexible gripper short arm, wherein the middle part of the flexible gripper long arm is fixedly connected with the two flexible gripper short arms.
As a further optimization of the technical scheme, the flexible foldable and unfoldable large-deformation catching mechanism is characterized in that the flexible hand grip is also provided with a flexible hand grip middle hole, a flexible hand grip side hole and a flexible hand grip end hole, the middle part of the flexible hand grip is provided with two flexible hand grip middle holes, two ends of the flexible hand grip are respectively provided with a flexible hand grip end hole, and a flexible hand grip side hole is respectively arranged between the two flexible hand grip middle holes and the two flexible hand grip end holes.
As a further optimization of the technical scheme, the flexible foldable and expandable large-deformation catching mechanism is characterized in that the flexible hand grip is also provided with an outer crease and an inner crease, the outer crease is arranged in the long axis direction among the middle hole of the flexible hand grip, the side hole of the flexible hand grip and the end hole of the flexible hand grip, and the inner crease is arranged in the short axis direction among the middle hole of the flexible hand grip, the side hole of the flexible hand grip and the end hole of the flexible hand grip.
As further optimization of the technical scheme, the inner ends of the short arms of the two flexible grippers of the flexible foldable large-deformation catching mechanism are bent by 90 degrees.
As a further optimization of the technical scheme, the flexible foldable and expandable large-deformation catching mechanism is characterized in that the connecting piece is provided with two mounting grooves, the two connecting pieces are respectively in transition fit with the short arms of the two flexible grippers in the two mounting grooves, and the flexible linear driver is fixedly connected between the two connecting pieces.
As further optimization of the technical scheme, the flexible foldable and expandable large-deformation catching mechanism is characterized in that the flexible linear driver is a pneumatic artificial muscle or a two-way shape memory alloy spring.
As a further optimization of the technical scheme, the flexible foldable and expandable large-deformation catching mechanism is characterized in that the flexible handle is formed by folding a plastic sheet.
The flexible foldable large-deformation catching mechanism has the beneficial effects that:
according to the flexible foldable large-deformation catching mechanism, the closed catching state of the flexible hand grab can be controlled through the extension and the shortening of the flexible linear driver, and when the flexible linear driver extends, the force of the flexible linear driver driving the short arm of the flexible hand grab to extrude the root of the long arm of the flexible hand grab to be reduced through the connecting piece; releasing the internal stress of the flexible hand grip, bending the two end parts of the long arm of the flexible hand grip to the middle part, and completing the closing action by the catching mechanism; when the flexible linear driver is shortened, the flexible linear driver drives the flexible hand grab short arm through the connecting piece, the root position of the flexible hand grab long arm is further extruded, stress is transmitted to two ends of the flexible hand grab long arm, the width direction of the flexible hand grab long arm is narrowed under the action of the stress, two sides of a long shaft of the flexible hand grab middle hole, the flexible hand grab side hole and the flexible hand grab end hole are bent downwards, the flexible hand grab long arm is reversely bent to an initial state, and the grabbing mechanism completes unfolding action; the device can realize the catching action of large angle and large deformation under the action of smaller output force and deformation of the flexible linear driver.
Drawings
The invention is described in further detail below with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a schematic view of the deployment structure of the flexible, foldable, large deformation capture mechanism of the present invention;
FIG. 2 is a schematic view of a flexible, foldable, large deformation capture mechanism of the present invention in a closed configuration;
FIG. 3 is a schematic view of a partial structure of a flexible and foldable large deformation catching mechanism of the invention;
FIG. 4 is a schematic view of the flexible grip of the present invention in an expanded configuration;
FIG. 5 is a schematic view of a flexible grip closure configuration of the present invention;
FIG. 6 is a schematic view of the flexible grip crease structure of the present invention;
FIG. 7 is a schematic diagram of the flexible linear actuator of the present invention;
fig. 8 is a schematic view of the connector structure of the present invention.
In the figure: a flexible grip 1; a flexible gripper long arm 101; a flexible gripper short arm 102; a flexible grip central aperture 103; flexible hand grip side apertures 104; flexible grip end holes 105; an outer fold 106; inner fold 107; a flexible linear actuator 2; a connecting member 3; the mounting groove 301.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "top", "bottom", "inner", "outer" and "upright", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, directly or indirectly connected through an intermediate medium, and may be a communication between two members. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In addition, in the description of the present invention, the meaning of "a plurality", and "a plurality" is two or more unless otherwise specified.
The first embodiment is as follows:
the embodiment is described below with reference to fig. 1 to 8, and the flexible foldable large-deformation catching mechanism comprises a flexible hand grip 1, a flexible linear actuator 2 and a connecting piece 3, wherein the flexible linear actuator 2 is connected to the middle of the flexible hand grip 1 through the connecting piece 3, and the flexible linear actuator 2 extends to drive the flexible hand grip 1 to close; defining the deployed state of the device as an initial state, as shown in fig. 1, the closed catching state of the flexible grip 1 is controlled by the extension and retraction of the flexible linear actuator 2; when the flexible linear driver 2 extends, the force of the flexible linear driver 2 driving the flexible hand grip short arm 102 to extrude the root of the flexible hand grip long arm 101 through the connecting piece 3 is reduced, the internal stress of the flexible hand grip 1 is released, the two end parts of the flexible hand grip long arm 101 bend towards the middle part, and the catching mechanism completes the closing action; when the flexible linear actuator 2 is shortened, the flexible linear actuator 2 drives the flexible hand grip short arm 102 through the connecting piece 3, the position of the root of the flexible hand grip long arm 101 is further extruded, stress is transmitted to the two ends of the flexible hand grip long arm 101, the width direction of the flexible hand grip long arm 101 is narrowed under the action of the stress, the two sides of the long shaft of the flexible hand grip middle hole 103, the flexible hand grip side hole 104 and the flexible hand grip end hole 105 are bent downwards, the flexible hand grip long arm 101 is reversely bent to the initial state, the grabbing mechanism completes unfolding action, and therefore the grabbing action with large angle and large deformation is achieved under the action of small output force and deformation of the flexible linear actuator 2.
The second embodiment is as follows:
the following describes the present embodiment with reference to fig. 1 to 8, and the present embodiment further describes the first embodiment, where the flexible gripper 1 includes a flexible gripper long arm 101 and a flexible gripper short arm 102, and two flexible gripper short arms 102 are fixedly connected to the middle of the flexible gripper long arm 101; as shown in fig. 4 and 5.
The third concrete implementation mode:
the following describes the present embodiment with reference to fig. 1 to 8, and the second embodiment is further described in the present embodiment, the flexible gripper 1 is further provided with a flexible gripper middle hole 103, a flexible gripper side hole 104, and a flexible gripper end hole 105, the middle part of the flexible gripper 1 is provided with two flexible gripper middle holes 103, both ends of the flexible gripper 1 are provided with flexible gripper end holes 105, and a flexible gripper side hole 104 is provided between each of the two flexible gripper middle holes 103 and each of the two flexible gripper end holes 105; the flexible hand grip middle hole 103, the flexible hand grip side hole 104 and the flexible hand grip end hole 105 are arranged for reducing the local rigidity of the structure, the flexible hand grip 1 deforms more under the action of unit force by matching with the outer crease 106 and the inner crease 107, the flexible hand grip holes with different numbers and shapes can be adopted according to different application scenes, and meanwhile, the position and the folding direction of the crease are correspondingly changed.
The fourth concrete implementation mode:
the following describes the present embodiment with reference to fig. 1 to 8, and the third embodiment is further described in the present embodiment, the flexible grip 1 is further provided with an outer fold 106 and an inner fold 107, the outer folds 106 are provided in the major axis direction among the flexible grip central hole 103, the flexible grip side hole 104 and the flexible grip end hole 105, and the inner folds 107 are provided in the minor axis direction among the flexible grip central hole 103, the flexible grip side hole 104 and the flexible grip end hole 105; the inner fold 107 is a fold folded inwards perpendicular to the paper, the outer fold 106 is a fold folded outwards perpendicular to the paper, as shown in fig. 6, the fold of the flexible grip 1 is schematically illustrated, the angle of the inner fold 107 is 135 °, the angle of the outer fold 106 is 20 °, the angle of the inner fold 107 is 120 ° and the angle of the outer fold 106 is 20 ° when the device is closed for catching; the major axis direction of the flexible grip center hole 103, the flexible grip side hole 104, and the flexible grip end hole 105 is the direction in which the aperture is longer, and the minor axis direction of the flexible grip center hole 103, the flexible grip side hole 104, and the flexible grip end hole 105 is the direction in which the aperture is shorter, as shown in fig. 6.
The fifth concrete implementation mode:
the fourth embodiment is further described with reference to fig. 1 to 8, in which the inner ends of the two flexible gripper short arms 102 are both bent by 90 °; as shown in fig. 4 and 5, the folding back angle of the end crease of the short arm 102 of the flexible hand grip is 90 °, the folded 90 ° structure is in transition fit with the mounting groove 301 on the outer side of the connecting piece 3, the bending of the short arm 102 of the flexible hand grip is kept 90 ° during the movement of the device, the initial angle after folding along the crease of the root of the short arm 102 of the flexible hand grip is 180 °, after the connection with the connecting piece 3, the supporting action of the crease of the root of the short arm 102 of the flexible hand grip by the flexible linear actuator 2 is about 165 ° when the device is in the fully closed state, during the movement from the fully closed state to the maximum opening angle state, the crease angle of the root of the short arm 102 of the flexible hand grip is continuously reduced, and when the angle of the root of the short arm 102 of the flexible hand grip is reduced to about 150 °.
The sixth specific implementation mode:
the present embodiment is described below with reference to fig. 1 to 8, and the fifth embodiment is further described in the present embodiment, where the connecting member 3 is provided with two mounting grooves 301, the two connecting members 3 are provided, the two flexible gripper short arms 102 are respectively in transition fit in the two mounting grooves 301, and the flexible linear actuator 2 is fixedly connected between the two connecting members 3; the folded flexible hand grip short arm 102 of the device forms a latch-type structure for connection with a connector.
The seventh embodiment:
in the following, the present embodiment is described with reference to fig. 1 to 8, and the sixth embodiment is further described in the present embodiment, the flexible linear actuator 2 is a pneumatic artificial muscle or a two-way shape memory alloy spring; when the pneumatic artificial muscle is adopted, two ends of the pneumatic artificial muscle are respectively connected with the connecting piece 3 through the bolts and the nuts, and when the two-way shape memory alloy spring is adopted, two ends of the two-way shape memory alloy spring are respectively fixed through the spring metal sheets and are connected with the connecting piece 3 through the bolts and the nuts.
The specific implementation mode is eight:
the present embodiment is described below with reference to fig. 1 to 8, and the seventh embodiment is further described in the present embodiment, in which the flexible grip 1 is formed by folding a plastic sheet; the preferred plastic material is a plastic material such as polyvinyl chloride.
The invention relates to a flexible foldable and unfoldable large-deformation catching mechanism, which has the working principle that:
when the flexible linear driver 2 extends, the force of the flexible linear driver 2 driving the flexible hand grip short arm 102 to extrude the root of the flexible hand grip long arm 101 through the connecting piece 3 is reduced, the internal stress of the flexible hand grip 1 is released, the two end parts of the flexible hand grip long arm 101 bend towards the middle part, and the catching mechanism completes the closing action; when the flexible linear driver 2 is shortened, the flexible linear driver 2 drives the flexible hand grip short arm 102 through the connecting piece 3, so that the position of the root of the flexible hand grip long arm 101 is extruded, stress is transmitted to two ends of the flexible hand grip long arm 101, the width direction of the flexible hand grip long arm 101 is narrowed under the action of the stress, two sides of a long shaft of the flexible hand grip middle hole 103, the flexible hand grip side hole 104 and the flexible hand grip end hole 105 are bent downwards, the flexible hand grip long arm 101 is bent reversely to an initial state, the catching mechanism finishes unfolding action, and catching action of large-angle large deformation is realized under the action of small output force and deformation of the flexible linear driver 2; the device can be used for cleaning suspended garbage in space and ocean environments, can generate large-angle and large-deformation capturing actions under the condition of smaller force and deformation output of the flexible linear driver 2, effectively improves the capturing adaptability due to the flexible characteristic of the mechanism, and can be used for capturing various irregular targets.
It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and that various changes, modifications, additions and substitutions which are within the spirit and scope of the present invention and which may be made by those skilled in the art are also within the scope of the present invention.
Claims (4)
1. The utility model provides a mechanism is arrested in flexible big deformation that can unfold, includes flexible tongs (1), flexible linear actuator (2) and connecting piece (3), its characterized in that: the flexible linear driver (2) is connected to the middle of the flexible gripper (1) through the connecting piece (3), and the flexible linear driver (2) drives the flexible gripper (1) to close or open;
the flexible gripper (1) comprises a flexible gripper long arm (101) and a flexible gripper short arm (102), and the middle part of the flexible gripper long arm (101) is fixedly connected with the two flexible gripper short arms (102);
the flexible hand grip long arm (101) is further provided with an outer crease (106) and an inner crease (107), the outer crease (106) is arranged in the long axis direction among the flexible hand grip middle hole (103), the flexible hand grip side hole (104) and the flexible hand grip end hole (105), and the inner crease (107) is arranged in the short axis direction among the flexible hand grip middle hole (103), the flexible hand grip side hole (104) and the flexible hand grip end hole (105);
the flexible gripper long arm (101) is further provided with a flexible gripper middle hole (103), a flexible gripper side hole (104) and a flexible gripper end hole (105), the middle part of the flexible gripper long arm (101) is provided with two flexible gripper middle holes (103), two ends of the flexible gripper long arm (101) are respectively provided with a flexible gripper end hole (105), and a flexible gripper side hole (104) is arranged between each two adjacent flexible gripper middle holes (103) and flexible gripper end holes (105);
the connecting piece (3) is provided with two mounting grooves (301), the two connecting pieces (3) are respectively in transition fit with the two mounting grooves (301), and the flexible linear driver (2) is fixedly connected between the two connecting pieces (3);
when the flexible linear driver (2) extends, the flexible linear driver (2) drives the flexible hand grab short arm (102) to extrude the root of the flexible hand grab long arm (101) through the connecting piece (3) to reduce the force, the internal stress of the flexible hand grab (1) is released, the two end parts of the flexible hand grab long arm (101) bend towards the middle part, and the catching mechanism finishes the closing action; when the flexible linear driver (2) is shortened, the flexible linear driver (2) drives the flexible hand grip short arm (102) through the connecting piece (3), the position of the root of the flexible hand grip long arm (101) is further extruded, stress is conducted to the two ends of the flexible hand grip long arm (101), the width direction of the flexible hand grip long arm (101) is narrowed under the action of the stress, the two sides of the long shaft of the flexible hand grip middle hole (103), the flexible hand grip side hole (104) and the flexible hand grip end hole (105) are bent downwards, the flexible hand grip long arm (101) is reversely bent to the initial state, and the catching mechanism completes unfolding action.
2. The flexible and expandable large deformation catching mechanism as claimed in claim 1, wherein: the inner ends of the two flexible hand grab short arms (102) are bent by 90 degrees.
3. A flexible, collapsible, large deformation arrest mechanism according to any one of claims 1 to 2, characterised in that: the flexible linear driver (2) is a pneumatic artificial muscle or a two-way shape memory alloy spring.
4. A flexible, collapsible, large deformation arrest mechanism according to any one of claims 1 to 2, characterised in that: the flexible gripper (1) is formed by folding a plastic sheet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011246183.7A CN112376520B (en) | 2020-11-10 | 2020-11-10 | Flexible foldable large-deformation catching mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011246183.7A CN112376520B (en) | 2020-11-10 | 2020-11-10 | Flexible foldable large-deformation catching mechanism |
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| Publication Number | Publication Date |
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| CN112376520A CN112376520A (en) | 2021-02-19 |
| CN112376520B true CN112376520B (en) | 2022-02-15 |
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| CN202011246183.7A Active CN112376520B (en) | 2020-11-10 | 2020-11-10 | Flexible foldable large-deformation catching mechanism |
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Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB9120379D0 (en) * | 1991-09-25 | 1991-11-06 | Univ Bristol | Robotic gripper |
| CN107650119A (en) * | 2017-11-08 | 2018-02-02 | 平顶山学院 | The soft handgrip of intelligence |
| CN111452069B (en) * | 2020-04-22 | 2021-10-15 | 浙江大学 | Flexible negative pressure tongs of electrically driven artificial muscle of modularization |
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2020
- 2020-11-10 CN CN202011246183.7A patent/CN112376520B/en active Active
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