WO2021248684A1

WO2021248684A1 - Multi-dimensional, space-adaptive winding arm and capture device

Info

Publication number: WO2021248684A1
Application number: PCT/CN2020/109290
Authority: WO
Inventors: 邓豪; 梅涛; 孔文超; 赖宇锋; 徐文君
Original assignee: 鹏城实验室
Priority date: 2020-06-08
Filing date: 2020-08-14
Publication date: 2021-12-16
Also published as: CN111673780B; CN111673780A

Abstract

A multi-dimensional, space-adaptive winding arm and a capture device, the multi-dimensional, space-adaptive winding arm comprises: two or two or more folding modules, the folding modules comprising two parts, the parts having a bottom edge and side edges, the bottom edges of the two parts being rotatably connected, and the bottom edges of the two parts rotating open and closed along a first axis. All of the folding modules are sequentially connected, and the angle of intersection between first axes of at least two adjacent folding modules is less than 180 degrees. The side edges of any two adjacent first parts are rotatably connected, and the side edges of any two adjacent second parts are rotatably connected. The multi-dimensional space-adaptive winding arm is provided with a curved inner side, and when the folding modules are opened, the multi-dimensional space-adaptive winding arm curves around a second axis towards the curved inner side, and the multi-dimensional space-adaptive winding arm extends along the second axis.

Description

Multi-dimensional adaptive space winding arm and capture device

This application claims the priority of a Chinese patent application filed with the Chinese Patent Office on June 8, 2020, the application number is 202010516465.8, and the invention title is "Multi-dimensional adaptive space winding arm and capture device", the entire content of which is incorporated into the application by reference middle.

Technical field

This application relates to the field of folding arms, in particular to a multi-dimensional self-adaptive space winding arm and a capture device.

Background technique

At present, a rigid mechanical arm for grasping used in industry usually adopts a plurality of rigid claws to cooperate to achieve clamping and grasping of a target. The rigid claws of the rigid mechanical arm structure cannot be deformed, so the adaptability to the target is poor. Although the under-actuated mechanical arm can adapt to the shape of the target, its own structure is complicated, the cost is high, and the single arm has a poor holding and stabilizing effect on the target, and it usually requires multiple arms to cooperate and clamp together.

Technical solutions

The main purpose of this application is to propose a multi-dimensional self-adaptive spatial winding arm, which aims to ensure the self-adaptive function of the folding arm and at the same time improve the stability of the folding arm for clamping the target object.

In order to achieve the above-mentioned purpose, the multi-dimensional adaptive space winding arm proposed in this application includes two or more folding modules. The folding module includes two parts. The parts have a bottom edge and a side edge. The bottom edges of the components are rotatably connected, and the bottom edges of the two components rotate to open and close along the first axis;

All the folding modules are connected in sequence, and the included angle of the first axis of at least two adjacent folding modules is less than 180 degrees;

The two parts in the folding module are a first part and a second part respectively; the sides of any two adjacent first parts are rotationally connected, and any two adjacent second parts are Side rotation connection;

The multi-dimensional adaptive space winding arm has a curved inner side. When the folding module is opened, the multi-dimensional adaptive space winding arm bends to the inner side of the curve around a second axis, and the multi-dimensional adaptive space winding arm extends along the second axis. The axis extends.

In one embodiment, the included angle between the side edge and the bottom edge of the support module is a bottom angle, and the angles of two adjacent bottom corners of the two adjacent first components are different; and/or ,

The angles of the two adjacent bottom corners of the two adjacent second parts are different.

In an embodiment, except for the bottom corners of the first section and the tail end of the multi-dimensional adaptive space winding arm, the angles of two adjacent bottom corners of at least one of the folding modules are different.

In one embodiment, except for the folding module at the rear end of the multi-dimensional adaptive space winding arm, in the ends of the remaining folding modules close to the head end, one bottom angle of the first component is greater than 90 degrees, and the other bottom angle is greater than 90 degrees. The angle is less than 90 degrees.

In an embodiment, the curvature of the multi-dimensional adaptive space winding arm in the direction from the head end to the tail end gradually increases or gradually decreases or does not change.

In one embodiment, in the direction from the head end to the tail end of the multi-dimensional adaptive space winding arm, the length of the bottom side of the component is sequentially reduced.

In an embodiment, in the direction from the head end to the tail end of the multi-dimensional adaptive space winding arm, the included angles of the first axes of two adjacent folding modules are sequentially reduced.

In one embodiment, in the expanded state of the folding module, the multi-dimensional adaptive space winding arm is bent two or more turns around the second axis.

In one embodiment, in the closed state of the folding module, the angle at which the multi-dimensional adaptive space winding arm is bent around the second axis is less than 360 degrees.

This application also proposes a capture device, including:

The multi-dimensional adaptive space winding arm as described above; and,

A driving part is connected to the folding module, and the driving part is used to drive the folding module to open and close so as to change the curvature of the multi-dimensional adaptive space winding arm.

In the technical solution of the present application, the expansion of the folding module causes the multi-dimensional adaptive space winding arm to bend spirally, and the bending radius is reduced, thereby capturing the target object. When the bending angle of the multi-dimensional adaptive space winding arm around the second axis exceeds 360 degrees, the multi-dimensional adaptive space winding arm does not overlap, so the length of the multi-dimensional adaptive space winding arm that can contact the target is longer. Longer, the angle at which the target can be wound is larger, which is more conducive to stably holding the target. In addition, it is possible to control the bending and extension of the multi-dimensional adaptive space winding arm by driving any one of the folding module openings. Therefore, only a single driving source is required to drive the multi-dimensional adaptive space winding arm to the target. The capture and release of objects. Therefore, the multi-dimensional adaptive space winding arm is not only beneficial to simplify the driving structure, but also effectively saves costs. On the other hand, as the opening degree of the folding module changes, the bending rate of the multi-dimensional adaptive space winding arm also changes, so that the robotic arm can adapt to targets with different shapes and different outer diameters, and has a target Features of a wide range of applications.

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments of the present application. For those of ordinary skill in the art, without creative work, other drawings can be obtained based on the structure shown in these drawings.

FIG. 1 is a schematic structural diagram of an embodiment of a multi-dimensional adaptive space winding arm of the present application;

2 is a schematic diagram of the structure of two adjacent folding modules in the multi-dimensional adaptive space winding arm in FIG. 1 in a split state;

3 to 6 are left views of the multi-dimensional self-adaptive space winding arm with the opening angle of the folding module shown in FIG. 1 gradually increasing;

7 to 9 are axonometric views of the multi-dimensional self-adaptive space-winding arm in which the opening angle of the folding module shown in FIG. 1 is successively increased.

Attached icon number description:

标号 Label	名称 name	标号 Label	名称 name
100 100	多维自适应空间缠绕臂 Multi-dimensional adaptive space winding arm	110 110	弯曲内侧 Curved inside
120 120	弯曲外侧 Bend outside	130 130	首端 Headend
140 140	尾端 Tail end	200 200	折合模块 Folding module
213 213	底边 Bottom edge	214 214	侧边 Side
215 215	第一部件 First part	216 216	第二部件 Second part
240 240	第一轴线 First axis	250 250	第二轴线 Second axis

The realization, functional characteristics, and advantages of the purpose of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings.

Implementation of this application

The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of this application.

It should be noted that if there is a directional indication (such as up, down, left, right, front, back...) in the embodiment of this application, the directional indication is only used to explain that it is in a specific posture (as shown in the accompanying drawings). Show) the relative positional relationship, movement situation, etc. between the components below, if the specific posture changes, the directional indication will also change accordingly.

In addition, if there are descriptions related to "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes, and cannot be understood as instructions or implications Its relative importance or implicitly indicates the number of technical features indicated. Therefore, the features defined with "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the meaning of "and/or" in the full text means including three parallel schemes, taking "A and/or B" as an example, including scheme A, scheme B, or schemes in which both A and B meet. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on what can be achieved by a person of ordinary skill in the art. When the combination of technical solutions is contradictory or cannot be achieved, it should be considered that such a combination of technical solutions does not exist. , Is not within the scope of protection required by this application.

This application proposes a multi-dimensional adaptive space winding arm.

In the embodiment of the present application, as shown in FIGS. 1 to 9, the multi-dimensional adaptive space winding arm 100 includes two or more folding modules 200, and the folding module 200 includes two parts. It has a bottom edge 213 and a side edge 214. The bottom edges 213 of the two components are rotatably connected, and the bottom edges 213 of the two components rotate to open and close along the first axis; all the folding modules 200 are connected in sequence, and at least two The included angle α between the first axes of the adjacent folding modules 200 is less than 180 degrees; the two parts in the folding module 200 are the first part 215 and the second part 216 respectively; any two adjacent ones The sides 214 of the first part 215 are rotatably connected, and the sides 214 of any two adjacent second parts 216 are rotatably connected; the multi-dimensional adaptive space winding arm 100 has a curved inner side 110 and a curved outer side 120 When the folding module 200 is opened, the multi-dimensional adaptive space winding arm 100 bends around the second axis 250 toward the inner side 110 of the curve, and the multi-dimensional adaptive space winding arm 100 extends along the second axis 250. When any one of the folding modules 200 in the multi-dimensional adaptive space winding arm 100 is opened, it can drive the other adjacent folding module 200 to expand, and so on, it can drive all the folding modules 200 to open. Open. In this implementation, the opening angle of the folding module 200 becomes larger, the greater the bending amplitude of the multi-dimensional adaptive space winding arm 100 inward, and the longer it extends in the direction of the second axis 250 at the same time.

In the technical solution of the present application, the folding module 200 is expanded to cause the multi-dimensional adaptive space winding arm 100 to be spirally bent, and the bending radius is reduced, thereby capturing the target object. When the bending angle of the multi-dimensional adaptive spatial winding arm 100 around the second axis 250 exceeds 360 degrees, the multi-dimensional adaptive spatial winding arm 100 does not overlap, and therefore the multi-dimensional adaptive spatial winding arm 100 can interact with the target object. The contact length is longer, and the angle at which the target can be wound is larger, which is more conducive to stable clamping of the target. In addition, it is possible to control the bending and extension of the multi-dimensional adaptive space winding arm by driving any one of the openings of the folding module 200. Therefore, only a single driving source is required to drive the pair of multi-dimensional adaptive space winding arms. The capture and release of the target. Therefore, the multi-dimensional adaptive space winding arm is not only beneficial to simplify the driving structure, but also effectively saves costs. On the other hand, as the opening degree of the folding module 200 changes, the bending rate of the multi-dimensional adaptive space winding arm also changes, so that the robotic arm can adapt to targets with different shapes and different outer diameters. The characteristics of the wide range of target application. When the bending angle of the multi-dimensional adaptive spatial winding arm can exceed 360 degrees, the multi-dimensional adaptive spatial winding arm can adaptively grasp and wrap the variable diameter target over 360 degrees.

Further, in this embodiment, in the embodiment of the present application, as shown in FIGS. 2 and 3, the included angle between the side edge 214 and the bottom edge 213 of the supporting module is the bottom angle β, The angles of two adjacent bottom corners β in two adjacent first parts 215 are different, and the angles of two adjacent bottom corners β in two adjacent second parts 216 are different. Specifically, two adjacent first parts 215 have four bottom angles β, wherein two adjacent bottom angles β belong to two first parts 215 respectively, and the phase The two adjacent bottom angles β have different angles; in two adjacent second members 216, there are four bottom angles β, and the two adjacent bottom angles β belong to the two second parts respectively. Two parts 216, and the two adjacent bottom angles β have different angles. The setting of the bottom angle β in this embodiment is beneficial to enable the multi-dimensional adaptive space winding arm 100 to extend along the second axis 250 when the folding module 200 is opened. It can be understood that when any two adjacent folding modules 200 have the same angle of the two adjacent bottom corners β in the two one part, two adjacent bottom corners β of the two second parts 216 are the same. When the angle β is the same, the first axis 240 of any two adjacent folding modules 200 will always be on the same plane during the process of the folding module 200 from closing to opening. The one axis 240 will move in the same plane, so the multi-dimensional adaptive space winding arm 100 will not deflect along the second axis 250 direction. Therefore, in this embodiment, the angles of the two adjacent bottom corners β of the two adjacent first parts 215 are different, and the angles of the two adjacent bottom corners β of the two adjacent second parts 216 are different, which is beneficial to The multi-dimensional adaptive space winding arm 100 is made to extend along the second axis 250 while bending.

For ease of understanding, in this embodiment, the two adjacent folding modules 200 are split into a flat state as shown in FIG. 2. The rotation axes 240 of the two folding modules 200 are on the same straight line, and the same folding module The two parts of the 200 have an included angle of 180 degrees. An angle θ1 is formed between two adjacent sides 214 of two adjacent first parts 215, and an angle θ2 is formed between two adjacent sides 214 of two adjacent second parts 216. A base angle β1 is formed between the axial edge 211 and the side edge 214 of one of the first members 215, and a base angle β2 is formed between the axial edge 211 and the side edge 214 of the other first member 215. The angular bisector of the included angle θ1 forms an included angle γ1 with the axial side 211 of the first component 215, and the angular bisector of the included angle θ2 forms an included angle γ2 with the axial side 211 of the first component 215. In this embodiment, the bisector of the included angle γ1 and the bisector of the included angle γ2 are on the same straight line, that is, the sum of the angles of the included angle γ1 and the included angle γ2 is 180 degrees. The sum of the bottom angle β1 and the bottom angle β2 is less than 180 degrees. The angle of the included angle γ1 is not equal to the angle of γ2, and the angle of the included angle β1 is not equal to the angle of the included angle β2. When the two folding modules 200 are assembled, the sides 214 of two adjacent first parts 215 are connected, and the sides 214 of two adjacent second parts 216 are connected. At this time, the included angle between the two first components 215 is less than 180 degrees, the included angle between the two second components 216 is less than 180 degrees, and the angle α between the rotation axes of the two folding modules 200 is less than 180 degree. The included angle γ1, the included angle γ2, the included angle β1, and the included angle β2 in this embodiment are not limited to the above technical solutions. In other embodiments, the included angle γ1 is equal to the included angle γ2, and the included angle β3 It is equal to the included angle β4, the angle sum of the included angle β1 and the included angle β2 is not equal to 180 degrees, and the included angle γ1 and the included angle γ2 are both greater than 0 degrees, which can also make the multi-dimensional adaptive space winding arm have variable curvature bending to The function of grabbing the target.

Of course, it should be noted that the bottom angle β in this embodiment is not limited to the above technical solution. In other embodiments, it may also be that the angle between the side edge and the bottom edge of the support module is The bottom angle, the angles of the two adjacent bottom corners of the two adjacent first components are different, and the angles of the two adjacent bottom corners of the two adjacent second components are the same; or, the supporting module The angle between the side edge and the bottom edge is the bottom angle, the angles of the two adjacent bottom corners of the two adjacent second parts are different, and the two adjacent two first parts The angles of the two base angles are the same, which can realize the extension in the direction of the second axis when the multi-dimensional adaptive space winding arm is bent and contracted.

Further, in this embodiment, in the embodiment of the present application, as shown in FIG. 2, except for the bottom angle β of the first section and the tail end 140 of the multi-dimensional adaptive space winding arm 100, at least one of the The angles of the two adjacent bottom corners β of the folding module 200 are different. It can be understood that when the two adjacent bottom angles β of each folding module 200 are the same, the bottom angle β of the first part 215 and the second part 216 are in a symmetrical state with respect to the rotation axis, then When the degree of expansion of the folding module 200 changes, the angle changes of the first part 215 and the second part 216 are the same, which makes it difficult for the multi-dimensional adaptive spatial winding arm 100 to move along the first The length in the direction of the two axis 250 changes. In this embodiment, the angles of the two adjacent bottom corners β of at least one folding module 200 are different, which helps to ensure that the length of the multi-dimensional folding module can change in the second axial direction. Of course, in this embodiment, the angles of the two adjacent bottom corners β of each of the folding modules 200 may be different, or it may be that the angles of the two adjacent bottom corners β of some of the folding modules 200 are different.

Further, in this embodiment, as shown in FIG. 2, except for the folding module 200 at the tail end 140 of the multi-dimensional adaptive space winding arm 100, the rest of the folding modules 200 near the head end 130, so One bottom angle β of the first component 215 is greater than 90 degrees, and the other bottom angle β of the first component 216 is less than 90 degrees. The side 214 of the first part 215 close to the head end 130 is inclined toward the extension direction of the multi-dimensional folding module, and the side 214 of the second part 216 close to the head end 130 faces away from the multi-dimensional folding module The extension direction is inclined, and the inclination directions of the two sides 214 are different, which is beneficial to increase the deformation of the multi-dimensional adaptive space winding arm 100 on the second axis 250. When the multi-dimensional adaptive space winding arm 100 When winding a target, the extended length of the multi-dimensional adaptive spatial winding arm 100 on the second axis 250 is beneficial to enhance the stability of capturing the target. It should be pointed out that the multi-dimensional adaptive spatial winding arm 100 in this embodiment is not limited to the above technical solution. In other embodiments, it may also be other than the folding module at the end of the multi-dimensional adaptive spatial winding arm. In the end of the folding module close to the head end, one bottom angle of the second component is greater than 90 degrees, and the other bottom angle of the second component is less than 90 degrees; it may also be, in addition to the multi-dimensional adaptive space winding In addition to the folded module at the end of the arm, in the remaining part of the folded module close to the head end, one bottom angle of the first part is less than 90 degrees, and the other bottom angle of the first part is also less than 90 degrees. In the end of a part of the folding module close to the head end, one bottom angle of the first component is greater than 90 degrees, and the other bottom angle of the first component is less than 90 degrees; it can also be in addition to the multi-dimensional self In addition to the folded module at the tail end of the adaptable space winding arm, in the remaining part of the folded module near the head end, a first bottom angle of the first component is less than 90 degrees, and the other bottom angle of the first component is equal to 90 degrees, in another part of the end of the folding module close to the head end, one bottom angle of the first component is greater than 90 degrees, and the other bottom angle of the first component is less than 90 degrees; except for the multi-dimensional adaptive space Except for the folding module at the tail end of the winding arm, in the ends of the remaining folding modules close to the head end, the bottom angles of the second part and the first part are both greater than 90 degrees; or, except for the multi-dimensional adaptive space In addition to the folding module at the tail end of the winding arm, the bottom angles of the second part and the first part of the other folding modules near the head end are both less than 90 degrees.

Further, in this embodiment, as shown in FIGS. 3 to 6, it may also be that the curvature of the multi-dimensional adaptive space winding arm 100 along the direction from the head end 130 to the tail end 140 is unchanged. The self-adaptive space-winding arm 100 is aimed at a cylindrical target, can fit the surface of the target more closely, has many contact points with the target, and can effectively improve the clamping stability of the multi-dimensional self-adaptive space-winding arm to the target. sex.

Of course, the curvature of the multi-dimensional adaptive spatial winding arm 100 in this embodiment is not limited to the above technical solution. In other embodiments, it may also be that the curvature of the multi-dimensional adaptive spatial winding arm is gradually in the direction from the head end to the tail end. It should be noted that the curvature may be an equivalent curvature, for example, the curvature of a circle tangent to the first rotation axis of the three adjacent folding modules is the Equivalent curvature; the gradual change of the curvature is not limited to a continuous change, but can also be a stepped change. When the curvature of the multi-dimensional adaptive space winding arm in the head and tail direction gradually increases, its radius of curvature gradually decreases. When the opening and closing modules of the multi-dimensional adaptive space winding arm are opened, the multi-dimensional adaptive space winding arm is in the head and tail direction The upper part extends in a spirally condensed shape along the second axis. Since the curvature of the multi-dimensional adaptive space winding arm is different, it is beneficial to make the multi-dimensional adaptive space winding arm applicable to a larger range of targets. For example, the tail end is convenient for capturing smaller-sized targets. The head end is suitable for capturing larger-sized targets; in addition, it has a good capturing effect for targets whose outer diameter changes in the length direction.

Of course, the curvature of the multi-dimensional adaptive spatial winding arm 100 in this embodiment is not limited to the above technical solution. In other embodiments, it may also be that the curvature of the multi-dimensional adaptive spatial winding arm is gradually in the direction from the head end to the tail end. It can also be that the curvature of the multi-dimensional adaptive space winding arm in the direction from the head end to the tail end first decreases and then increases; it can also be that the multi-dimensional adaptive space winding arm extends in the direction from the head end to the tail end The upper curvature first increases and then decreases; it may also be that the curvature of the multi-dimensional adaptive space winding arm decreases and increases alternately along the direction from the head end to the tail end; it may also be that the multi-dimensional adaptive space winding arm extends along the The curvature is irregularly distributed from the head end to the tail end, etc.

Further, in this embodiment, as shown in FIGS. 3 to 6, in the direction from the head end 130 to the tail end 140 of the multi-dimensional adaptive space winding arm 100, the first component 215 and the second The length of the bottom edge 213 of the part 216 remains unchanged. Since the multi-dimensional adaptive space winding arm 100 can achieve lateral offset when it is bent to capture a target, it can effectively avoid the spatial position interference between the head end 130 and the tail end 140 of the multi-dimensional adaptive space winding arm 100. In this embodiment, the length of the bottom side 213 of the part can be set to be equal, which is conducive to the mass production of the part. It can be understood that when the length of the bottom side 213 of the part is the same, the part can be processed with the same mold Or, the lathe can use the same parameters for processing when the parts are being processed.

The bottom edge 213 of this embodiment is not limited to the above technical solution. In other embodiments, it can also be that the bottom edge of the component is in the direction from the head end 130 to the tail end 140 of the multi-dimensional adaptive space winding arm. The length of 213 decreases successively. It is beneficial to gradually increase the curvature of the multi-dimensional adaptive space winding arm along the first position. It can be understood that when the length of the bottom side 213 of the first part 215 is smaller, The greater the curvature of the circle tangent to the bottom plate of 215. In addition, the smaller the length of the bottom side 213 of the first part 215 and the second part 216 is, the smaller the size of the first part 215 and the second part 216 is, so that the multi-dimensional adaptive space winding arm The part closer to the tail end 140 has a smaller weight and is easier to control, which is beneficial to improve the flexibility of the tail end 140 control.

The bottom edge 213 of this embodiment is not limited to the above technical solution. In other embodiments, it may also be that in the direction from the head end to the tail end of the multi-dimensional adaptive space winding arm, the first part and the The length of the bottom side of the second part increases in sequence; it can also be that the length of the bottom side of the first part and the second part in the direction from the head end to the tail end of the multi-dimensional adaptive space winding arm Increase first and then decrease; or, in the direction from the head end to the tail end of the multi-dimensional adaptive space winding arm, the lengths of the bottom sides of the first part and the second part first decrease and then increase It can also be that, in the direction from the head end to the tail end of the multi-dimensional adaptive space winding arm, the length of the bottom side of the first part and the second part increases or decreases alternately; it can also be that In the direction from the head end to the tail end of the multi-dimensional adaptive space winding arm, the lengths of the bottom sides of the first part and the second part vary irregularly, and so on.

Further, as shown in FIG. 3, it may also be that the first axis 240 of the two adjacent folding modules 200 is clamped in the direction from the head end 130 to the tail end 140 of the multi-dimensional adaptive space winding arm 100 The angle α remains unchanged, and the angle between the included angle α and the length of the bottom edge 213 of the component does not change, which is beneficial to the mass production of components and is beneficial to realize the head end 130 of the multi-dimensional adaptive space winding arm 100 The curvature in the direction of the tail end 140 remains unchanged. Of course, it should be pointed out that when the length of the bottom side 213 changes, the curvature of the multi-dimensional adaptive space winding arm 100 can still be changed.

The multi-dimensional adaptive space winding arm 100 described in this embodiment is not limited to the above technical solutions. In other embodiments, it may also be that in the direction from the head end to the tail end of the multi-dimensional adaptive space winding arm, two phases The included angle α of the first axis adjacent to the folding module decreases successively. Regardless of whether the folding module is in the open state or the closed state, the opening and closing axial angles of the two adjacent folding modules are sequentially reduced. It should be noted that the smaller the included angle α between the first axes of two adjacent folding modules is, the greater the curvature of the multi-dimensional adaptive space winding arm is.

Of course, the multi-dimensional adaptive spatial winding arm 100 described in this embodiment is not limited to the above technical solutions. In other embodiments, it may also be that two The included angles of the first axes of the adjacent folding modules increase in sequence, which is beneficial to realize the gradual decrease in curvature from the head end to the tail end of the multi-dimensional adaptive space winding arm; In the direction from the head end to the tail end of the adaptive space winding arm, the angle between the first axes of two adjacent folding modules first increases and then decreases; it may also be that the arm is wound in the multi-dimensional adaptive space In the direction from the head end to the tail end, the angle between the first axes of two adjacent folding modules first decreases and then increases; it may also be that the direction from the head end to the tail end of the arm is wound in the multi-dimensional adaptive space Above, the included angle of the first axis of two adjacent folding modules increases and decreases alternately; it may also be that in the direction from the head end to the tail end of the multi-dimensional adaptive space winding arm, two adjacent The included angle of the first axis of the folding module changes irregularly and so on.

Further, in this embodiment, as shown in FIG. 9, when the folding module 200 is in an open state, the multi-dimensional adaptive space winding arm 100 is bent two or more turns around the second axis 250, which is beneficial to all The multi-dimensional self-adaptive spatial winding arm 100 realizes multi-turn winding of the target when clamping the target, which can effectively improve the stability of clamping the target. Of course, it should be noted that the multi-dimensional adaptive space winding arm 100 described in this embodiment is not limited to the above technical solution. In other embodiments, it may also be that the multi-dimensional adaptive space The winding arm is bent half a circle around the second axis; it can also be that when the folding module is in an open state, the multi-dimensional adaptive space winding arm is bent one circle around the second axis; it can also be that the folding module is in an open state Next, the multi-dimensional adaptive space winding arm is bent less than two turns around the second axis.

Further, in this embodiment, as shown in FIG. 3, when the folding module 200 is closed, the angle at which the multi-dimensional adaptive space winding arm 100 is bent around the second axis 250 is less than 360 degrees. When the multi-dimensional adaptive space winding arm 100 needs to release the captured target, when the folding module 200 is closed, the bending rate of the multi-dimensional folding module becomes smaller, and the length extending along the second axis 250 is shortened , Thereby loosening the target. The angle of bending of the multi-dimensional adaptive space winding arm 100 around the second axis 250 is less than 360 degrees, which is beneficial to leave a gap in the circumferential direction of the second axis 250 for the target to escape from the gap, and has the advantage of convenient target release. . Specifically, when the folding module 200 is closed, the angle at which the multi-dimensional adaptive space winding arm 100 is bent around the second axis 250 can be 120 degrees, or less than 180 degrees, or 120 degrees to 200 degrees, etc. Wait.

Of course, the multi-dimensional adaptive spatial winding arm 100 described in this embodiment is not limited to the above technical solution. In other embodiments, it may also be that the multi-dimensional adaptive spatial winding arm surrounds the second embodiment when the folding module is closed. The axis 250 is bent at an angle of less than 500 degrees; it can also be that when the folding module is closed, the multi-dimensional adaptive space winding arm is bent about the second axis 250 at an angle of less than 720 degrees; it can also be that the folding module is closed In the state, the angle that the multi-dimensional adaptive space winding arm is bent around the second axis 250 is less than 1000 degrees, etc., and the target can also be released.

The present application also proposes a capture device, which includes an adaptive space winding arm and a driving member. The specific structure of the adaptive space winding arm refers to the above-mentioned embodiment, because this capture device adopts all the technical solutions of all the above-mentioned embodiments. Therefore, it has at least all the effects brought about by the technical solutions of the above-mentioned embodiments, which will not be repeated here. The driving member is connected to the folding module 200, and the driving member is used to drive the folding module 200 to open and close, so that the curvature of the adaptive space winding arm changes.

Specifically, when the driving member drives the folding module 200 to open, the multi-dimensional adaptive space winding arm 100 contracts, and the curvature of the multi-dimensional adaptive space winding arm 100 becomes larger to hold the target; When the driving member drives the folding module 200 to close, the multi-dimensional adaptive space winding arm 100 expands, the curvature of the multi-dimensional adaptive space winding arm 100 becomes smaller, and the target object can be loosened. For example, the capture device can be used to capture autonomous underwater vehicles (Autonomous Underwater Vehicle, AUV for short), and can also be used to grab cables or telegraph poles, so that the capture device can be docked on the cables or telegraph poles. Used to capture floating objects and so on. The driving part may be a motor driving part, a hydraulic driving part, or a pneumatic driving part, etc. It should be specially pointed out that the driving part may also be a transmission structure, so that the staff can pass the drive The component controls the movement of the multi-dimensional adaptive space winding arm 100.

The above descriptions are only optional embodiments of the application, and do not limit the scope of the patent for this application. Under the inventive concept of the application, the equivalent structure transformations made by using the content of the specification and drawings of the application, or direct/indirect Applications in other related technical fields are included in the scope of patent protection of this application.

Claims

A multi-dimensional self-adaptive space-wound arm, which includes: two or more folding modules (200). The folding module (200) includes two parts. The parts have a bottom edge (213) and a side edge ( 214). The bottom edges (213) of the two components are rotatably connected, and the bottom edges (213) of the two components rotate to open and close along the first axis;

All the folding modules (200) are connected in sequence, and the included angle α of the first axis of at least two adjacent folding modules (200) is less than 180 degrees;

The two parts in the folding module (200) are a first part (215) and a second part (216) respectively; the sides (214) of any two adjacent first parts (215) Rotating connection, the side edges (214) of any two adjacent second parts (216) are rotatingly connected;

The multi-dimensional adaptive space winding arm (100) has a curved inner side (110), and when the folding module (200) is opened, the multi-dimensional adaptive space winding arm (100) is curved toward the inner side (100) around the second axis (250). 110) bend, and the multi-dimensional adaptive space winding arm (100) extends along the second axis (250).
The multi-dimensional adaptive space winding arm according to claim 1, wherein the included angle between the side edge (214) and the bottom edge (213) of the supporting module is a bottom angle β, and two adjacent first The angles of two adjacent bottom corners β in a component (215) are different; and/or,

The angles of the two adjacent bottom angles β in the two adjacent second members (216) are different.
The multi-dimensional adaptive space winding arm according to claim 2, wherein, in addition to the bottom angle β of the first section and the tail end (140) of the multi-dimensional adaptive space winding arm (100), at least one folding module ( The angles of the two adjacent bottom angles β of 200) are different.
The multi-dimensional adaptive spatial winding arm according to claim 3, wherein, except for the folding module (200) at the rear end (140) of the multi-dimensional adaptive spatial winding arm (100), the remaining folding modules (200) are close to At the end of the head end (130), one bottom angle β of the first component (215) is greater than 90 degrees, and the other bottom angle β is less than 90 degrees.
The multi-dimensional adaptive space winding arm according to claim 1, wherein the curvature of the multi-dimensional adaptive space winding arm (100) in the direction from the head end (130) to the tail end (140) gradually increases or decreases, or constant.
The multi-dimensional adaptive space winding arm of claim 5, wherein, in the direction from the head end (130) to the tail end (140) of the multi-dimensional adaptive space winding arm, the bottom edge (213) of the component The length decreases sequentially.
The multi-dimensional adaptive space winding arm according to claim 5, wherein, in the direction from the head end (130) to the tail end (140) of the multi-dimensional adaptive space winding arm, two adjacent folding modules (200) The included angle α of the first axis of) decreases successively.
The multi-dimensional adaptive space winding arm according to claim 1, wherein, in the expanded state of the folding module (200), the multi-dimensional adaptive space winding arm (100) is bent twice or around the second axis (250). More than two laps.
The multi-dimensional adaptive space winding arm according to claim 1, wherein when the folding module (200) is closed, the angle of the multi-dimensional adaptive space winding arm (100) around the second axis (250) is less than 360 Spend.
A capture device, which includes:

The multi-dimensional adaptive spatial winding arm (100) according to any one of claims 1 to 9; and,

A driving part is connected to the folding module (200), and the driving part is used to drive the folding module (200) to open and close, so that the curvature of the multi-dimensional adaptive space winding arm (100) changes.