Single-driving-source grabbing mechanism based on connecting rod control

Abstract

The invention relates to the technical field of mechanical engineering and robots, and discloses a single driving source grabbing mechanism based on connecting rod control, which comprises a top part mechanism, a vertical connecting rod, a bottom part mechanism and a hollow shaft motor, the top part mechanism comprises a top horizontal connecting rod connected with the vertical connecting rod, a top sliding block and a flexible thin bag with one end fixed to the top sliding block. The bottom part mechanism comprises a bottom fixed sliding rail connected with the vertical connecting rod, a bottom horizontal connecting rod connected to the vertical connecting rod and a cross-shaped connecting rod. The protruding part of the outer side of a rotating shaft of the hollow shaft motor is connected with a cross-shaped connecting rod, and a threaded lead screw sliding block is fixed to the inner side of the rotating shaft and arranged on a threaded lead screw in a sleeving mode. Only one driving source is used, the needed energy consumption is low, the structure is simple, use and control are convenient, the adaptability in the dynamic environment is high, the moving postures of underwater creatures such as octopuses can be simulated, and underwater movement is achieved.

Description

Technical Field

[0001] This invention relates to the fields of mechanical engineering and robotics, specifically to a single-drive-source grasping mechanism based on linkage control. Background Technology

[0002] Existing technologies for linkage-controlled gripping mechanisms mainly include flexible grippers based on multi-link or pneumatic drives and vacuum suction cup gripping mechanisms. These technologies achieve gripping actions through multiple motors, cylinders, or hydraulic systems, but they have certain technical problems, including: requiring multiple drive sources, resulting in complex structures, high energy consumption, and difficulty in control; causing significant damage to the gripped objects (such as fruits and vegetables), making it impossible to achieve complete wrapping and damage-free handling; and insufficient adaptability, with poor maneuverability in dynamic environments such as deformable shapes or underwater, and an inability to simulate biological postures. These problems limit their efficiency and safety in agricultural, underwater, or precision operation applications. Summary of the Invention

[0003] To address the technical problems of existing technologies, such as complex structure, high energy consumption, difficulty in control, significant damage to the grasped object, and insufficient adaptability, this invention provides a single-drive-source grasping mechanism based on linkage control, the specific technical solution of which is as follows: A single-drive gripping mechanism based on linkage control includes a top part mechanism, a vertical connecting rod, a bottom part mechanism, and a shaft motor. The top part mechanism includes a top horizontal connecting rod, a top slider, and a storage bag. One end of the top horizontal connecting rod is connected to the upper side of the vertical connecting rod, and the other end is connected to the top slider on another top horizontal connecting rod. The opening of the storage bag is connected to the top slider. The bottom part mechanism includes a bottom fixed slide rail, a bottom horizontal connecting rod, and a cross connecting rod. The bottom fixed slide rail is movably connected to the lower side of the vertical connecting rod. The bottom horizontal connecting rod is connected to the vertical connecting rod. The cross connecting rod at the center of the bottom fixed slide rail is movably connected to the bottom horizontal connecting rod. The shaft motor is connected to the cross connecting rod.

[0004] Furthermore, the shaft motor is a hollow shaft motor with a lead screw mechanism inside, used to control the depth of the storage bag.

[0005] Furthermore, the lead screw mechanism consists of a lead screw slider and a threaded lead screw. The lead screw slider is fixed inside the rotating shaft of the shaft motor. The lead screw slider has a thread on its inner side and is sleeved on the threaded lead screw. The bottom of the storage bag is fixed at the top of the threaded lead screw.

[0006] Furthermore, the bottom fixed slide rail is a cross-shaped slide rail, and the cross direction of the cross connecting rod is parallel to the bottom fixed slide rail. At this time, the vertical connecting rod is located on the outermost side of the bottom fixed slide rail.

[0007] Furthermore, the storage bag is a flexible thin bag.

[0008] Furthermore, the protruding portion on the outer side of the rotating shaft of the shaft motor is connected to the cross linkage in the bottom part of the mechanism. Beneficial effects

[0009] Compared with existing technologies, this device uses only one drive source, requires low energy consumption, and has a simple structure, making it easy to use and control. It uses a flexible thin bag to transport the grasped object, achieving complete wrapping and damage-free transport. This invention is highly adaptable to dynamic environments and can simulate the movement posture of underwater creatures such as octopuses, enabling underwater movement. Attached Figure Description

[0010] Figure 1 This is a front view of a single-drive-source grasping mechanism based on linkage control. Figure 2 Top view of a single-drive-source grasping mechanism based on linkage control; Figure 3 A front view of a single-drive-source grasping mechanism based on linkage control; Figure 4 This is a schematic diagram of a deformed single-drive-source grasping mechanism based on linkage control. Figure 5 This is a schematic diagram of the deformation of the bottom part of the mechanism; Figure 6a Front view of the shaft motor and its internal lead screw mechanism; Figure 6b A top view of the shaft motor and its internal lead screw mechanism; Figure 6c A front sectional view of the shaft motor and its internal lead screw mechanism; Figure 7 This is a partial sectional view of the vertical connecting rod, the bottom mechanism, the shaft motor, and the internal lead screw mechanism.

[0011] The meanings of the labels in the attached diagram are as follows: 1-Top horizontal connecting rod, 2-Top slider, 3-Storage bag, 4-Vertical connecting rod, 5-Bottom fixed slide rail, 6-Bottom horizontal connecting rod, 7-Cross connecting rod, 8-Axis motor, 9-Lead screw slider, 10-Threaded lead screw. Detailed Implementation

[0012] like Figures 1-3 As shown, the single-drive-source gripping mechanism based on linkage control of the present invention includes a top part mechanism, vertical connecting rods 4, a bottom part mechanism, and a shaft motor 8. The top part mechanism comprises a top horizontal connecting rod 1 connected to the four vertical connecting rods 4, a top slider 2 on top of the top horizontal connecting rod, and a storage bag 3 with one end fixed to the top slider 2. The bottom part mechanism comprises a bottom fixed slide rail 5 connected to the lower side of the four vertical connecting rods 4, a bottom horizontal connecting rod 6 connected to the vertical connecting rods 4, and a central cross connecting rod 7. Figures 6a-6cAs shown, the shaft motor 8 has a lead screw mechanism inside. The protruding part on the outer side of the shaft of the shaft motor is connected to the cross connecting rod 7 in the bottom part of the mechanism. The lead screw slider 9 is fixed on the inner side of the shaft. The inner side of the slider has threads, and the threaded lead screw 10 is connected in the middle. The threads of the lead screw slider 10 correspond to the threads of the lead screw slider 10.

[0013] The connection form and motion principle of the top part mechanism are as follows: When the vertical connecting rod 4 moves along the bottom fixed slide rail 5, since one end of the top horizontal connecting rod 1 is connected to the vertical connecting rod 4, the top horizontal connecting rod 1 will move accordingly; at the same time, a top slider 2 is arranged on it, which can rotate around the other end of the top horizontal connecting rod 1. The translation joint of the top slider 2 is connected to another adjacent section of the top horizontal connecting rod 1, and can move horizontally on it; the four sets of top horizontal connecting rods 1 and top sliders 2 are connected in pairs to form a linkage telescopic mechanism; when the vertical connecting rod 4 moves from the outside to the center, the central area of ​​the square formed by the linkage telescopic mechanism with the four top sliders 2 as vertices will become larger, so the opening of the storage bag 3 connected to the top slider 2 will be opened; similarly, when the vertical connecting rod 4 moves from the center to the outside, the central area will become smaller, and the opening of the corresponding storage bag 3 will be tightened.

[0014] like Figure 5 As shown, the connection form and motion principle of the bottom part mechanism are as follows: Since one end of the bottom horizontal connecting rod 6 is also connected to the vertical connecting rod 4, when the central cross connecting rod 7 rotates, it will drive the bottom horizontal connecting rod 6 and the vertical connecting rod 4 to move together. Specifically, the initial position is when the cross direction of the cross connecting rod 7 is parallel to the bottom fixed slide rail 5. At this time, the vertical connecting rod 4 is located on the outermost side. When the cross connecting rod 7 rotates, it will drive the position of the bottom horizontal connecting rod 6 to change, so that the vertical connecting rod 4 connected to the bottom horizontal connecting rod 6 will continuously move. Since the bottom fixed slide rail 5 restricts the movement direction of the vertical connecting rod 4, the movement direction of the vertical connecting rod 4 is from all directions to the center. When the cross connecting rod 7 is reset, the vertical connecting rod 4 will move from the center to all directions until it returns to its original position.

[0015] The connection method between the vertical connecting rod 4, the shaft motor 8, and the bottom part of the mechanism is as follows: Figure 7 As shown, the shaft motor 8 and its internal lead screw mechanism mainly provide two moving sources. When the shaft motor 8 rotates, the cross connecting rod 7, which is directly connected to the protruding part on the outside of its rotating shaft, will also rotate, thereby controlling the movement of the vertical connecting rod 4 and the top part mechanism. At the same time, the rotation of the shaft motor 8 drives the internal lead screw slider 9 to rotate, and the threaded lead screw 10 moves up and down through the threaded connection. The bottom of the storage bag 3 in the top part mechanism is connected to the threaded lead screw 10, so that the depth of the storage bag 3 will also change with the rotation of the shaft motor 8.

[0016] The overall deformation process is as follows Figure 4 As shown, when the shaft motor 8 rotates, the cross link 7 starts to rotate from the initial position, the central area at the top opens and the area increases, while the threaded screw 10 moves upward. The final result is that the storage bag 3 becomes wide and shallow. When the shaft motor 8 resets, the cross link 7 rotates back to the initial position, the central area at the top closes and the area decreases, while the threaded screw 10 moves downward. The final result is that the storage bag 3 becomes narrow and deep.

Claims

1. A single-drive-source gripping mechanism based on linkage control, comprising a top part mechanism, a vertical connecting rod (4), a bottom part mechanism, and a shaft motor (8), characterized in that: The top mechanism includes a top horizontal connecting rod (1), a top slider (2), and a storage bag (3). One end of the top horizontal connecting rod (1) is connected to the upper side of the vertical connecting rod (4), and the other end is connected to the top slider (2) on another top horizontal connecting rod (1). The opening of the storage bag (3) is connected to the top slider (2). The bottom mechanism includes a bottom fixed slide rail (5), a bottom horizontal connecting rod (6), and a cross connecting rod (7). The bottom fixed slide rail (5) is movably connected to the lower side of the vertical connecting rod (4). The bottom horizontal connecting rod (6) is connected to the vertical connecting rod (4). The cross connecting rod (7) at the center of the bottom fixed slide rail (5) is movably connected to the bottom horizontal connecting rod (6). The shaft motor (8) is connected to the cross connecting rod (7).

2. The single-drive-source gripping mechanism based on linkage control according to claim 1, characterized in that: The shaft motor (8) is a hollow shaft motor with a lead screw mechanism inside, which is used to control the depth of the storage bag (3).

3. The single-drive-source gripping mechanism based on linkage control according to claim 2, characterized in that: The lead screw mechanism consists of a lead screw slider (9) and a threaded lead screw (10). The lead screw slider (9) is fixed inside the rotating shaft of the shaft motor (8). The lead screw slider (9) has a thread inside and is sleeved on the threaded lead screw (10). The bottom of the storage bag (3) is fixed at the top of the threaded lead screw (10).

4. The single-drive-source gripping mechanism based on linkage control according to claim 1, characterized in that: The bottom fixed slide rail (5) is a cross-shaped slide rail, and the cross direction of the cross connecting rod (7) is parallel to the bottom fixed slide rail (5). At this time, the vertical connecting rod (4) is located on the outermost side of the bottom fixed slide rail (5).

5. The single-drive-source gripping mechanism based on linkage control according to claim 1, characterized in that: The storage bag (3) is a flexible thin bag.

6. The single-drive-source gripping mechanism based on linkage control according to claim 1, characterized in that: The outer protruding part of the rotating shaft of the shaft motor (8) is connected to the cross link (7) in the bottom part mechanism.

Images