Two-way folding arm and capture device

Abstract

The present invention discloses a folding arm and a capture device that can be bent in two directions. The folding arm that can be bent in two directions includes a first component and a second component, wherein the first component includes two first elements connected by a first rotating pair; the second component includes two second elements connected by a second rotating pair; the second component is located downstream of the axis extension of the first rotating pair, the first element and the second element are correspondingly connected in rotation, the first component has a first end away from the second component on the first rotating pair, the second component has a second end away from the second component on the second rotating pair, and the distance between the first end and the second end decreases with the increase of the surface angle θ1 of the two first elements and the surface angle θ2 of the two second elements; when the surface angle θ1 and the surface angle θ2 are 0, the surface of the first element and the surface of the second element are set at an angle. The folding arm that can be bent in two directions of the technical solution of the present invention can adaptively capture objects and occupy less space.

Description

Technical Field

[0001] The invention relates to the field of grasping technology, in particular to a folding arm capable of being bent in two directions and a capturing device. Background Art

[0002] At present, the rigid gripping arms used in industry generally drive several rigid claws to close together to form a grasping action. This grasping method cannot adapt well to the grasped object because the rigid claws cannot be deformed. Although the existing underactuated adaptive grippers can bend adaptively according to the shape of the grasped object, their adaptive bending drive and components are relatively complex, the cost is high, and the scope of application is not wide. Summary of the invention

[0003] The main purpose of the present invention is to propose a folding arm that can be bent in two directions, aiming to solve the problem that the existing adaptive capture structure is complex and costly. The specific scheme of the present invention is to control the spatial movement of the end by opening and closing, and then derive a series of bending and winding structures, which can achieve the effect of adaptive grasping and wrapping around a variable diameter target at more than 360 degrees.

[0004] To achieve the above object, the folding arm that can be bent in two directions disclosed in the present invention includes a first component, the component includes two first elements, the two first elements are connected by a first rotation pair, and the surface angle between the two first elements is θ1.

[0005] A second component, wherein the second component comprises two second elements, the two second elements are connected via a second rotation pair, and the plane angle between the two second elements is θ2;

[0006] The second component is located downstream of the axis extension of the first rotating pair, the first element is correspondingly connected to the second element for rotation, the first component has a first end on the first rotating pair away from the second component, the second component has a second end on the second rotating pair away from the second component, and the distance between the first end and the second end decreases with the increase of the surface angle θ1 and the surface angle θ2; when the surface angle θ1 and the surface angle θ2 are 0, the surface of the first element is set at an angle to the surface of the second element.

[0007] In an optional embodiment, when the surface angle θ1 and the surface angle θ2 are 0, the surface of the first element and the surface of the second element are arranged at an obtuse angle.

[0008] In an optional embodiment, the first element includes a first docking edge adjacent to the first side, and the two first sides are connected by a first rotation pair; the second element includes a second docking edge adjacent to the second side, and the two second sides are connected by the second rotation pair, and the first docking edge is rotationally connected to the second docking edge.

[0009] In an optional embodiment, the shape of the first element is a quadrilateral, a triangle or a sector; and / or the shape of the second element is a quadrilateral, a triangle or a sector.

[0010] In an optional embodiment, the folding arm that can be bent in two directions also includes a third component arranged downstream of the extension of the second rotating pair, the third component includes two third elements connected by a third rotating pair, the third elements are correspondingly rotationally connected to the second element, and the third component has a third end on the third rotating pair away from the second component, and the distance between the third end and the first end decreases as the surface angle θ1 increases.

[0011] In an optional embodiment, when the surface angle θ1 and the surface angle θ2 are 0, the surface of the second element and the surface of the third element are arranged at an angle.

[0012] In an optional embodiment, when the plane angle θ1 and the plane angle θ2 are 0, the plane angle between the first element and the second element is equal to the plane angle between the second element and the third element.

[0013] In an optional embodiment, in the direction from the first component to the third component, the axial lengths of the first rotational pair, the second rotational pair and the third rotational pair tend to decrease.

[0014] In an optional embodiment, the folding arm that can be bent in two directions also includes a fourth component, a fifth component and a sixth component arranged in sequence downstream of the axis extension of the third rotating pair, the fourth component includes two rotatably connected fourth elements, the fifth component includes two rotatably connected fifth elements, the sixth component includes two rotatably connected sixth elements, one side of the two fourth elements is rotatably connected to the two third elements, the other side of the two fourth elements is rotatably connected to the one side of the two fifth elements, and the other side of the two fifth elements is rotatably connected to the two sixth elements.

[0015] The present invention further provides a capturing device, comprising the folding arm that can be bent in two directions as described above.

[0016] The folding arm that can be bent in two directions of the technical solution of the present invention includes a first component and a second component, the first component includes two first elements connected in rotation, the surface angle θ1 of the two first elements can be changed, the second component includes two second elements connected in rotation, the surface angle θ2 of the two second elements can be changed, the two first elements are connected in rotation correspondingly with the two second elements, so that the surface angle θ1 and the surface angle θ2 have a trend of increasing or decreasing together, when the surface angle θ1 and the surface angle θ2 gradually increase from 0, the distance between the first end and the second end gradually decreases, so that the first component can be driven to increase its surface angle θ1, so that the second end of the second component is close to the first end, and the grabbing action of the second component is bent and hooked is realized. The folding arm that can be bent in two directions only uses two components connected in rotation, and can realize grabbing by driving any component. The overall components are few and the connection method and driving method are simple, which effectively reduces the cost. And when the surface angle θ1 gradually increases, the second end will gradually approach the first end, at this time, the angle between the axis of the second rotating pair and the axis of the first rotating pair will gradually decrease, and the second component will gradually bend, so that the curvature of the folding arm that can be bent in two directions is constantly changing, and the grasping action that is adaptive to the surface of the object can be achieved, and the grasping effect is good. At the same time, when the surface angle θ1 and the surface angle θ2 are 0, the surface of the first element and the surface of the second element are set at an angle, so that the folding arm that can be bent in two directions can bend away from its extension direction and appear in a self-folded state, thereby effectively reducing the initial occupied space of the folding arm that can be bent in two directions, which is beneficial to production, storage and transportation, and can also be concealed during use to improve the capture effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0018] Figure 1 It is a structural schematic diagram of a first state of a first embodiment of a folding arm capable of being bent in two directions according to the present invention;

[0019] Figure 2 for Figure 1 A schematic structural diagram of the folding arm that can be bent in two directions in the second state;

[0020] Figure 3 for Figure 2 A projection diagram of the folding arm that can be bent in two directions on a plane;

[0021] Figure 4 for Figure 2The projection diagram of the folding arm which can be bent in two directions on another plane;

[0022] Figure 5 for Figure 1 An exploded plan view of the folding arm that can be bent in two directions;

[0023] Figure 6 It is a structural schematic diagram of a first state of a second embodiment of a folding arm capable of being bent in two directions according to the present invention;

[0024] Figure 7 for Figure 6 A schematic structural diagram of the folding arm that can be bent in two directions in the second state;

[0025] Figure 8 for Figure 6 A projection diagram of the folding arm that can be bent in two directions on a plane;

[0026] Fig. 9 for Figure 6 The projection diagram of the folding arm which can be bent in two directions on another plane;

[0027] Fig.10 It is a schematic structural diagram of a first state of a third embodiment of a folding arm capable of being bent in two directions according to the present invention;

[0028] Fig.11 for Fig.10 A schematic structural diagram of the folding arm that can be bent in two directions in the second state;

[0029] Fig.12 It is a structural schematic diagram of the first state of another embodiment of the folding arm that can be bent in two directions according to the present invention;

[0030] Fig.13 for Fig.12 A schematic structural diagram of the folding arm that can be bent in two directions in the second state;

[0031] Fig.14 for Fig.12 A schematic structural diagram of the folding arm that can be bent in two directions in the third state;

[0032] Fig.15 It is a structural schematic diagram of a first state of another embodiment of a folding arm that can be bent in two directions according to the present invention;

[0033] Fig.16 for Fig.15 A schematic structural diagram of the folding arm that can be bent in two directions in the second state;

[0034] Fig.17 for Fig.15 A schematic structural diagram of the third state of the folding arm that can be bent in two directions is shown.

[0035] Description of Figure Numbers:

[0036]

[0037] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0040] In addition, in the present invention, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0041] The present invention provides a folding arm 100 that can be bent in two directions.

[0042] Please refer to Figure 1 and Figure 2 In the first embodiment of the present invention, the folding arm 100 capable of being bent in two directions comprises a first component 10, wherein the component comprises two first elements 11, the two first elements 11 are connected via a first rotation pair 111, and the surface angle between the two first elements 11 is θ1;

[0043] A second component 20, wherein the second component 20 comprises two second elements 21, the two second elements 21 are connected via a second rotation pair 211, and the plane angle between the two second elements 21 is θ2;

[0044] The second component 20 is located downstream of the axis extension of the first rotational pair 111, the first element 11 is correspondingly rotationally connected with the second element 21, the first component 10 has a first end 113 away from the second component 20 on the first rotational pair 111, and the second component 20 has a second end 213 away from the second component 20 on the second rotational pair 211, and the distance between the first end 113 and the second end 213 decreases with the increase of the surface angle θ1 and the surface angle θ2; when the surface angle θ1 and the surface angle θ2 are 0, the surface of the first element 11 is set at an angle with the surface of the second element 21.

[0045] In this embodiment, the folding arm 100 that can be bent in two directions is a minimum structural mode, including a first component 10 and a second component 20, wherein the first component 10 includes two first elements 11, and the two first elements 11 are connected by a first rotation pair 111, so that the two first elements 11 can rotate, so that the surface angle θ1 of the two first elements 11 changes, that is, Figure 1 As can be seen in the figure, two first perpendicular lines 11a are formed by drawing perpendicular lines from the positions of the first rotational pair 111 in the two first elements 11, and the angle formed between the two first perpendicular lines 11a is the surface angle θ1 of the two first elements 11. When the surface angle θ1 is 0, the first component 10 is defined as being in a closed state. As the surface angle θ1 increases, the first component 10 is in an expanded state to varying degrees. Here, the structure of the first rotational pair 111 can be in the following ways: one is that the two first elements 11 are each provided with a rotational part, and the first rotational pair 111 is formed by directly connecting the two rotational parts; the second is that the first rotational pair 111 is an independent structure, such as a hinge or a hinge structure, and the first rotational pair 111 is connected to the two first elements 11 respectively, so as to realize the rotation of the two first elements 11; the third is that the two first elements 11 are an integrally formed structure, and the first rotational pair 111 is the middle part of the two first elements 11, and the rotation between the two first elements 11 is realized by self-deformation. Of course, the first rotation pair 111 may also be other rotatable structures so that the surface angle θ1 between the two first elements 11 changes.

[0046] Similarly, the second component 20 includes two second elements 21, and the two second elements 21 are connected by a second rotation pair 211, so that the two second elements 21 can rotate, thereby changing the surface angle θ2 of the two second elements 21. Figure 1As can be seen, a second vertical line 21a is formed by drawing a vertical line from the position of the second rotation pair 211 in the two second elements 21, and the angle formed between the two second vertical lines 21a is the surface angle θ2 of the two second elements 21. When the surface angle θ2 is 0, the second component 20 is defined as being in a closed state. As the surface angle θ2 continues to increase, the second component 20 is in an expanded state to varying degrees. It can be understood that the structure of the second rotation pair 211 can be the same as that of the first rotation pair 111, which is convenient for processing.

[0047] To more clearly show the relationship between the first component 10 and the second component 20, please refer to Figure 3 , a plane geometric diagram is obtained by projecting the folding arm 100 that can be bent in two directions onto a plane parallel to the surface of the first element 11, OP1 is the axis of the first rotating pair 111, P1P2 is the axis of the second rotating pair 211, the first component 10 and the second component 20 are correspondingly rotationally connected, that is, the first element 11 is connected to the second element 21 through the rotating structure at the P1Q1 axis, at this time, the second component 20 is located downstream of the axis extension direction of the first rotating pair 111, that is, the first rotating pair 111 and the second rotating pair 211 are arranged sequentially in the direction of extension of their axes, but their axes are not arranged in parallel. In fact, OP1 and P1P2 are not on a straight line, but are arranged at an angle, and the angle formed by OP1 and P1P2 is less than 180°, the first component 10 and the second component 20 form a bending structure, and the folding arm 100 that can be bent in two directions presents a bending structure with a certain curvature as a whole. The two first elements 11 and the two second elements 21 are respectively connected in rotation, so that the surface angle θ1 of the two first elements 11 and the surface angle θ2 of the two second elements 21 can have the same change trend, that is, when the surface angle θ1 decreases, the surface angle θ2 also decreases; when the surface angle θ1 gradually increases, the surface angle θ2 also gradually increases.

[0048] It can be understood that the first end 113 of the first component 10 on the first rotational pair 111 away from the second component 20 is point O in the plane view, and the second end 213 of the second component 20 on the second rotational pair 211 away from the first component 10 is point P2, and the distance between the first end 113 and the second end 213 is the line distance of OP2. When the surface angle θ1 or the surface angle θ2 increases, at this time, the rotation occurs at the P1Q1 axis, and the distance between the first end 113 and the second end 213 decreases, that is, the distance OP2 decreases, and the angle α1 between the axis OP1 of the first rotational pair 111 and the axis P1P2 of the second rotational pair 211 also decreases. Similarly, the rotation structure of the first element 11 and the second element 21 at the P1Q1 axis can refer to the structure of the first rotational pair 111, and will not be repeated here.

[0049] Also, please refer to Figure 4, when the surface angle θ1 is 0, the first element 11 and the second element 21 on the same side of the folding arm 100 that can be bent in two directions are projected onto a plane perpendicular to the surface of the first element 11 to obtain a plane view, at this time, the surfaces of the first element 11 and the second element 21 are set at an angle, assuming that the angle is β1, and at this time, the first element 11 and the second element 21 of another group on the same side are also set at the same angle, so that the length of the first component 10 and the second component 20 in the extension direction thereof can be shortened, and the occupied space of the folding arm 100 that can be bent in two directions can be reduced. In an optional embodiment, when the surface angle θ1 and the surface angle θ2 are 0, the surface of the first element 11 and the surface of the second element 21 are set at an obtuse angle. The angle β1 does not need to be too small, and the second component 20 does not need to bend at too large an angle, which effectively protects the rotation structure between the first component 11 and the second component 21, thereby enabling the stability of the rotation structure of the first component 10 and the second component 20 to be good, ensuring the stability of the folding arm 100 that can be bent in two directions during the subsequent unfolding process, effectively achieving smooth capture action, and improving the capture probability. Of course, in other embodiments, the surface of the first component 11 and the surface of the second component 21 can also be arranged at a right angle or an acute angle.

[0050] The folding arm 100 that can be bent in two directions of the technical solution of the present invention comprises a first component 10 and a second component 20, wherein the first component 10 comprises two first elements 11 that are connected in rotation, and the surface angle θ1 of the two first elements 11 can be changed, and the second component 20 comprises two second elements 21 that are connected in rotation, and the surface angle θ2 of the two second elements 21 can be changed, and the two first elements 11 and the two second elements 21 are connected in rotation correspondingly, so that the surface angle θ1 and the surface angle θ2 have a trend of increasing or decreasing together, and when the surface angle θ1 and the surface angle θ2 gradually increase from 0, the distance between the first end 113 and the second end 213 gradually decreases, so that the first component 10 can be driven to increase its surface angle θ1, so that the second end 213 of the second component 20 is close to the first end 113, and the second component 20 is bent and hooked to grasp the action. The folding arm 100 that can be bent in two directions only has two components that are connected in rotation, and can realize grasping by driving any component, and the overall components are few, and the connection method and driving method are simple, which effectively reduces the cost. And when the surface angle θ1 gradually increases, the second end 213 will gradually approach the first end 113, at this time, the angle between the axis of the second rotating pair 211 and the axis of the first rotating pair 111 will gradually decrease, and the second component 20 will gradually bend, so that the curvature of the folding arm 100 that can be bent in two directions is constantly changing, and the grasping action that is adaptive to the surface of the object can be achieved, and the grasping effect is good. At the same time, when the surface angle θ1 and the surface angle θ2 are 0, the surface of the first element 11 and the surface of the second element 21 are set at an angle, so that the folding arm 100 that can be bent in two directions can bend away from its extension direction, and appear in a self-folded state, thereby effectively reducing the initial occupied space of the folding arm 100 that can be bent in two directions, which is conducive to production, storage and transportation, and can also be concealed during use to improve the capture effect.

[0051] In addition, from a structural perspective, the folding arm that can be bent in two directions can be bent normally for grasping when unfolded; it can be stored in two dimensions when folded, the first dimension is to be straightened, and the second dimension, on the basis of being straightened, is curled toward another dimension, and can be designed to curl in the opposite direction to save space. And from an application perspective, the folding arm that can be bent in two directions can be used in fields that require a particularly small initial state volume, especially in the field of foldable or storable grippers.

[0052] For details, please refer to Figure 5In order to conveniently describe the principle of the folding arm 100 that can be bent in two directions and fold itself, the folding arm 100 that can be bent in two directions is disassembled into four elements, that is, the structure of the first rotating pair 111 is disassembled, and the rotational connection between the first element 11 and the second element 21 is removed, and the structure is projected on a horizontal plane to obtain a plan view. Here, the first element 11 includes a first butt joint edge P1Q1' disposed adjacent to the first side edge OP1, and the second element 21 includes a second butt joint edge P1Q1" disposed adjacent to the second side edge P1P2. The two first sides are connected by the first rotating pair 111, and the two second sides are connected by the second rotating pair 211. The first butt joint edge and the second butt joint edge are rotationally connected, that is, the first element 11 and the second element 21 are rotationally connected by P1Q1' and P1Q1". It can be seen here that the angle formed by one of the first butt joint edges P1Q1' and the second butt joint edge P1Q1" is γ1, and the angle formed by the other first butt joint edge P1Q1' and the second butt joint edge P1Q1" is γ2. If γ1 is smaller than γ2, the gaps on both sides formed by the first butt joint edge P1Q1' and the second butt joint edge P1Q1" are different. When the butt joint rotation connection is performed, the larger angle exerts a greater pulling force on the first element 11 and the second element 21, and the smaller angle exerts a smaller pulling force on the first element 11 and the second element 21, which will cause the folding arm 100 that can be bent in two directions to bend and fold to one side, that is, the surfaces of the first element 11 and the second element 21 are set at an angle. Of course, when γ1 is greater than γ2, the surface will bend and fold to the side where γ1 is formed. When the surface angle θ1 gradually increases, the angle β1 formed between the first element 11 and the second element 21 will first tend to a flat angle, and then the curvature will change, so that the second component 20 will bend and hook to grab.

[0053] In the above-mentioned embodiments, the projections of the first element 11 and the second element 21 are both quadrilaterals, so that the sides of the folding arm 100 that can be bent in two directions for capturing or grasping form a continuous arc or fold line, so that the folding arm 100 that can be bent in two directions can fit the surface of the object more closely, and the capturing or grasping can be more stable. In an optional embodiment, the shape of the first element 11 and the shape of the second element 21 can also be a triangle, in which case OQ1' and Q1"P2 are connected by a straight line segment; or, the shape of the first element 11 and the second element 21 can be a fan, in which case the line connecting OQ1' and Q1"P2 is an arc segment. At the same time, in other embodiments, the first side edge and the first butt joint edge can also be arranged non-adjacently, and the second side edge and the second butt joint edge can also be arranged non-adjacently, that is, along Figure 5 After the middle dotted line is cut, the first side edge of the structure formed is connected to the first butt joint edge through a straight line segment.

[0054] Please refer to Figure 6 and Figure 7In the second embodiment of the present invention, the bidirectionally bendable folding arm 100 further includes a third component 30 disposed downstream of the extension of the second rotation pair 211, the third component 30 includes two third elements 31 connected by the third rotation pair 311, the third element 31 is correspondingly rotationally connected with the second element 21, the third component 30 has a third end 313 on the third rotation pair 311 away from the second component 20, and the distance between the third end 313 and the first end 113 decreases as the surface angle θ1 increases.

[0055] In this embodiment, the folding arm 100 that can be bent in two directions also includes a third component 30, which includes two third elements 31 connected by a third rotation pair 311. The two third elements 31 rotate to increase or decrease the surface angle between the two, so that the third component 30 also has an unfolded state and a closed state. Here, the shapes of the two third elements 31 are adapted to the shapes of the first element 11 and the second element 21, or the shapes of the two third elements 31 are triangular, which is convenient for bending to form a sharp hook shape, thereby improving the grasping efficiency. The structure of the third rotation pair 311 of the two third elements 31 refers to the structure of the first rotation pair 111. The third rotation pair 311 is located downstream of the extension of the second rotation pair 211. Here, the third rotation pair 311 is connected to the end of the second rotation pair 211, and the two second elements 21 and the two third elements 31 are correspondingly rotated and connected to realize the connection between the second component 20 and the third component 30, so that the surface angles of the first component 10, the second component 20 and the third component 30 have a trend of increasing or decreasing at the same time. Similarly, the third component 30 also has a third end 313 on the third rotating pair 311 away from the second component 20. When the surface angle θ1 gradually increases from 0, the distance between the first end 113 and the third end 313 also gradually decreases, so that the second component 20 and the third component 30 can both have a bending and hooking grasping action relative to the first component 10, thereby making the grasping more secure.

[0056] For details, please refer to Figure 8 , Figure 8 is a plan view obtained by projecting the bidirectionally bendable folding arm 100 with a surface angle θ1 of 0 onto a plane parallel to the surface of the first element 11, and Figure 3Compared with the above, the third element 31 is added, P2P3 is added as the axis of the third rotation pair 311, the first element 11 is connected to the second element 21 through the rotation structure at the P1Q1 axis, and the second element 21 is connected to the third element 31 through the rotation structure at the P2Q2 axis. At this time, the third component 30 is located downstream of the axis extension direction of the second rotation pair 211, OP1, P1P2 and P2P3 are not in a straight line, the angle α2 formed by P1P2 and P2P3 is less than 180°, the first component 10, the second component 20 and the third component 30 form a bending structure, and the folding arm 100 that can be bent in two directions presents a bending structure with a certain curvature as a whole. When the surface angle θ1 gradually increases from 0, the distance of OP3 gradually decreases.

[0057] Here, the folding arm 100 that can be bent in two directions includes a first component 10, a second component 20 and a third component 30, which can make its extended size larger and expand the size range of the grasped objects; and the second component 20 and the third component 30 can both be bent and hooked, and the contact area with the captured object is further increased, thereby improving the stability and strength during grasping. At the same time, the overall curvature of the bending arm can be different according to the different angles of α1 and α2, which can adapt to objects of different sizes and improve adaptability.

[0058] Please continue to refer to Figure 8 In the direction from the first component 10 to the third component 30, the axial lengths of the first rotational pair 111, the second rotational pair 211 and the third rotational pair 311 tend to decrease.

[0059] In this embodiment, the size of the corresponding rotational connection portion between the first element 11 and the second element 21, that is, the length of P1Q1, and the size of the corresponding rotational connection portion between the second element 21 and the third element 31, that is, the length of P2Q2, can be ignored. The angle α1 formed by the first component 10 and the second component 20 and the angle α2 formed by the second component 20 and the third component 30 are also ignored. At this time, in the direction from the first component 10 to the third component 30, the axial lengths of the first rotation pair 111, the second rotation pair 211 and the third rotation pair 311 gradually decrease, that is, the lengths of OP1, P1P2 and P2P3 gradually decrease. Then, when the first When the surface angle θ1 of the two first elements 11 of the component 10 gradually increases from 0, the distances between the second end 213 and the third end 313 of the second component 20 and the third component 30 and the first end 113 are reduced, that is, the distance OP3 gradually decreases, and because the length of the third rotation pair 311 of the second component 20 and the length of the third rotation pair 311 of the third component 30 are relatively small, a gradually decreasing radius of curvature can be formed during the gradual bending process, so that smaller objects can be wrapped and captured, thereby improving the capture accuracy; and larger objects can be wrapped more tightly, thereby improving the capture stability, thereby being able to grasp and capture objects of different diameters, thereby improving applicability.

[0060] Moreover, the above structure can also be combined with the length of P1Q1 and the length of P2Q2 to gradually reduce, which can further reduce the radius of the arc formed by the third component 30, and further improve the capture accuracy. At the same time, the higher the consistency of the capture surface used for grasping the surface of the object, the closer it can be to the periphery of the captured object, thereby improving the capture stability. In this way, the areas of the first element 11, the second element 21 and the third element 31 also show a corresponding decreasing trend. When the surface angles of the first component 10 are the same under the same driving force, the size of the object that the third component 30 can adaptively grasp or wrap can be relatively small, so that the capture force for objects of the same size is greater. At the same time, since the component with a smaller area can exert a greater abutment pressure on the object, it can increase the friction between the object and the object, ensure the strength, firmness and stability during grasping or capturing, and improve the capture effect.

[0061] Please refer to Fig. 9 In an optional embodiment, when the surface angle θ1 and the surface angle θ2 are 0, the surface of the second element 21 and the surface of the third element 31 are set at an angle.

[0062] In this embodiment, in order to further reduce the volume of the folding arm 100 that can be bent in two directions, when the surface angle θ1 is 0, the surfaces of the first element 11 and the second element 21 are set at an angle of β1, and the surface of the second element 21 and the surface of the third element 31 are set at an angle of β2, and the bending directions are the same, so that the third component 30 can be approached toward the first component 10. This structure can further achieve effective reduction in the length direction of the folding arm 100 that can be bent in two directions, thereby reducing the occupied space.

[0063] Please continue to refer to Fig. 9 In an optional embodiment, when the plane angle θ1 and the plane angle θ2 are 0, the plane angle between the first element 11 and the second element 21 is equal to the plane angle between the second element 21 and the third element 31.

[0064] In this embodiment, the surface angle between the first element 11 and the second element 21 is equal to the surface angle between the second element 21 and the third element 31, that is, the angle β1 is equal to the angle β2, so that the bending force on the side away from the bending of the second component 20 and the third component 30 is the same, which can effectively ensure the stability of the connection of each component, improve the uniformity of the structural strength of each part of the folding arm 100 that can be bent in two directions, and effectively improve the capture performance.

[0065] Of course, in other embodiments, the angle β1 may not be equal to the angle β2. For example, the angle β1 is smaller than the angle β2, and the angle α formed by the surface of the second element 21 and the first element 11 is smaller, so the second component 20 can be bent and folded to a greater extent. The size of the second component 20 is larger than the size of the third component 30, which can effectively reduce the size and save the space occupied.

[0066] Please refer to Fig.10 and Fig.11 In the third embodiment of the present invention, the bidirectionally bendable folding arm 100 also includes a fourth component 40, a fifth component 50 and a sixth component 60 arranged in sequence downstream of the axis extension of the third rotating pair 311, the fourth component 40 includes two rotatably connected fourth elements 41, the fifth component 50 includes two rotatably connected fifth elements 51, the sixth component 60 includes two rotatably connected sixth elements 61, one side of the two fourth elements 41 is rotatably connected to the two third elements 31, the other side of the two fourth elements 41 is rotatably connected to the one side of the two fifth elements 51, and the other side of the two fifth elements 51 is rotatably connected to the two sixth elements 61.

[0067] In this embodiment, the structures of the fourth component 40, the fifth component 50 and the sixth component 60 are similar to the structure of the first component 10, and the rotational connection of the two fourth components 41, the two fifth components 51 and the two sixth components 61 refers to the structural setting of the first rotation pair 111 mentioned above. At the same time, the two-to-two connection between the fourth component 40, the fifth component 50 and the sixth component 60 is the same as the two-to-two connection between the first component 10, the second component 20 and the third component 30 mentioned above, which will not be repeated here. Here, when the surface angle θ1 is 0, the surface of the fourth component 41 and the fifth component 51 are also set at an angle, and the surface of the fifth component 51 and the sixth component 61 are also set at an angle, so that the folding arm 100 that can be bent in two directions can be bent and folded, effectively reducing the overall extension length, reducing the occupied space when stored or not captured, and providing convenience.

[0068] It can be understood that when the components of the folding arm 100 that can be bent in two directions gradually increase, its extended length gradually increases. Since the folding arm 100 that can be bent in two directions is a curved structure with a certain curvature, the sixth component 60 will gradually approach the first component 10 when no grasping action is performed. At this time, when the first component 10 is driven to increase its surface angle from 0, the distance between the end of the sixth component 60 away from the first component 10 and the first end 113 is further reduced, and it will gradually tend to half-wrap the captured object, and then realize the winding action of the captured object. In this way, the folding arm 100 that can be bent in two directions has higher capture stability for the captured object, and effectively guarantees the capture effect.

[0069] Please refer to Fig.12 and Fig.13 In other embodiments of the present invention, the folding arm 100 that can be bent in two directions may also include a seventh component 70, an eighth component 80, and an Nth component, where N is a natural integer and can be set according to actual needs, so that the folding arm 100 that can be bent in two directions can achieve a 360° winding action, and can achieve all-round winding of the object to be captured, avoiding the appearance of a gap that causes the object to be separated, ensuring the stability of the object capture, and improving the capture efficiency. Of course, the folding arm 100 that can be bent in two directions can also achieve winding at any angle above 360°. For example, when winding two circles, the folding arm 100 that can be bent in two directions can achieve a 720° annular winding, thereby making the capture more stable.

[0070] In addition, the two surfaces of the elements of two adjacent components can be selectively set to be set at an angle, which can effectively reduce the extension length of the folding arm 100 that can be bent in two directions. When there are more than four components, when the surface angle θ1 of the folding arm 100 that can be bent in two directions is 0, only the surfaces of the two elements on the same side of two adjacent components can be set at an angle, and the surfaces of the elements of other components and the elements on the same side of the adjacent components are in the same plane, and the two components whose surfaces are set at an angle are set in the middle of the extension direction of the folding arm 100 that can be bent in two directions. Then, the folding arm 100 that can be bent in two directions is bent and folded with the middle as the bending point, so that the folding arm 100 that can be bent in two directions can be effectively shortened by bending once, thereby reducing the occupied space of the folding arm 100 that can be bent in two directions, making it convenient to carry and use, and also ensuring the effective shielding of the folding arm 100 that can be bent in two directions.

[0071] In addition, please refer to Figures 15 to 17 In other embodiments, by setting the angle between the two components before rotational connection, the folding arm 100 that can be bent in two directions can be curled more toward another direction, thereby achieving more space folding effects and saving space occupancy. From an application perspective, it can be applied to fields that require a particularly small initial state volume, especially in the field of foldable or storable grippers.

[0072] The present invention also proposes a capturing device (not shown), which comprises a folding arm 100 that can be bent in two directions as in any of the above-mentioned embodiments. Since the specific structure of the folding arm 100 that can be bent in two directions in the capturing device of this embodiment refers to the above-mentioned embodiments, it at least has the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be described one by one here.

[0073] It can be understood that the capture device also includes a structure that drives the surface angle θ1 of the two first elements 11 in the two-way bendable folding arm 100 to change, so that the curvature of the two-way bendable folding arm 100 changes to hook or wrap around the desired object. The capture device is not limited to its use scenario, and can be used for seabed fishing, short-term fixation in the air, and production line capture, etc. according to the different materials of the two-way bendable folding arm, which is not limited here.

[0074] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A folding arm that can be bent in two directions, characterized in that: The foldable arm capable of being bent in two directions comprises: A first component, wherein the first component comprises two first elements, the two first elements are connected by a first rotation pair, and the plane angle between the two first elements is θ1; A second component, wherein the second component comprises two second elements, the two second elements are connected via a second rotation pair, and the plane angle between the two second elements is θ2; The second component is located downstream of the axis of the first rotational pair, the first element is correspondingly connected to the second element for rotation, the first component has a first end on the first rotational pair away from the second component, the second component has a second end on the second rotational pair away from the first component, and the distance between the first end and the second end decreases as the surface angle θ1 and the surface angle θ2 increase; when the surface angle θ1 and the surface angle θ2 are 0, the surface of the first element and the surface of the second element are set at an angle; The first element comprises a first side and a first butt joint edge adjacent thereto, the two first side edges are connected by a first rotation pair, the second element comprises a second side and a second butt joint edge adjacent thereto, the two second side edges are connected by a second rotation pair, and the first butt joint edge is rotationally connected to the second butt joint edge; When the surface angle θ1 and the surface angle θ2 are 0, the surface of the first element and the surface of the second element are arranged at an obtuse angle.

2. The foldable arm capable of being bent in two directions according to claim 1, characterized in that: The first element has a shape of a quadrilateral, a triangle or a sector; and / or the second element has a shape of a quadrilateral, a triangle or a sector.

3. The foldable arm capable of being bent in two directions according to any one of claims 1 to 2, characterized in that: The folding arm that can be bent in two directions also includes a third component arranged downstream of the extension of the second rotating pair, and the third component includes two third elements connected by a third rotating pair, and the third element is correspondingly rotationally connected to the second element, and the third element has a third docking edge adjacent to the third rotating pair, and the third docking edge is rotationally connected to the side of the second element away from the second docking edge. The third component has a third end on the third rotating pair away from the second component, and the distance between the third end and the first end decreases as the surface angle θ1 increases.

4. The foldable arm capable of being bent in two directions according to claim 3, characterized in that: When the surface angle θ1 and the surface angle θ2 are 0, the surface of the second element and the surface of the third element are arranged at an angle.

5. The foldable arm capable of being bent in two directions according to claim 4, characterized in that: When the plane included angle θ1 and the plane included angle θ2 are 0, the plane included angle between the first element and the second element is equal to the plane included angle between the second element and the third element.

6. The foldable arm capable of being bent in two directions according to claim 3, characterized in that: In the direction from the first component to the third component, the axial lengths of the first rotation pair, the second rotation pair and the third rotation pair tend to decrease.

7. The foldable arm capable of being bent in two directions according to claim 3, characterized in that: The folding arm that can be bent in two directions also includes a fourth component, a fifth component and a sixth component arranged in sequence downstream of the axis extension of the third rotating pair, the fourth component includes two rotatably connected fourth elements, the fifth component includes two rotatably connected fifth elements, and the sixth component includes two rotatably connected sixth elements. One side of the two fourth elements is rotatably connected to the two third elements, the other side of the two fourth elements is rotatably connected to the one side of the two fifth elements, and the other side of the two fifth elements is rotatably connected to the two sixth elements. The two-to-two connection method between the fourth component, the fifth component and the sixth component is the same as the two-to-two connection method of the first component, the second component and the third component mentioned above.

8. A capture device, characterized in that: The capture device comprises at least one foldable arm that is bendable in two directions as claimed in any one of claims 1 to 7.

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