Opening and closing method of an opening and closing mechanism based on the one-way rotary motion of a gear

Abstract

The present invention discloses a method for opening and closing an opening and closing mechanism based on the one-way rotary motion of a gear. The driving shaft and the driven shaft of the present invention both form a rotating pair with a fixed disk fixed on a fixed support; a driving gear fixed on the driving shaft meshes with a driven gear fixed on the driven shaft; a driving crank turntable is fixed to the driven shaft; a cylindrical rod is eccentrically fixed or hinged to the driving crank turntable; a swing rod forms a rotating pair with the driving shaft; a sliding groove of the swing rod forms a sliding pair with the cylindrical rod, and the two ends are respectively hinged to one ends of two driven connecting rods; the phase difference between the two driven connecting rods is 180°; connecting rods on two opening and closing motion rods are respectively hinged to the other ends of the two driven connecting rods; sliding rods on the two opening and closing motion rods respectively form sliding pairs with two radial sliding grooves of the fixed support; clamping rods on the two opening and closing motion rods are arranged oppositely. The present invention only requires a power source to perform a one-way rotation to achieve the reciprocating linear motion of two actuators, and can be applied in the fields of clamping or cutting.

Description

Technical Field

[0001] The present invention belongs to the technical field of grippers and shears, and particularly relates to an opening and closing method of an opening and closing mechanism based on the one-way rotary motion of a gear, which can realize functions such as article gripping and fruit picking. Background Art

[0002] A gripper is a mechanical device that grasps an object and then manipulates the object, and can imitate the gripping motion of fingers to a certain extent. It can grip and release the target object while performing certain actions. The two shearing parts of the shear also imitate the closing and separating motions of fingers to a certain extent. Currently, most grippers and shears need to perform a reciprocating commutation motion of the driving member to achieve the alternating actions of closing and separating, and cannot achieve the two working processes of alternating closing and separating through a one-way rotary motion. Summary of the Invention

[0003] In order to overcome the problem that traditional grippers or shears cannot achieve the alternating actions of clamping and releasing an object (or resetting after shearing an object) under the condition that the driving member makes a single motion, the present invention provides an opening and closing method of an opening and closing mechanism based on the one-way rotary motion of a gear, which can complete the alternating actions of clamping and releasing an object (or resetting after shearing an object) when the driving member rotates in one direction.

[0004] The technical solution of the present invention is as follows:

[0005] The opening and closing method of an opening and closing mechanism based on the one-way rotary motion of a gear adopts an opening and closing mechanism based on the one-way rotary motion of a gear, which is composed of a support component, a transmission component and an opening and closing component; the support component is composed of a fixed support and a fixed disk; the fixed disk is fixed on the fixed support; two radial chutes are arranged on both sides of the fixed support; the two radial chutes are arranged in alignment; the transmission component includes a driving shaft, a driven shaft, a gear pair and a connecting rod mechanism; the driving shaft and the driven shaft are arranged at a distance and both form a rotating pair with the fixed disk; the plane where the central axes of the driving shaft and the driven shaft are located is the symmetric plane of the two side walls of the radial chute; the gear pair is composed of a driving gear and a driven gear; the driving gear is fixed on the driving shaft; the driven gear is fixed on the driven shaft and meshes with the driving gear; the connecting rod mechanism includes a driving crank turntable, a swing rod and a driven connecting rod; the driving crank turntable is fixed on the driven shaft; a cylindrical rod is fixed or hinged at the eccentric position of the driving crank turntable; the central hole of the swing rod forms a rotating pair with the driving shaft; a chute arranged along the length direction is opened on one side of the central hole of the swing rod, and the chute forms a sliding pair with the cylindrical rod; the two ends of the swing rod are respectively hinged to one ends of two driven connecting rods; the phase difference between the two driven connecting rods is 180°; the opening and closing component includes two opening and closing motion rods; the opening and closing motion rods are provided with a main rod and a connecting rod, a sliding rod and a clamping rod integrally formed with the main rod; the connecting rods of the two opening and closing motion rods are respectively hinged to the other ends of the two driven connecting rods; the sliding rods of the two opening and closing motion rods respectively form a sliding pair with the two radial chutes of the fixed support; the clamping rods of the two opening and closing motion rods are arranged oppositely.

[0006] The opening and closing method of the opening and closing mechanism based on the one-way rotary motion of a gear is as follows:

[0007] The power source drives the driving shaft, thereby driving the driving gear to rotate; the driven gear meshes with the driving gear, driving the driven shaft and the driving crank turntable to rotate, and the cylindrical rod on the driving crank turntable slides in the chute of the swing rod, driving the swing rod to swing back and forth; the swing rod then drives the two driven connecting rods at both ends to rotate, realizing the reciprocating sliding of the two opening and closing motion rods along the radial chutes on the corresponding sides of the fixed support, so as to realize the mutual approach or separation of the clamping rods of the two opening and closing motion rods.

[0008] Preferably, the fixed disk is provided with a central hole and an offset hole, the driving shaft is supported in the central hole of the fixed disk through a bearing, and the driven shaft is supported in the offset hole through a bearing.

[0009] Preferably, the distance from the center of the chute to the central axis of the driving shaft is equal to the center distance between the driving shaft and the driven shaft, and the length of the chute is greater than twice the eccentric distance of the cylindrical rod.

[0010] Preferably, the ratio of the length of the driven connecting rod to half of the length of the swing rod is equal to the sine value of half of the swing angle of the swing rod.

[0011] Preferably, a blind hole is provided on the end face of the free end of the clamping rod of the opening and closing movement rod, and the blind hole is connected to the clamping head through a spring.

[0012] Preferably, the free end of the clamping rod of the opening and closing movement rod is fixed to the cutting head, and the bottom surface of the cutting head on one clamping rod is flush with the top surface of the cutting head on the other clamping rod.

[0013] Preferably, when the free end of the clamping rod of the opening and closing movement rod is connected with a clamping head through a spring, the object to be clamped is placed between the clamping rods of the two opening and closing movement rods; when the clamping rods of the two opening and closing movement rods approach each other until the distance between them is the smallest and stop moving, at this time, the clamping heads on the two clamping rods clamp the object to be clamped, the spring is compressed to the shortest, and the clamping force of the clamping heads on the two clamping rods reaches the maximum value, where the spring plays a buffering role for the object to be clamped; when the clamping rods of the two opening and closing movement rods continue to move and separate from each other until the distance between them is the largest, and stop moving again, the clamping heads on the two clamping rods release the object, and at this time the spring is in a completely relaxed state.

[0014] Preferably, when the free end of the clamping rod of the opening and closing movement rod is fixed to the cutting head, the object to be cut is placed between the clamping rods of the two opening and closing movement rods; when the clamping rods of the two opening and closing movement rods approach each other until the distance between them is the smallest, the cutting heads on the two clamping rods cut the object to be cut; when the clamping rods of the two opening and closing movement rods separate from each other until the distance between them is the largest, the cutting heads on the two clamping rods separate and reset, waiting for the next cutting task.

[0015] The beneficial effects of the present invention are as follows:

[0016] The present invention only needs to make a one-way rotation through a power source, and then through the transmission of the gear pair and the connecting rod mechanism, the reciprocating linear motion of two actuating followers (two opening and closing movement rods) approaching or separating from each other can be realized; particularly importantly, the connecting rod mechanism in the present invention can be regarded as a combination of a crank-rocker mechanism and an anti-parallelogram mechanism, and the proposed connecting rod mechanism cleverly realizes the conversion from the one-way rotation of the power source to the reciprocating linear motion of two actuating followers approaching or separating from each other. Moreover, by installing clamping heads on the two actuating followers of the present invention, the alternate actions of clamping and releasing the object can be realized; by installing cutting heads on the two actuating followers of the present invention, the alternate actions of shearing and resetting the object can be realized, and it can be applied to fields such as fruit picking. Therefore, the present invention proposes a simple, compact opening and closing mechanism that can be driven by only one-way rotation of a single motor, greatly improving the stability and reliability of the mechanism, greatly reducing the cost, and having the prospect of being widely promoted in the fields of clamping or cutting. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a three-dimensional view of the overall structure of the present invention when installing the clamping head;

[0018] Figure 2 Cross-sectional view when installing the clamping head for the present invention;

[0019] Figure 3 is Figure 2 partial view in

[0020] In the figure: 1 - fixed support, 2 - fixed disk, 3 - gear pair, 4 - driving shaft, 5 - driven connecting rod, 6 - clamping head, 7 - opening and closing movement rod, 8 - driving crank turntable, 9 - hinge shaft, 10 - spring, 11 - swing rod, 12 - driven shaft. Specific implementation manner

[0021] The present invention will be further described below with reference to the accompanying drawings.

[0022] As Figure 1 , 2 and shown in Fig. 3, an opening and closing mechanism based on the unidirectional rotary motion of a gear is composed of a support assembly, a transmission assembly, and an opening and closing assembly; the support assembly is composed of a fixed support 1 and a fixed disk 2; the fixed disk 2 is fixed on the fixed support 1; two radial slideways are provided on both sides of the fixed support 1; the two radial slideways are arranged in alignment; the transmission assembly includes a driving shaft 4, a driven shaft 12, a gear pair 3, and a linkage mechanism; the driving shaft 4 and the driven shaft 12 are arranged at an interval and both form a rotating pair with the fixed disk 2; the plane where the central axes of the driving shaft 4 and the driven shaft 12 are located is the symmetric plane of the two side walls of the radial slideway; the gear pair 3 is composed of a driving gear and a driven gear; the driving gear is fixed on the driving shaft 4; the driven gear is fixed on the driven shaft 12 and meshes with the driving gear; the linkage mechanism includes a driving crank turntable 8, a swing rod 11, and a driven connecting rod 5; the driving crank turntable 8 is fixed on the driven shaft 12; a cylindrical rod is fixed or hinged at the eccentric position of the driving crank turntable 8; the central hole of the swing rod 11 forms a rotating pair with the driving shaft 4; a chute arranged along the length direction is provided on one side of the central hole of the swing rod 11, and the chute forms a sliding pair with the cylindrical rod; the two ends of the swing rod 11 are respectively hinged (through a hinge shaft 9) to one ends of two driven connecting rods 5; the phase difference between the two driven connecting rods 5 is 180°; the opening and closing assembly includes two opening and closing movement rods 7; the opening and closing movement rod 7 is provided with a main rod and a connecting rod, a sliding rod, and a clamping rod integrally formed with the main rod; the connecting rods of the two opening and closing movement rods 7 are respectively hinged to the other ends of the two driven connecting rods 5; the sliding rods of the two opening and closing movement rods 7 respectively form a sliding pair with the two radial slideways of the fixed support 1; the clamping rods of the two opening and closing movement rods 7 are arranged oppositely.

[0023] As a preferred embodiment, the fixed disk 2 is provided with a central hole and an offset hole, the driving shaft 4 is supported in the central hole of the fixed disk 2 through a bearing, and the driven shaft 12 is supported in the offset hole through a bearing.

[0024] As a preferred embodiment, the distance from the center of the sliding groove to the central axis of the driving shaft 4 is equal to the center distance between the driving shaft 4 and the driven shaft 12, and the length of the sliding groove (the central axis distance between the two arc surfaces at both ends of the sliding groove) is greater than twice the eccentricity of the cylindrical rod (the center distance between the cylindrical rod and the driven shaft 12).

[0025] As a preferred embodiment, the ratio of the length of the driven connecting rod 5 (the distance between the two hinge holes of the driven connecting rod 5) to half of the length of the swing rod 11 (the distance between the two hinge holes of the swing rod 11) is equal to the sine value of half of the swing angle of the swing rod 11.

[0026] As a preferred embodiment, a blind hole is provided on the end face of the free end of the clamping rod of the opening and closing movement rod, and the blind hole is connected to the clamping head 6 through a spring 10. In this embodiment, the clamping function is given to the opening and closing mechanism by installing the clamping head. During the clamping process, since the spring can expand and contract, it effectively prevents the object from being crushed.

[0027] As a preferred embodiment, the free end of the clamping rod of the opening and closing movement rod is fixed to the cutting head, and the bottom surface of the cutting head on one clamping rod is flush with the top surface of the cutting head on the other clamping rod, realizing a staggered distribution of the two cutting heads similar to an arrow; in this embodiment, the cutting function is given to the opening and closing mechanism by installing the cutting head.

[0028] The opening and closing method of the opening and closing mechanism based on the one-way rotary motion of the gear is as follows:

[0029] The power source (the power source can be a motor, and the motor is connected to the driving shaft 4 through a coupling) drives the driving shaft 4, thereby driving the driving gear to rotate; the driven gear meshes with the driving gear, driving the driven shaft 12 and the driving crank turntable 8 to rotate. The cylindrical rod on the driving crank turntable 8 slides in the sliding groove of the swing rod 11, driving the swing rod 11 to swing reciprocally; the swing rod 11 then drives the two driven connecting rods 5 at both ends to rotate, realizing the reciprocating sliding of the two clamping rods of the two opening and closing movement rods 7 along the radial slideways on the corresponding sides of the fixed support 1, thereby realizing the mutual approach or separation of the clamping rods of the two opening and closing movement rods 7. It can be seen that the power source only needs to make a one-way rotation to realize the approach or separation action of the opening and closing movement rod 7.

[0030] As a preferred embodiment, when the free end of the clamping rod of the opening and closing movement rod 7 is connected with a clamping head through a spring 10, the object to be clamped is placed between the clamping rods of the two opening and closing movement rods 7; when the clamping rods of the two opening and closing movement rods 7 approach each other to the minimum distance and stop moving, at this time, the clamping heads on the two clamping rods clamp the object to be clamped, the spring is compressed to the shortest, and the clamping force of the clamping heads on the two clamping rods reaches the maximum value, where the spring plays a buffering role for the object to be clamped; when the clamping rods of the two opening and closing movement rods 7 separate from each other to the maximum distance and stop moving again, the clamping heads on the two clamping rods release the object, and at this time the spring is in a completely relaxed state.

[0031] As a preferred embodiment, when the free end of the clamping rod of the opening and closing movement rod 7 is fixed to the cutting head, the object to be cut (for example, when picking fruits, the object to be cut is the fruit stalk, and the fruit stalk is cut off to complete fruit picking) is placed between the clamping rods of the two opening and closing movement rods 7; when the clamping rods of the two opening and closing movement rods 7 approach each other to the minimum distance, the cutting heads on the two clamping rods cut off the object to be cut; when the clamping rods of the two opening and closing movement rods 7 separate from each other to the maximum distance, the cutting heads on the two clamping rods separate and reset, waiting for the next cutting task.

Claims

1. A method for opening and closing an opening and closing mechanism based on the one-way rotary motion of a gear. An opening and closing mechanism based on the one-way rotary motion of a gear is adopted, which is composed of a support component, a transmission component, and an opening and closing component. Characterized in that: The support component is composed of a fixed support and a fixed disk; the fixed disk is fixed on the fixed support; two radial chutes are provided on both sides of the fixed support; the two radial chutes are arranged in alignment; the transmission component includes a driving shaft, a driven shaft, a gear pair, and a connecting rod mechanism; the driving shaft and the driven shaft are arranged at a distance and both form a rotating pair with the fixed disk; the plane where the central axes of the driving shaft and the driven shaft are located is the symmetric plane of the two side walls of the radial chute; the gear pair is composed of a driving gear and a driven gear; the driving gear is fixed on the driving shaft; the driven gear is fixed on the driven shaft and meshes with the driving gear; the connecting rod mechanism includes a driving crank turntable, a swing rod, and a driven connecting rod; the driving crank turntable is fixed on the driven shaft; a cylindrical rod is fixed or hinged at the eccentric position of the driving crank turntable; the central hole of the swing rod forms a rotating pair with the driving shaft; a chute arranged along the length direction is provided on one side of the central hole of the swing rod, and the chute forms a sliding pair with the cylindrical rod; the two ends of the swing rod are respectively hinged to one end of two driven connecting rods; the phase difference between the two driven connecting rods is 180°; the opening and closing component includes two opening and closing moving rods; the opening and closing moving rods are provided with a main rod and a connecting rod, a sliding rod, and a clamping rod integrally formed with the main rod; the connecting rods of the two opening and closing moving rods are respectively hinged to the other ends of the two driven connecting rods; the sliding rods of the two opening and closing moving rods respectively form a sliding pair with the two radial chutes of the fixed support; the clamping rods of the two opening and closing moving rods are arranged oppositely. The specific method is as follows: The power source drives the driving shaft, thereby driving the driving gear to rotate; the driven gear meshes with the driving gear, driving the driven shaft and the driving crank turntable to rotate, and the cylindrical rod on the driving crank turntable slides in the chute of the swing rod, driving the swing rod to swing reciprocally; the swing rod then drives the two driven connecting rods at both ends to rotate, realizing the reciprocating sliding of the two opening and closing moving rods along the radial chutes on the corresponding sides of the fixed support, thereby realizing the mutual approach or separation of the clamping rods of the two opening and closing moving rods.

2. The method for opening and closing an opening and closing mechanism based on the one-way rotary motion of a gear according to claim 1, Characterized in that: The fixed disk is provided with a central hole and an offset hole, the driving shaft is supported in the central hole of the fixed disk through a bearing, and the driven shaft is supported in the offset hole through a bearing.

3. The method for opening and closing an opening and closing mechanism based on the one-way rotary motion of a gear according to claim 1, Characterized in that: The distance from the center of the chute to the central axis of the driving shaft is equal to the center distance between the driving shaft and the driven shaft, and the length of the chute is greater than twice the eccentric distance of the cylindrical rod.

4. The method for opening and closing an opening and closing mechanism based on the one-way rotary motion of a gear according to claim 1, Characterized in that: The ratio of the length of the driven connecting rod to half of the length of the swing rod is equal to the sine value of half of the swing angle of the swing rod.

5. The method for opening and closing an opening and closing mechanism based on the one-way rotary motion of a gear according to claim 1, It is characterized in that: A blind hole is provided on the end face of the free end of the clamping rod of the opening and closing motion rod, and the blind hole is connected with the clamping head through a spring.

6. The opening and closing method of an opening and closing mechanism based on the one-way rotary motion of a gear according to claim 1, It is characterized in that: The free end of the clamping rod of the opening and closing motion rod is fixed to the cutting head, and the bottom surface of the cutting head on one clamping rod is flush with the top surface of the cutting head on the other clamping rod.

7. The opening and closing method of an opening and closing mechanism based on the one-way rotary motion of a gear according to claim 1, It is characterized in that: When the free end of the clamping rod of the opening and closing motion rod is connected with the clamping head through a spring, the object to be clamped is placed between the clamping rods of the two opening and closing motion rods; when the clamping rods of the two opening and closing motion rods approach each other until the distance is the smallest and stop moving, at this time, the clamping heads on the two clamping rods clamp the object to be clamped, the spring is compressed to the shortest, and the clamping force of the clamping heads on the two clamping rods reaches the maximum value, where the spring plays a buffering role for the object to be clamped; when the clamping rods of the two opening and closing motion rods continue to move and separate from each other until the distance is the largest, stop moving again, and the clamping heads on the two clamping rods loosen the object, and at this time the spring is in a completely relaxed state.

8. The opening and closing method of an opening and closing mechanism based on the one-way rotary motion of a gear according to claim 1, It is characterized in that: When the free end of the clamping rod of the opening and closing motion rod is fixed to the cutting head, the object to be cut is placed between the clamping rods of the two opening and closing motion rods; when the clamping rods of the two opening and closing motion rods approach each other until the distance is the smallest, the cutting heads on the two clamping rods cut the object to be cut; when the clamping rods of the two opening and closing motion rods separate from each other until the distance is the largest, the cutting heads on the two clamping rods separate and reset, waiting for the next cutting task.

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