Polyhedral gripping mechanism and method for designing same

Abstract

The application discloses a polyhedral grabbing mechanism and a design method thereof. The polyhedral grabbing mechanism comprises: a plurality of grabbing plates, the grabbing plates are polygons, the plurality of grabbing plates are movably connected between a closed position and an unfolded position, any three directly connected grabbing plates in the plurality of grabbing plates form a three-face unfoldable unit, the three grabbing plates of the three-face unfoldable unit comprise a connecting plate and two transmission plates, two different edges of the connecting plate are reversibly connected with an edge of the two transmission plates respectively; a plurality of connecting rod assemblies, the two transmission plates of each three-face unfoldable unit are connected through the connecting rod assemblies to realize transmission connection of the two transmission plates; and a driving device, the driving device is arranged on one of the plurality of grabbing plates and is in transmission connection with the grabbing plate directly connected with the grabbing plate. The polyhedral grabbing mechanism has the advantages of avoiding hurting marine organisms and reliable grabbing.

Description

Technical Field

[0001] This invention relates to the field of marine biological sampling technology, and more specifically, to a polyhedral grasping mechanism and a design method for the polyhedral grasping mechanism. Background Technology

[0002] Using a gripper mounted on a submersible to conduct in-situ sampling is one of the methods for studying marine life.

[0003] The grippers used for sampling by submersibles in related technologies include rigid grippers and flexible grippers that use a clamping method. Rigid grippers are prone to damaging fragile marine organisms when clamping, while flexible grippers cause less damage to fragile marine organisms. However, the gaps in the grippers leave room for agile marine organisms to escape, which affects the success rate of sampling. Summary of the Invention

[0004] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention proposes a polyhedral gripping mechanism, which has advantages such as avoiding harm to marine life and reliable gripping.

[0005] The present invention also proposes a design method for having the aforementioned polyhedral gripping mechanism.

[0006] To achieve the above objectives, an embodiment of the first aspect of the present invention provides a polyhedral gripping mechanism, comprising: a plurality of gripping plates, the gripping plates being polygonal, the plurality of gripping plates being movably connected between an enclosed position and an unfolded position, the plurality of gripping plates being enclosed to form a polyhedron in the enclosed position and located in the same plane in the unfolded position, any three directly connected gripping plates constituting a three-sided unfoldable unit, the three gripping plates of the three-sided unfoldable unit including a connecting plate and two transmission plates, the two different edges of the connecting plate being rotatably connected to one edge of each of the two transmission plates; a plurality of linkage assemblies, the two transmission plates of each of the three-sided unfoldable units being connected via the linkage assemblies to enable the two transmission plates to be driven; and a driving device, the driving device being disposed on one of the plurality of gripping plates and drivenly connected to the gripping plate directly connected thereto.

[0007] The polyhedral gripping mechanism according to embodiments of the present invention has advantages such as avoiding harm to marine life and reliable gripping.

[0008] In addition, the polyhedral gripping mechanism according to the above embodiments of the present invention may also have the following additional technical features:

[0009] According to one embodiment of the present invention, the gripping plate is a regular polygon, and the polyhedron is a regular polyhedron or a semi-regular polyhedron.

[0010] According to one embodiment of the present invention, the polyhedron is a regular dodecahedron, and there are twelve gripping plates, each of which is a regular pentagon.

[0011] According to one embodiment of the present invention, the plurality of gripping plates include: a main gripping plate, wherein the driving device is disposed on the main gripping plate; five primary transmission plates, the five primary transmission plates being rotatably connected to five edges of the main gripping plate respectively; five secondary transmission plates, the five secondary transmission plates being rotatably connected to the edges of the five primary transmission plates spaced apart from the main gripping plate respectively; and a tertiary transmission plate, the tertiary transmission plate being rotatably connected to the edge of one of the five secondary transmission plates away from the primary transmission plate respectively.

[0012] According to one embodiment of the present invention, the plurality of linkage assemblies include: a primary linkage assembly comprising a regular pentagonal transmission frame and five primary links, the transmission frame being connected to the drive device, the proximal ends of the five primary links being pivotally connected to the five vertices of the transmission frame, and the distal ends of the five primary links being pivotally connected to the five primary transmission plates; and five secondary linkage assemblies, each secondary linkage assembly comprising a secondary first link, a secondary second link, and a secondary third link, the proximal ends of the five secondary first links being pivotally connected to the main gripping plate and spaced apart circumferentially on the main gripping plate, and the proximal ends of the five secondary second links being pivotally connected to the five secondary first links. The distal ends of the five secondary third links are pivotally connected, the proximal ends of the five secondary second links are pivotally connected to the distal ends of the five secondary third links, and the distal ends of the five secondary third links are pivotally connected to the five secondary transmission plates; a three-stage linkage assembly includes a three-stage first link, a three-stage second link, and a three-stage third link, the proximal end of the three-stage first link is pivotally connected to one of the five primary transmission plates adjacent to the three-stage transmission plate, the proximal end of the three-stage second link is pivotally connected to the distal end of the three-stage first link, the proximal end of the three-stage third link is pivotally connected to the distal end of the three-stage second link, and the distal end of the three-stage third link is pivotally connected to the three-stage transmission plate.

[0013] According to one embodiment of the present invention, the polyhedron is a forty-eight-sided equilateral polyhedron, and there are twenty-six gripping plates, of which eighteen are squares and eight are equilateral triangles.

[0014] According to one embodiment of the present invention, the plurality of gripping plates include: a main gripping plate, the main gripping plate being square, and the driving device disposed on the main gripping plate; four primary transmission plates, each of the four primary transmission plates being square, and the four primary transmission plates being rotatably connected to the four edges of the main gripping plate respectively; four secondary transmission plates, each of the four secondary transmission plates being square, and the four secondary transmission plates being rotatably connected to the edges of the four secondary transmission plates that are spaced apart from the main gripping plate respectively; and four tertiary first transmission plates, each of the four tertiary first transmission plates being square, and the four tertiary first transmission plates being rotatably connected to the four secondary transmission plates respectively. The moving plate is rotatably connected to the edge of the main gripping plate; four third-level second transmission plates, each of which is square, are rotatably connected to the edges of the four second-level transmission plates adjacent to the main gripping plate; eight fourth-level triangular transmission plates, each of which is equilateral triangle, are rotatably connected to one of the fourth-level triangular transmission plates on opposite sides; and a fourth-level square transmission plate, which is rotatably connected to the edge of one of the four third-level first transmission plates that is rotatably connected to the edge of the second-level transmission plate.

[0015] According to one embodiment of the present invention, the linkage assembly includes: a primary linkage assembly comprising a square transmission frame and four primary links, the transmission frame being connected to the drive device, the proximal ends of the four primary links being pivotally connected to the four vertices of the transmission frame, and the distal ends of the four primary links being pivotally connected to the four primary transmission plates; and four secondary linkage assemblies, each secondary linkage assembly comprising a secondary first link, a secondary second link, a secondary third link, and a secondary fourth link, the proximal ends of the four secondary first links being connected to the main gripper. The plates are pivotally connected and spaced circumferentially along the main gripping plate. The proximal ends of the four secondary second links are pivotally connected to the distal ends of the four secondary first links, the proximal ends of the four secondary third links are pivotally connected to the distal ends of the four secondary second links, the proximal ends of the four secondary fourth links are pivotally connected to the distal ends of the secondary third links, and the distal ends of the four secondary fourth links are pivotally connected to the four secondary transmission plates. Four tertiary link assemblies are also included, each comprising a tertiary transmission frame, a tertiary first link, and a tertiary second link. The four first-stage links are pivotally connected at their proximal ends to the four first-stage transmission plates, and at their distal ends to the four third-stage transmission frames. Similarly, the four second-stage links are pivotally connected at their proximal ends to the four third-stage transmission frames, and at their distal ends to the four first-stage transmission plates. The moving plates are pivotally connected; there are eight fourth-stage first linkage assemblies, each of which includes a fourth-stage first linkage, a fourth-stage second linkage, and a fourth-stage third linkage. Each second-stage transmission plate is pivotally connected to the proximal ends of two fourth-stage first linkages, the proximal ends of the eight fourth-stage second linkages are pivotally connected to the distal ends of the eight fourth-stage first linkages, the proximal ends of the eight fourth-stage third linkages are pivotally connected to the distal ends of the eight fourth-stage second linkages, and the distal ends of the eight fourth-stage third linkages are pivotally connected to eight fourth-stage triangular transmission plates.A fourth-stage second-link assembly, comprising a fourth-stage first link, a fourth-stage second link, a fourth-stage third link, and a fourth-stage fourth link, wherein the proximal end of the fourth-stage first link is pivotally connected to one of four second-stage transmission plates; the proximal end of the fourth-stage second link is pivotally connected to the distal end of the fourth-stage first link; the proximal end of the fourth-stage third link is pivotally connected to the distal end of the fourth-stage second link; the proximal end of the fourth-stage fourth link is pivotally connected to the distal end of the fourth-stage third link; and the distal end of the fourth-stage fourth link is pivotally connected to a fourth-stage square transmission plate.

[0016] According to one embodiment of the present invention, the edge of the gripping plate is provided with a sealing structure.

[0017] According to an embodiment of the second aspect of the present invention, a design method for a polyhedral gripping mechanism according to an embodiment of the first aspect of the present invention is provided, comprising the following steps:

[0018] Select the shape of the polyhedron formed by the plurality of gripping plates of the polyhedron gripping mechanism;

[0019] Select multiple unfolded shapes of the gripping plates when they are in the unfolded position;

[0020] The desired shape of the gripping plate is selected based on the shape of the chosen polyhedron and the unfolded shape.

[0021] Based on the three-sided deployable unit containing three gripping plates, multiple gripping plates are connected to form a multi-sided deployable module. The number of connected gripping plates is gradually increased, and any three directly connected gripping plates among the multiple gripping plates constitute a three-sided deployable unit. The two transmission plates of each three-sided deployable unit are connected by the linkage assembly to make the two transmission plates drive each other until the unfolded shape is formed.

[0022] The drive device is configured.

[0023] The design method of the polyhedral gripping mechanism according to embodiments of the present invention has advantages such as avoiding harm to marine life and reliable gripping.

[0024] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0025] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0026] Figure 1This is a schematic diagram of the structure of a polyhedral gripping mechanism according to an embodiment of the present invention.

[0027] Figure 2 This is a schematic diagram illustrating the process by which the gripping plate of a polyhedral gripping mechanism according to an embodiment of the present invention moves from an unfolded position to an enclosed position.

[0028] Figure 3 This is a schematic diagram of the structure of a three-sided deployable unit of a polyhedral gripping mechanism according to an embodiment of the present invention.

[0029] Figure 4 This is a schematic diagram of the structure of a three-sided deployable unit of a polyhedral gripping mechanism according to another embodiment of the present invention.

[0030] Figure 5 This is a schematic diagram of the structure of a polyhedral gripping mechanism according to another embodiment of the present invention.

[0031] Figure 6 This is a schematic diagram illustrating the process by which the gripping plate of a polyhedral gripping mechanism according to another embodiment of the present invention moves from an unfolded position to an enclosed position.

[0032] Figure 7 This is a schematic diagram of the structure of a three-sided deployable unit of a polyhedral gripping mechanism according to another embodiment of the present invention.

[0033] Figure 8 This is a schematic diagram of the structure of a three-sided deployable unit of a polyhedral gripping mechanism according to another embodiment of the present invention.

[0034] Figure 9 This is a schematic diagram of the structure of a three-sided deployable unit of a polyhedral gripping mechanism according to another embodiment of the present invention.

[0035] Figure 10 This is a flowchart of a design method for a polyhedral gripping mechanism according to an embodiment of the present invention.

[0036] Figure 11 This is a schematic diagram illustrating the design process of a polyhedral gripping mechanism according to an embodiment of the present invention.

[0037] Reference numerals: 1. Polyhedral gripping mechanism; 2. Three-sided deployable unit; 10. Gripping plate; 11. Connecting plate; 12. Transmission plate; 110. Main gripping plate; 120. First-stage transmission plate; 130. Second-stage transmission plate; 140. Third-stage first transmission plate; 141. Third-stage second transmission plate; 142. Fourth-stage triangular transmission plate; 151. Fourth-stage square transmission plate; 20. Linkage assembly; 210. First-stage linkage assembly; 220. Second-stage linkage assembly; 230. Third-stage linkage assembly; 241. Fourth-stage first linkage assembly; 242. Fourth-stage second linkage assembly; 30. Drive device. Detailed Implementation

[0038] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0039] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, features defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0040] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0041] The polyhedral gripping mechanism 1 according to an embodiment of the present invention is described below with reference to the accompanying drawings.

[0042] like Figures 1-9 As shown, the polyhedral gripping mechanism 1 according to an embodiment of the present invention includes a plurality of gripping plates 10, a plurality of linkage assemblies 20 and a driving device 30.

[0043] The gripping plates 10 are polygonal, and multiple gripping plates 10 are movably connected between an enclosed position and an unfolded position. In the enclosed position, the multiple gripping plates 10 form a polyhedron, and in the unfolded position, they lie on the same plane. Any three directly connected gripping plates 10 constitute a three-sided unfoldable unit 2. The three gripping plates 10 of the three-sided unfoldable unit 2 include a connecting plate 11 and two transmission plates 12. Two different edges of the connecting plate 11 are rotatably connected to one edge of each of the two transmission plates 12. The two transmission plates 12 of each three-sided unfoldable unit 2 are connected via a linkage assembly 20 to enable transmission connection between the two transmission plates 12. The drive device 30 is mounted on one of the multiple gripping plates 10 and is transmissionally connected to the gripping plate 10 directly connected to it.

[0044] It is important to understand here that any three directly connected gripping plates 10 forming a three-sided deployable unit 2 can contain some identical gripping plates 10. For example... Figure 1 The three-stage transmission plate 140, the two-stage transmission plate 130, and the one-stage transmission plate 120 constitute a three-sided deployable unit 2. The three-stage transmission plate 140 and the one-stage transmission plate 120 serve as transmission plates of the three-sided deployable unit 2, and the two-stage transmission plate 130 serves as a connecting plate. The two-stage transmission plate 130 and the one-stage transmission plate 120 of the three-sided deployable unit 2 can be combined with the main gripping plate 110 to form another three-sided deployable unit 2, in which the main gripping plate 110 and the two-stage transmission plate 130 serve as transmission plates, and the one-stage transmission plate 120 serves as a connecting plate.

[0045] In other words, each gripping plate 10 belongs to at least one three-sided deployable unit 2. Each gripping plate 10 is at least a transmission plate 12 of a three-sided deployable unit 2.

[0046] Specifically, when the driving device 30 drives a portion of the multiple gripping plates 10, the gripping plate 10 transmits the driving force of the driving device 30 to the other gripping plates 10 through the three-sided expandable unit 2, thereby driving all the gripping plates 10 and enabling the multiple gripping plates 10 to move between the expanded position and the enclosed position.

[0047] For example, such as Figure 1 and Figure 2 As shown, the drive device 30 drives five primary transmission plates 120 to rotate relative to the main gripping plate 110 via the primary linkage assembly 210. The relative rotation between the main gripping plate 110 and the primary transmission plates 120 is transmitted to the tertiary transmission plate 140 via the secondary linkage assembly 220. The relative rotation between the primary transmission plates 120 and the secondary transmission plates 130 is transmitted to the tertiary transmission plate 140 via the tertiary linkage assembly 230, thereby realizing the transmission drive of all gripping plates 10.

[0048] According to an embodiment of the present invention, a polyhedral gripping mechanism 1 is provided with multiple gripping plates 10, which are movably connected between an enclosed position and an extended position. In the enclosed position, the multiple gripping plates 10 enclose a polyhedron, and in the extended position, they lie on the same plane. This allows for sampling of marine organisms by driving the multiple gripping plates 10 to form a polyhedron, utilizing the space defined within the polyhedron to sample the organisms. Compared to rigid grippers using clamping methods in related technologies, this avoids harming the fragile marine organisms inside. Compared to flexible grippers used in related technologies, this prevents agile marine organisms from escaping through gaps in the flexible grippers. Therefore, it facilitates the sampling of marine organisms, improves sampling reliability, and avoids harming marine organisms.

[0049] Furthermore, a three-sided deployable unit 2 is formed by directly connecting any three gripping plates 10 from a plurality of gripping plates 10. Each gripping plate 10 in the three-sided deployable unit 2 includes a connecting plate 11 and two transmission plates 12. Two different edges of the connecting plate 11 are rotatably connected to one edge of each of the two transmission plates 12. The two transmission plates 12 of each three-sided deployable unit 2 are connected by a linkage assembly 20 to enable transmission between the two transmission plates 12. This allows the driving force of the drive device 30 to be transmitted to all gripping plates 10 using different three-sided deployable units 2, facilitating the movement of multiple gripping plates between the deployed and enclosed positions.

[0050] Therefore, the polyhedral gripping mechanism 1 according to the embodiments of the present invention has advantages such as avoiding harm to marine life and reliable gripping.

[0051] The polyhedral gripping mechanism 1 according to a specific embodiment of the present invention is described below with reference to the accompanying drawings.

[0052] In some specific embodiments of the present invention, such as Figures 1-9 As shown, the polyhedral gripping mechanism 1 according to an embodiment of the present invention includes a plurality of gripping plates 10, a plurality of linkage assemblies 20 and a driving device 30.

[0053] Optionally, such as Figures 1-9 As shown, the gripping plate 10 is a regular polygon, and the polyhedron is a regular polyhedron or a semi-regular polyhedron. This facilitates the manufacturing of the gripping plate 10, reduces the types of parts in the gripping plate 10, and makes it easier to construct a polyhedron with a larger volume.

[0054] Specifically, such as Figures 1-9 As shown, the three-sided deployable unit 2 can be composed of gripping plates 10 of the same shape or gripping plates 10 of different shapes. The linkage assembly 20 can include multiple linkages, and adjacent linkages can be connected by a revolute joint. The linkages and gripping plates 10 can be connected by a revolute joint, a sliding joint, or a fixed connection.

[0055] In some embodiments, such as Figure 3 As shown, the three gripping plates 10 of the three-sided expandable unit 2 can all be regular pentagons, and the linkage assembly 20 can include three linkages, which can be connected to the gripping plates 10 through a rotating joint.

[0056] In other embodiments, such as Figure 4 As shown, the three gripping plates 10 of the three-sided expandable unit 2 can all be regular pentagons, and the linkage assembly 20 can include three links, which can be connected to the gripping plates 10 through sliding pairs.

[0057] In other embodiments, such as Figure 7 As shown, the three-sided deployable unit 2 may include two square gripping plates 10 and one triangular gripping plate 10, and the linkage assembly 20 may include three links, which can be connected to the gripping plates 10 by a rotating joint.

[0058] In other embodiments, such as Figure 8 As shown, the three gripping plates 10 of the three-sided expandable unit 2 can all be square, and the linkage assembly 20 can include four linkages, which can be connected to the gripping plates 10 through a rotating joint.

[0059] In other embodiments, such as Figure 9 As shown, the three gripping plates 10 of the three-sided expandable unit 2 can all be square. The linkage assembly 20 can include three linkages, one linkage is fixedly connected to the gripping plate 10, and the other linkage is connected to the gripping plate 10 through a rotating joint.

[0060] In some embodiments, such as Figures 1-4 As shown, the polyhedron is a regular dodecahedron, and there are twelve gripping plates 10, each of which is a regular pentagon. This facilitates the enclosure of a regular dodecahedron space, ensures that the gripping plates 10 have the same shape, and further facilitates the manufacturing of the gripping plates 10.

[0061] Specifically, such as Figure 1 As shown, the multiple gripping plates 10 include a main gripping plate 110, five primary transmission plates 120, five secondary transmission plates 130, and one tertiary transmission plate 140. The drive unit 30 is mounted on the main gripping plate 110. The five primary transmission plates 120 are rotatably connected to the five edges of the main gripping plate 110. The five secondary transmission plates 130 are rotatably connected to the edges of the five primary transmission plates 120 that are spaced apart from the main gripping plate 110. The tertiary transmission plate 140 is rotatably connected to the edge of one of the five secondary transmission plates 130 that is furthest from the primary transmission plate 120. This allows the main gripping plate 110 to be connected to as many primary transmission plates 120 as possible, facilitating the drive of the drive unit 30.

[0062] More specifically, such as Figure 1 As shown, the multiple linkage assemblies 20 include a primary linkage assembly 210, five secondary linkage assemblies 220, and a tertiary linkage assembly 230. The primary linkage assembly 210 includes a regular pentagonal transmission frame and five primary links. The transmission frame is connected to the drive device 30. The proximal ends of the five primary links are pivotally connected to the five vertices of the transmission frame, and the distal ends of the five primary links are pivotally connected to the five primary transmission plates. Each secondary linkage assembly 220 includes a secondary first link, a secondary second link, and a secondary third link. The proximal ends of the five secondary first links are pivotally connected to the main gripper plate 110 and are spaced apart in the circumferential direction of the main gripper plate 110. The proximal ends of the five secondary second links are pivotally connected to the distal ends of the five secondary first links, and the proximal ends of the five secondary third links are pivotally connected to the distal ends of the five secondary second links. The distal ends of the five secondary third links are pivotally connected to the five secondary transmission plates 130. The three-stage linkage assembly 230 includes a third-stage first link, a third-stage second link, and a third-stage third link. The proximal end of the third-stage first link is pivotally connected to one of the five first-stage transmission plates 120 adjacent to the third-stage transmission plate 140. The proximal end of the third-stage second link is pivotally connected to the distal end of the third-stage first link. The proximal end of the third-stage third link is pivotally connected to the distal end of the third-stage second link. The distal end of the third-stage third link is pivotally connected to the third-stage transmission plate 140.

[0063] Specifically, such as Figure 1 and Figure 2 As shown, the drive device 30 drives five primary transmission plates 120 to rotate relative to the main gripping plate 110 via the primary linkage assembly 210. The relative rotation between the main gripping plate 110 and the primary transmission plates 120 is transmitted to the tertiary transmission plate 140 via the secondary linkage assembly 220. The relative rotation between the primary transmission plates 120 and the secondary transmission plates 130 is transmitted to the tertiary transmission plate 140 via the tertiary linkage assembly 230, thereby realizing the transmission drive of all gripping plates 10.

[0064] This facilitates the transmission drive of all gripping plates 10.

[0065] In other embodiments, such as Figures 5-9 As shown, the polyhedron is a forty-eight-sided equilateral prism, and there are twenty-six gripping plates 10. Eighteen of the gripping plates 10 are squares and eight are equilateral triangles. In this way, the multiple gripping plates 10 can be used to enclose the space of the forty-eight-sided equilateral prism, which facilitates increasing the volume of the enclosed space.

[0066] Specifically, such as Figure 5As shown, the multiple gripping plates 10 include a main gripping plate 110, four primary transmission plates 120, four secondary transmission plates 130, four tertiary first transmission plates 141, four tertiary second transmission plates 142, eight quaternary triangular transmission plates 151, and one quaternary square transmission plate 152. The main gripping plate 110 is square, and the drive device 30 is mounted on the main gripping plate 110. The four primary transmission plates 120 are all square, and are rotatably connected to the four edges of the main gripping plate 110. The four secondary transmission plates 130 are all square, and are rotatably connected to the edges of the secondary transmission plates 130 that are spaced apart from the main gripping plate 110. The four tertiary first transmission plates 141 are all square, and are rotatably connected to the edges of the secondary transmission plates 130 that are spaced apart from the main gripping plate 110. The four third-stage second transmission plates 142 are all square, and each of the four third-stage second transmission plates 142 is rotatably connected to the adjacent edges of the four second-stage transmission plates 130 that are adjacent to the main gripping plate 110. The eight fourth-stage triangular transmission plates 151 are all equilateral triangles, and each of the opposite sides of the third-stage second transmission plate 142 is rotatably connected to one of the fourth-stage triangular transmission plates 151. The fourth-stage square transmission plates 152 are rotatably connected to the edge of one of the four third-stage first transmission plates 141 that is spaced apart from the second-stage transmission plate 130. This allows the main gripping plate 110 to be connected to as many first-stage transmission plates 120 as possible, facilitating the operation of the drive device 30.

[0067] More specifically, such as Figure 5As shown, the linkage assembly 20 includes a primary linkage assembly 210, four secondary linkage assemblies 220, four tertiary linkage assemblies 230, eight fourth-stage first linkage assemblies 241, and one fourth-stage second linkage assembly 242. The primary linkage assembly 210 includes a square transmission frame and four primary linkages. The transmission frame is connected to the drive device 30. The proximal ends of the four primary linkages are pivotally connected to the four vertices of the transmission frame, and the distal ends of the four primary linkages are pivotally connected to four primary transmission plates 120. Each secondary linkage assembly 220 includes a secondary first link, a secondary second link, a secondary third link, and a secondary fourth link. The proximal ends of the four secondary first links are pivotally connected to the main gripper plate 110 and are spaced apart circumferentially along the main gripper plate 110. The proximal ends of the four secondary second links are pivotally connected to the distal ends of the four secondary first links, the proximal ends of the four secondary third links are pivotally connected to the distal ends of the four secondary second links, the proximal ends of the four secondary fourth links are pivotally connected to the distal ends of the secondary third links, and the distal ends of the four secondary fourth links are pivotally connected to the four secondary transmission plates 130. Each three-stage linkage assembly 230 includes a three-stage transmission frame, a three-stage first link, a three-stage second link, and a three-stage third link. The proximal ends of the four three-stage first links are pivotally connected to the four first-stage transmission plates 120, and the distal ends of the four three-stage first links are pivotally connected to the four three-stage transmission frames. The proximal ends of the four three-stage second links are pivotally connected to the four three-stage transmission frames, and the distal ends of the four three-stage second links are pivotally connected to the four three-stage first transmission plates 141. The proximal ends of the four three-stage third links are pivotally connected to the four three-stage transmission frames, and the distal ends of the four three-stage third links are pivotally connected to the four three-stage second transmission plates 142. Each fourth-stage first link assembly 241 includes a fourth-stage first link, a fourth-stage second link, and a fourth-stage third link. Each second-stage transmission plate 130 is pivotally connected to the proximal ends of two fourth-stage first links, the proximal ends of eight fourth-stage second links are pivotally connected to the distal ends of eight fourth-stage first links, the proximal ends of eight fourth-stage third links are pivotally connected to the distal ends of eight fourth-stage second links, and the distal ends of eight fourth-stage third links are pivotally connected to eight fourth-stage triangular transmission plates 151.The fourth-stage second link assembly 242 includes a fourth-stage first link, a fourth-stage second link, a fourth-stage third link, and a fourth-stage fourth link. The proximal end of the fourth-stage first link is pivotally connected to one of the four second-stage transmission plates 130. The proximal end of the fourth-stage second link is pivotally connected to the distal end of the fourth-stage first link. The proximal end of the fourth-stage third link is pivotally connected to the distal end of the fourth-stage second link. The proximal end of the fourth-stage fourth link is pivotally connected to the distal end of the fourth-stage third link. The distal end of the fourth-stage fourth link is pivotally connected to a fourth-stage square transmission plate 152.

[0068] Specifically, such as Figure 1 and Figure 2 As shown, the drive device 30 drives four primary transmission plates 120 to rotate relative to the main gripping plate 110 via a primary linkage assembly 210. The relative rotation of the primary transmission plates 120 and the main gripping plate 110 is transmitted to the secondary transmission plate 130 via a secondary linkage assembly 220. The relative rotation of the primary transmission plates 120 and the secondary transmission plates 130 is transmitted to the tertiary first transmission plate 141 and the tertiary second transmission plate 142 via a tertiary linkage assembly 230. The relative rotation of the tertiary first transmission plate 141 and the secondary transmission plate 130 is transmitted to the tertiary square transmission plate 152 via a tertiary second linkage assembly 242. The relative rotation of the tertiary second transmission plate 142 and the secondary transmission plate 130 is transmitted to the tertiary triangular transmission plate 151 via a tertiary first linkage assembly 241, thereby realizing the transmission drive of all gripping plates 10.

[0069] This facilitates the transmission drive of all gripping plates 10.

[0070] Advantageously, the edge of the gripping plate 10 is provided with a sealing structure. This improves the sealing of the space enclosed by the polyhedral gripping mechanism 1, facilitating in-situ sampling.

[0071] The following describes a design method for a polyhedral gripping mechanism 1 according to an embodiment of the present invention, including the following steps:

[0072] Select the shape of the polyhedron formed by the plurality of gripping plates of the polyhedron gripping mechanism;

[0073] Select multiple unfolded shapes of the gripping plates when they are in the unfolded position;

[0074] The desired shape of the gripping plate is selected based on the shape of the chosen polyhedron and the unfolded shape.

[0075] Based on the three-sided deployable unit containing three gripping plates, multiple gripping plates are connected to form a multi-sided deployable module. The number of connected gripping plates is gradually increased, and any three directly connected gripping plates among the multiple gripping plates constitute a three-sided deployable unit. The two transmission plates of each three-sided deployable unit are connected by the linkage assembly to make the two transmission plates drive each other until the unfolded shape is formed.

[0076] The drive device is configured.

[0077] Those skilled in the art will understand that the shape of the polyhedron, the shape of the unfolded diagram, and the shape of the gripping plate can be selected according to actual needs.

[0078] In other words, the design method may include the following steps:

[0079] like Figure 11 As shown in S1, the shape of the polyhedron formed by the plurality of gripping plates of the polyhedron gripping mechanism is selected;

[0080] like Figure 11 As shown in S2, the unfolded shape of multiple gripping plates in the unfolded position is selected;

[0081] like Figure 11 As shown in S3, based on the selected polyhedron and unfolded diagram, select and design the three-sided unfoldable unit required to compose the unfoldable polyhedron mechanism.

[0082] like Figure 11 As shown in S4, by sharing two adjacent gripping plates and the linkage assembly connecting these two gripping plates, two three-sided deployable units are combined into a new module with four gripping plates that can rotate synchronously.

[0083] Based on the new module, add new three-sided deployable units to form a new module with more gripping plates that can rotate synchronously. Repeat this process until the target polyhedron unfolds, as shown below. Figure 11 As shown in S5.

[0084] Specifically, the drive unit can be installed on the gripper plate that connects the most gripper plates, thereby improving the reliability of the transmission.

[0085] This facilitates the design of polyhedral gripping mechanisms 1 with different shapes, making it easier to sample different types of marine organisms, enabling the polyhedral gripping mechanism 1 to meet different needs, and improving the flexibility and applicability of the polyhedral gripping mechanism 1.

[0086] The design method of the polyhedral gripping mechanism 1 according to the embodiments of the present invention has the advantages of avoiding harm to marine life and reliable gripping by utilizing the polyhedral gripping mechanism 1 according to the above embodiments of the present invention.

[0087] Other configurations and operations of the polyhedral gripping mechanism 1 according to embodiments of the present invention are known to those skilled in the art and will not be described in detail here.

[0088] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0089] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A polyhedral gripping mechanism, characterized in that, include: Multiple gripping plates, each gripping plate being polygonal, are movably connected between an enclosed position and an unfolded position. In the enclosed position, the multiple gripping plates enclose a polyhedron and in the unfolded position lie on the same plane. Any three directly connected gripping plates constitute a three-sided unfoldable unit. The three-sided unfoldable unit consists of a connecting plate and two transmission plates. Two different edges of the connecting plate are rotatably connected to one edge of each of the two transmission plates. Multiple linkage assemblies are provided, and the two transmission plates of each of the three-sided deployable units are connected by the linkage assembly to enable the two transmission plates to be connected in a transmission manner; the linkage assembly includes multiple links, adjacent links are connected by a revolute joint, and the links are connected to the gripping plate by a revolute joint or a sliding joint; A driving device is mounted on one of the plurality of gripping plates and is directly connected to the gripping plate in a driving connection. The gripping plate is a regular polygon, and the polyhedron is a regular polyhedron or a semi-regular polyhedron; The polyhedron is a regular dodecahedron, and there are twelve gripping plates, each of which is a regular pentagon. The gripping plates include: a main gripping plate, on which the driving device is mounted; five primary transmission plates, each of which is rotatably connected to one of the five edges of the main gripping plate; five secondary transmission plates, each of which is rotatably connected to one of the edges of the five primary transmission plates that is spaced apart from the main gripping plate; and a tertiary transmission plate, each of which is rotatably connected to one of the five secondary transmission plates at an edge away from the primary transmission plate. Alternatively, the polyhedron is a forty-eight-sided equilateral polyhedron, and the gripping plates are twenty-six in number, with eighteen of the gripping plates being squares and eight being equilateral triangles; the gripping plates include: a main gripping plate, which is square, and the driving device is mounted on the main gripping plate; four primary transmission plates, each square, which are rotatably connected to the four edges of the main gripping plate; four secondary transmission plates, each square, which are rotatably connected to the edges of the secondary transmission plates that are spaced apart from the main gripping plate; and four tertiary first transmission plates, each square... The three-stage first transmission plates are rotatably connected to the edges of the four second-stage transmission plates that are spaced apart from the main gripping plate; the four third-stage second transmission plates are all square, and are rotatably connected to the edges of the four second-stage transmission plates that are adjacent to the main gripping plate; the eight fourth-stage triangular transmission plates are all equilateral triangles, and the opposite two edges of each third-stage second transmission plate are rotatably connected to one of the fourth-stage triangular transmission plates; and the four-stage square transmission plate is rotatably connected to the edge of one of the four third-stage first transmission plates that is spaced apart from the second-stage transmission plate.

2. The polyhedral gripping mechanism according to claim 1, characterized in that, The plurality of said link assemblies include: A primary linkage assembly includes a regular pentagonal transmission frame and five primary linkages. The transmission frame is connected to the drive device. The proximal ends of the five primary linkages are pivotally connected to the five vertices of the transmission frame, and the distal ends of the five primary linkages are pivotally connected to the five primary transmission plates. Five secondary linkage assemblies, each comprising a secondary first link, a secondary second link, and a secondary third link, wherein the proximal ends of the five secondary first links are pivotally connected to the main gripper plate and are spaced apart in the circumferential direction of the main gripper plate; the proximal ends of the five secondary second links are pivotally connected to the distal ends of the five secondary first links; the proximal ends of the five secondary third links are pivotally connected to the distal ends of the five secondary second links; and the distal ends of the five secondary third links are pivotally connected to the five secondary transmission plates. A three-stage linkage assembly includes a third-stage first link, a third-stage second link, and a third-stage third link. The proximal end of the third-stage first link is pivotally connected to one of the five first-stage drive plates adjacent to the third-stage drive plate. The proximal end of the third-stage second link is pivotally connected to the distal end of the third-stage first link. The proximal end of the third-stage third link is pivotally connected to the distal end of the third-stage second link. The distal end of the third-stage third link is pivotally connected to the third-stage drive plate.

3. The polyhedral gripping mechanism according to claim 1, characterized in that, The linkage assembly includes: A primary linkage assembly, comprising a square transmission frame and four primary linkages, the transmission frame being connected to the drive device, the proximal ends of the four primary linkages being pivotally connected to the four vertices of the transmission frame, and the distal ends of the four primary linkages being pivotally connected to the four primary transmission plates. Four secondary linkage assemblies, each comprising a secondary first link, a secondary second link, a secondary third link, and a secondary fourth link. The proximal ends of the four secondary first links are pivotally connected to the main gripping plate and are spaced apart circumferentially along the main gripping plate. The proximal ends of the four secondary second links are pivotally connected to the distal ends of the four secondary first links, the proximal ends of the four secondary third links are pivotally connected to the distal ends of the four secondary second links, the proximal ends of the four secondary fourth links are pivotally connected to the distal ends of the secondary third links, and the distal ends of the four secondary fourth links are pivotally connected to the four secondary transmission plates. Four three-stage linkage assemblies, each of which includes a three-stage transmission frame, a three-stage first link, a three-stage second link, and a three-stage third link. The proximal ends of the four three-stage first links are pivotally connected to the four three-stage transmission plates, and the distal ends of the four three-stage first links are pivotally connected to the four three-stage transmission frames. The proximal ends of the four three-stage second links are pivotally connected to the four three-stage transmission frames, and the distal ends of the four three-stage second links are pivotally connected to the four three-stage first transmission plates. The proximal ends of the four three-stage third links are pivotally connected to the four three-stage transmission frames, and the distal ends of the four three-stage third links are pivotally connected to the four three-stage second transmission plates. Eight fourth-stage first-link assemblies, each fourth-stage first-link assembly including a fourth-stage first link, a fourth-stage second link, and a fourth-stage third link, each of the second-stage transmission plates being pivotally connected to the proximal ends of two fourth-stage first links, the proximal ends of the eight fourth-stage second links being pivotally connected to the distal ends of the eight fourth-stage first links, the proximal ends of the eight fourth-stage third links being pivotally connected to the distal ends of the eight fourth-stage second links, and the distal ends of the eight fourth-stage third links being pivotally connected to eight fourth-stage triangular transmission plates; A four-stage second-link assembly, comprising a four-stage first link, a four-stage second link, a four-stage third link, and a four-stage fourth link, wherein the proximal end of the four-stage first link is pivotally connected to one of the four four-stage secondary transmission plates, the proximal end of the four-stage second link is pivotally connected to the distal end of the four-stage first link, the proximal end of the four-stage third link is pivotally connected to the distal end of the four-stage second link, the proximal end of the four-stage fourth link is pivotally connected to the distal end of the four-stage third link, and the distal end of the four-stage fourth link is pivotally connected to the four-stage square transmission plate.

4. The polyhedral gripping mechanism according to claim 1, characterized in that, The edge of the gripping plate is provided with a sealing structure.

5. A design method for a polyhedral gripping mechanism according to any one of claims 1-4, characterized in that, Includes the following steps: Select the shape of the polyhedron formed by the plurality of gripping plates of the polyhedron gripping mechanism; Select multiple unfolded shapes of the gripping plates when they are in the unfolded position; The desired shape of the gripping plate is selected based on the shape of the chosen polyhedron and the unfolded shape. Based on the three-sided deployable unit containing three gripping plates, multiple gripping plates are connected to form a multi-sided deployable module. The number of connected gripping plates is gradually increased, and any three directly connected gripping plates among the multiple gripping plates constitute a three-sided deployable unit. The two transmission plates of each three-sided deployable unit are connected by the linkage assembly to make the two transmission plates drive each other until the unfolded shape is formed. The drive device is configured.

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