Mechanical device and mechanical control method

Abstract

Embodiments of the present disclosure provide a mechanical device and a mechanical control method. The mechanical device of the present disclosure comprises a driving mechanism and a plurality of transmission mechanisms, wherein the plurality of transmission mechanisms are symmetrically distributed around a predetermined center, and each transmission mechanism comprises a guide rail connected to the predetermined center, a guide module, a moving module mounted on the guide rail, and a rope segment corresponding to the transmission mechanism, the rope segment being used to form a complete rope, and the guide module being used to change the direction of the rope; the driving mechanism comprises a follower module, and the follower module is connected to the moving modules of the plurality of transmission mechanisms through the rope, so that when the driving mechanism drives the first moving module to move, the other moving modules can be driven to move together along their respective guide rails towards or away from the predetermined center. The mechanical device of the present disclosure has the advantages of simple structure, lightness, flexibility, low cost, good maintainability, and the ability to simultaneously drive multiple transmission mechanisms to move from the center by a single driving mechanism.

Description

Technical Field

[0001] This disclosure relates to fields such as robotics and mechanical control, and more specifically, to a rope-based mechanical device and mechanical control method. Background Technology

[0002] With the rapid development of my country's manufacturing industry, the role of automation technology in mechanical manufacturing is becoming increasingly important. Mechanical automation equipment, with its advantages of high standardization, reduced labor costs, high operational precision, and high efficiency, has brought about tremendous innovation to traditional industrial manufacturing, production, and work models.

[0003] Currently, the common approach to addressing the technical challenge of driving multiple transmission mechanisms to move simultaneously is to assign a drive mechanism to each transmission mechanism and synchronize the control of each drive mechanism over its corresponding transmission mechanism. This approach, due to the need for multiple drive mechanisms, results in a complex mechanical system structure, high cost, high failure rate, poor maintainability, and a tendency for asynchronous control between drive mechanisms. Furthermore, the large size and weight of each drive mechanism limit its application to fields with less stringent spatial requirements. It is difficult to widely adopt this technology in fields with limited spatial constraints and high control precision requirements (e.g., precision instruments, robot joint control, high-precision grippers).

[0004] Furthermore, common drive methods currently include rack and pinion drives, pneumatic drives, hydraulic drives, chain drives, and belt drives. Among these, rack and pinion drives are primarily used for workpiece clamping on machine tools. Hydraulic and pneumatic drives, with their high power-to-weight ratio, are often used for gripping heavy objects. Chain and belt drives, due to their simple structure, low cost, and minimal power loss, are widely used in applications requiring lower precision. However, these drive methods currently perform poorly in applications demanding high precision, high flexibility, and limited structural space. Therefore, a high-precision, lightweight, compact, and highly flexible drive method is needed to achieve high-precision control of a wider range of mechanical structures. Summary of the Invention

[0005] To address the aforementioned problems, this disclosure provides a mechanical device and a mechanical control method.

[0006] Embodiments of the present disclosure provide a mechanical device, including: a driving mechanism and N transmission mechanisms, where N≥2. Among them, the N transmission mechanisms are symmetrically distributed around a predetermined center, and each transmission mechanism in the N transmission mechanisms includes: a guide rail connected to the predetermined center, a guiding module, a moving module installed on the guide rail, and a rope segment corresponding to this transmission mechanism. Moreover, the rope segments corresponding to the N transmission mechanisms are used to form a complete rope, and the guiding module is used to change the direction of the rope; the driving mechanism includes a follower module, and the follower module is connected to the first moving module of the first transmission mechanism among the N transmission mechanisms through a first rope segment. The nth rope segment is used to connect the nth moving module of the nth transmission mechanism to the (n - 1)th moving module of the (n - 1)th transmission mechanism, where n is an integer and 1 < n ≤ N. The (N + 1)th rope segment is used to connect the Nth moving module of the Nth transmission mechanism to the follower module of the driving mechanism, so that when the driving mechanism drives the first moving module to move, it can带动 other each moving module to move towards the predetermined center or away from the predetermined center along their respective guide rails.

[0007] By adopting a mechanical device, it can be realized that a single driving mechanism can simultaneously control the moving modules corresponding to multiple transmission mechanisms to move towards a predetermined center or away from the predetermined center along their respective guide rails via ropes. This kind of mechanical device has high control precision, and there is no need to repeatedly adjust control parameters during use, and it can achieve synchronous and self-centralized movement control of multiple transmission mechanisms, which is convenient to apply. At the same time, this driving method based on ropes can adaptively adjust its material according to the attributes of the driven transmission mechanisms. Since the rope has a simple structure, is light and flexible, has a low cost, and is easy to maintain, it can be applied to a variety of mechanical control scenarios.

[0008] According to an embodiment of the present disclosure, among them, the guiding module includes one or more pulleys and supports corresponding to the pulleys. Among them, the one or more pulleys are used to change the transmission direction of the rope segment corresponding to the transmission mechanism, so that the rope segment bypasses the one or more pulleys and is connected to the follower module of the driving mechanism or to the moving modules of at least a part of the N transmission mechanisms; the pulley is installed and fixed through the support, and the support determines the installation height and installation angle of the pulley.

[0009] According to an embodiment of the present disclosure, for the nth transmission mechanism, a first guiding pulley is arranged on the extension line of the guide rail of the (n - 1)th transmission mechanism towards the predetermined center, and a second guiding pulley is arranged at one end of the guide rail of the nth transmission mechanism far from the predetermined center. The nth rope segment sequentially bypasses the first guiding pulley and the second guiding pulley to connect the nth moving module of the nth transmission mechanism to the (n - 1)th moving module of the (n - 1)th transmission mechanism.

[0010] According to an embodiment of this disclosure, the two ends of the rope are respectively fixed to the stationary structure of the drive mechanism, or the two ends of the rope are respectively fixed to the follower module, so that when the rope drives each of the moving modules to move, the two ends of the rope remain stationary.

[0011] According to an embodiment of this disclosure, the follower module of the drive mechanism has a first pulley and a second pulley, which are arranged opposite to each other in the moving direction of the follower module. For the first transmission mechanism, the first rope segment passes around the first pulley to connect the follower module to the first moving module of the first transmission mechanism; for the Nth transmission mechanism, the (N+1)th rope segment passes around the second pulley to connect the Nth moving module of the Nth transmission mechanism to the follower module of the drive mechanism.

[0012] According to an embodiment of this disclosure, the driving mechanism includes a linear motor connected to the follower module to drive the follower module to move, thereby causing each of the moving modules to move along its respective guide rail with the rope.

[0013] According to an embodiment of this disclosure, the driving mechanism includes a lead screw that passes through the follower module to drive the follower module to move, thereby causing each of the moving modules to move along its respective guide rail with the rope.

[0014] According to embodiments of this disclosure, one end of the lead screw is connected to a handle, and the rotation of the handle drives the lead screw to rotate, thereby moving the rope and the moving module; or one end of the lead screw is connected to the shaft of a rotary motor, and the rotation of the rotary motor drives the lead screw to rotate, thereby moving the rope and the moving module.

[0015] According to an embodiment of this disclosure, the follower module includes: a slider connector, a slider, and a slide rail. The slider connector and the slider are fixedly connected. The slider is placed on the slide rail. With one end of the lead screw connected to a handle, the lead screw passes through the slider connector, causing the lead screw to rotate and drive the slider and the slider connector to move back and forth together on the slide rail, thereby moving the rope and the moving module.

[0016] According to embodiments of this disclosure, the mechanical device further includes an external support structure, wherein the external support structure surrounds all or part of both the drive mechanism and the N transmission mechanisms to protect the drive mechanism and the N transmission mechanisms.

[0017] According to an embodiment of the present disclosure, the mechanical device further includes a machine vision component, wherein the machine vision component is located on one side of the driving mechanism and the N transmission mechanisms, and is disposed opposite to the predetermined center to determine the positions of the respective moving modules.

[0018] An embodiment of the present disclosure provides a mechanical control method, including: driving a rope to move through a driving mechanism; driving N transmission mechanisms to move together via the rope, where N≥2; wherein the N transmission mechanisms are symmetrically distributed around a predetermined center, and each transmission mechanism of the N transmission mechanisms includes: a guide rail connected to the predetermined center, a guiding module, a moving module installed on the guide rail, and a rope segment corresponding to this transmission mechanism, and the rope segments corresponding to the N transmission mechanisms are used to form a complete rope, and the guiding module is used to change the direction of the rope; the driving mechanism includes a follow-up module, the follow-up module is connected to the first moving module of the first transmission mechanism among the N transmission mechanisms through a first rope segment, the nth rope segment is used to connect the nth moving module of the nth transmission mechanism and the (n - 1)th moving module of the (n - 1)th transmission mechanism, n is an integer and 1 < n ≤ N, and the (N + 1)th rope segment is used to connect the Nth moving module of the Nth transmission mechanism and the follow-up module of the driving mechanism, so that when the driving mechanism drives the first moving module to move, it can drive the other respective moving modules to move together along their respective guide rails towards the predetermined center or away from the predetermined center.

[0019] An embodiment of the present disclosure provides a mechanical device and a mechanical control method. The mechanical device of the present disclosure includes: a driving mechanism and multiple transmission mechanisms, wherein the multiple transmission mechanisms are symmetrically distributed around a predetermined center, and each transmission mechanism includes: a guide rail connected to the predetermined center, a moving module installed on the guide rail, and a rope segment corresponding to this transmission mechanism, and this rope segment is used to form a complete rope; the driving mechanism includes a follow-up module, and the follow-up module is connected to the moving modules of the multiple transmission mechanisms through ropes, so that when the driving mechanism drives the first moving module to move, it can drive the other respective moving modules to move together along their respective guide rails towards the predetermined center or away from the predetermined center. The mechanical device of the present disclosure has a simple structure, is light, flexible, low in cost, good in maintainability, and can use a single driving mechanism to drive multiple transmission mechanisms to perform self-centralized movement simultaneously. Description of the Drawings

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some exemplary embodiments of the present disclosure, and those of ordinary skill in the art can obtain other drawings based on these drawings without creative efforts.

[0021] Figures 1A-1D This is a schematic diagram illustrating the gripper mechanism according to an embodiment of the present disclosure;

[0022] Figures 2A-2B This is a schematic diagram illustrating a rope-based mechanical drive device according to an embodiment of the present disclosure;

[0023] Figure 3 This is a schematic diagram illustrating a drive mechanism according to an embodiment of the present disclosure;

[0024] Figure 4 This is a schematic diagram illustrating a transmission mechanism according to an embodiment of the present disclosure;

[0025] Figure 5 This is a schematic diagram illustrating an external support structure according to an embodiment of the present disclosure; and

[0026] Figure 6 This is a schematic top view illustrating a rope-based mechanical drive device according to an embodiment of the present disclosure. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this disclosure more apparent, exemplary embodiments according to this disclosure will now be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this disclosure, and not all embodiments of this disclosure. It should be understood that this disclosure is not limited to the exemplary embodiments described herein.

[0028] Furthermore, in this specification and the accompanying drawings, steps and elements that are substantially the same or similar are indicated by the same or similar reference numerals, and repeated descriptions of these steps and elements will be omitted.

[0029] Furthermore, in this specification and accompanying drawings, elements are described in singular or plural forms according to embodiments. However, the singular and plural forms have been suitably chosen for the presented cases merely for ease of explanation and are not intended to limit this disclosure. Thus, a singular form may include a plural form, and a plural form may include a singular form, unless the context clearly indicates otherwise.

[0030] Furthermore, the terms "first" and "second" used in this specification and drawings are merely to distinguish similar objects and do not represent a specific ordering of objects. It is understood that "first" and "second" may be interchanged in a specific order or sequence where permitted, so that the embodiments of the invention described herein can be implemented in an order other than that illustrated or described herein.

[0031] Mechanical automation integrates multidisciplinary technologies, including mechanical structure design, automation technology, and computer technology. Automated equipment in mechanical manufacturing boasts high precision and achieves large-scale, standardized production with strong system integration. Designers can design automated control programs based on actual production needs, enabling the entire production process to operate automatically. This effectively reduces errors caused by manual operation, resulting in a high product qualification rate. In manufacturing enterprises, the use of automated systems for assembly line operations ensures product specifications and quality. Furthermore, the automated system can provide real-time feedback and technical adjustments to product quality. Mechanical manufacturing automation technology replaces a large amount of manual labor with high-tech methods. Only a small number of personnel are needed to complete the entire production process. In some complex production stages, mechanical equipment operation is more precise and efficient than manual operation, and it can produce diverse products with strong market competitiveness, thereby creating greater economic benefits for enterprises. Taking robots as a typical example of automated mechanical equipment, robots possess human-like functions, such as operational, sensory, and walking capabilities. They can complete various delicate, complex, and repetitive tasks for extended periods with high quality and efficiency. The existence of robots significantly reduces labor costs and brings great convenience to human production and life.

[0032] Machine vision technology is a branch of artificial intelligence (AI). AI utilizes digital computers or computers-controlled machines to simulate, extend, and expand human intelligence, enabling it to perceive the environment, acquire knowledge, and use that knowledge to achieve optimal results. For example, machine vision-based methods can identify the posture and position of mechanical structures from cameras in a manner similar to human visual recognition, thereby determining whether the control effect meets expectations. This provides a foundation for the precise measurement and control of mechanical structures.

[0033] In summary, the solutions provided by the embodiments of this disclosure relate to fields such as mechanical automation, robotics, and machine vision. The embodiments of this disclosure will be further described below with reference to the accompanying drawings.

[0034] Taking the control of the gripper as an example, Figures 1A-1D This is a schematic diagram illustrating a gripper mechanism according to an embodiment of the present disclosure.

[0035] Rack and pinion driven grippers are widely used on machine tools for gripping workpieces. They offer advantages such as self-centering and fast clamping speed. For example... Figure 1AAs shown, a three-jaw chuck is a typical example of a rack and pinion driven chuck. A three-jaw chuck is a machine tool accessory that uses the radial movement of three evenly distributed movable jaws on the chuck body to clamp and position the workpiece. A three-jaw chuck consists of a chuck body, movable jaws, and a jaw drive mechanism. Below the guide sections of the three jaws on the three-jaw chuck, there are threads that mesh with the flat threads on the back of a disc bevel gear. When a wrench is used to rotate the small bevel gear through the square hole, the disc gear rotates, and the flat threads on its back simultaneously drive the three jaws to move closer to or retract from the center, thus clamping workpieces of different diameters. The machining accuracy of a workpiece using a three-jaw chuck is affected by the chuck's manufacturing precision and wear after use. However, similar... Figure 1A The gear and rack driven gripper structure shown has a limited range of applications due to its large backlash and high requirements for installation accuracy.

[0036] Pneumatic or hydraulically driven grippers (e.g., ...) Figure 1B As shown, grippers with a high power-to-weight ratio are often used for gripping heavy objects, such as log grapples. Pneumatic and hydraulically driven grippers are end-effectors, typically with two or three fingers. They grip objects by using pneumatic or hydraulic pressure to push springs, resulting in a more stable grip and increased load-bearing capacity. In industrial production, the use of pneumatic and hydraulically driven grippers allows automated machinery to more efficiently assist industrial production. However, pneumatic and hydraulically driven grippers are usually large in size, have high installation costs, and are often used for gripping large, heavy, and bulky objects. They are not well-suited for delicate and precise mechanical equipment.

[0037] Chain or belt driven grippers (e.g., such as...) Figure 1C As shown, due to its simple structure, low cost, and low power loss, it is widely used in applications where high precision is not required. Chain or belt driven grippers open or close by moving the chain or belt. However, due to wear, vibration, slippage after prolonged use, and the need for tensioning during chain and belt drive transmissions, their use is quite limited.

[0038] Typically, grippers employ a linkage structure (e.g., ...). Figure 1D As shown in the diagram, one end of the linkage connects to a telescopic arm or other moving mechanism to position the gripper, while the other end connects to a multi-finger gripping mechanism to grasp the object. In this mode, grippers with a linkage structure typically occupy a large space, the gripper's freedom of movement is limited by the linkage, and the gripper's flexibility in grasping objects is limited.

[0039] In summary, the aforementioned gripper structures do not perform ideally in applications requiring high precision, high flexibility, and limited structural space. To address these issues, improvements are needed. Figure 2AThis is a schematic diagram illustrating a rope-based mechanical drive device according to an embodiment of the present disclosure.

[0040] like Figure 2A As shown, the mechanical drive device mainly comprises three parts: a drive mechanism 010, a transmission mechanism 020, and an external support structure 030. The drive mechanism 010 generates driving torque to move the transmission mechanism 020; the transmission mechanism 020 transmits the torque; and the external support structure 030 provides external structural support for the drive mechanism 010 and the transmission mechanism 020, protecting them from damage. Optionally, the outer surface of the external support structure 030 may have dimensional markings to facilitate user measurement of the position of each transmission mechanism and / or the size of the object to be grasped. The materials of the components of the external support structure 030 may be transparent or opaque.

[0041] For example Figure 2A In this example, the number of transmission mechanisms 020 is at least two, and the multiple transmission mechanisms 020 are symmetrically distributed about a predetermined center. Each transmission mechanism 020 includes: a guide rail connected to the predetermined center, a guide module, a moving module mounted on the guide rail, and a rope segment corresponding to that transmission mechanism 020, the rope segment forming a complete rope, and the guide module changing the direction of the rope. The drive mechanism 010 includes a follower module, which is connected to the moving modules of the multiple transmission mechanisms 020 via ropes, enabling the drive mechanism 010 to drive the other moving modules to move along their respective guide rails towards or away from the predetermined center when driving the first moving module. Therefore, the drive mechanism 010 can drive multiple transmission mechanisms 020 to move together, allowing the multiple transmission mechanisms 020 to release or grip an object in a manner similar to the opening or closing of grippers.

[0042] In order to Figure 2A The structure of each component is now clearer. Figure 2B To illustrate further, let's take the case where the upper surface of the external support structure 030 is made of a transparent material as an example.

[0043] exist Figure 2BThe system includes three transmission mechanisms (i.e., a first transmission mechanism 020a, a second transmission mechanism 020b, and a third transmission mechanism 020c), which are symmetrically distributed around a predetermined center O. Each transmission mechanism is connected to the predetermined center O by a guide rail, a guide module, a moving module mounted on the guide rail, and a corresponding rope segment. Therefore, each moving module can move back and forth on its respective guide rail, and each rope segment can be connected to the moving module of the transmission mechanism or to the follower module of the drive mechanism to drive its movement. The transmission module includes a guide module (e.g., Figure 2B The 020a-2, 020b-2, 020c-2, 020b-3, and 020c-3 in the model are used to change the direction of the ropes so that the ropes are connected to each moving module in sequence according to the required direction or angle.

[0044] It should be noted that for each transmission mechanism, there can be one or more guide modules. These guide modules can be used to change the transmission direction of the rope segment corresponding to each transmission mechanism, allowing the rope segment to connect to the follower module of the drive mechanism or to the moving module of at least some of the transmission mechanisms. Furthermore, the structure of the guide module can be varied, for example, a pulley (such as...). Figure 2B Examples include: guide rails with rounded corners (e.g., replacing the end of the guide rail containing 020b-3 with a guide rail with rounded corners, so that the rope can change direction by directly passing over the end of the guide rail), and rope tracks with guiding functions (e.g., using...). Figure 2B The rope is placed in a pre-set rope track, so that the rope changes its direction as the rope track bends.

[0045] That is, such as Figure 2B As shown, the drive mechanism 010 includes a follower module 010-1, which is connected to the first moving module 020a-1 of the first transmission mechanism 020a via a first rope segment; a second rope segment connects the second moving module 020b-1 of the second transmission mechanism 020b to the first moving module 020a-1 of the first transmission mechanism 020a; a third rope segment connects the third moving module 020c-1 of the third transmission mechanism 020c to the second moving module 020b-1 of the second transmission mechanism 020b; and a fourth rope segment connects the third moving module 020c-1 of the third transmission mechanism 020c to the follower module 010-1 of the drive mechanism 010. Therefore, the rope segments form a complete rope, enabling the drive mechanism 010 to drive the other moving modules to move along their respective guide rails towards or away from the predetermined center O when driving the first moving module 020a-1.

[0046] It should be understood that Figure 2A and Figure 2B This description uses only three transmission mechanisms and is not a limitation; the number of transmission mechanisms can be one or more, or any other variety. Furthermore, Figure 2A and Figure 2B The structure shown can be used not only for driving grippers, but also for various scenarios where multiple transmission mechanisms are controlled simultaneously for self-centered movement based on ropes. Figure 2A and Figure 2B The implementation examples are described below. Depending on the application scenario, the requirements for the rope's strength, toughness, smoothness, and other properties may vary, and the required rope material and internal structure can be selected according to the specific application scenario.

[0047] In addition, although Figure 2A and Figure 2B Taking the scenario of controlling a multi-finger gripper with a single drive mechanism as an example, the mechanical control method disclosed herein is not limited to gripper control. The control of various mechanical structures that use a single drive mechanism to control multiple transmission mechanisms to move together in a self-centering manner can be achieved by referring to the method disclosed herein.

[0048] More specifically, with Figure 2A and Figure 2B Based on the examples in, Figure 3 This is a schematic diagram illustrating a drive mechanism 010 according to an embodiment of the present disclosure.

[0049] like Figure 3As shown, the drive mechanism 010 includes: a handle 011, a left bearing seat 012, a pulley 013, a lead screw 014, a slider 015, a slider connector 016, a right bearing seat 017, and a slide rail 018. The handle 011 is connected to the lead screw 014, so that when the handle 011 is rotated clockwise or counterclockwise, the lead screw 014 is driven to rotate together. The lead screw 014 passes through the slider connector 016, which is fixed together with the slider 015. The slider 015 is placed on the slide rail 018, so that when the lead screw 014 rotates, it can drive the slider 015 and the slider connector 016 (the slider 015 and the slider connector 016 can also be collectively referred to as the follower module in this embodiment) to move back and forth on the slide rail 018. Left bearing housing 012 and right bearing housing 017 are installed at both ends of slide rail 018 to provide structural support for lead screw 014 and handle 011, making lead screw 014 and handle 011 less prone to misalignment, and making the entire drive mechanism 010 more stable and less prone to damage. Pulleys 013 can be installed on left bearing housing 012, right bearing housing 017, and slider connector 016 to help the rope change direction as needed by passing around the pulleys 013. Optionally, left bearing housing 012 and right bearing housing 017 can have mounting holes for fixing the rope ends, allowing both ends of the rope to be fixed to left bearing housing 012 and right bearing housing 017. When the slider 015 and slider connector 016 are moved by handle 011, the positions of the middle parts of the rope relative to the driving slider 015 and slider connector 016 change, but the two ends of the rope remain fixed, and the total length of the rope remains unchanged. The rope can be assembled through each pulley 013 and the mounting hole, so that it can be driven along a preset route.

[0050] According to embodiments of this disclosure, a rotary motor can also be used instead of the handle 011 to drive the lead screw 014 to rotate, thereby moving the slider 015, the slider connector 016, and the rope. In this case, the shaft of the rotary motor is fixedly connected to the lead screw 014, so that the rotary motor drives the slider connector 016 and the slider 015 to move back and forth when rotating forward or backward.

[0051] According to embodiments of this disclosure, the drive mechanism can also be implemented based on a linear motor. Since a linear motor can directly convert electrical energy into linear motion mechanical energy, the linear motor can be directly connected to a motor follower module to drive the motor follower module and the rope to move back and forth following the linear motor, thereby driving the various moving modules of the transmission mechanism to move with the rope.

[0052] by Figure 2A and Figure 2B Based on the examples in, Figure 4 This is a schematic diagram illustrating a transmission mechanism according to an embodiment of the present disclosure.

[0053] like Figure 4As shown, Figure 4 The structure includes three transmission mechanisms (i.e., the first transmission mechanism, the second transmission mechanism, and the third transmission mechanism), which move together via ropes 027. Guide wheel shaft 021, fixed seat 025, pulley seat 026, and guide seat 028 determine the installation height and angle of the pulley, thereby determining the direction and transmission direction of the rope 027. Simultaneously, the pulley seat 026 can rotate based on the fixed seat 025 to adjust the direction and height of the transmission rope 027. The rope 027 is fixed through the rope end hole on the gripper 023, achieving linkage. Each segment of rope 027 is connected to the next gripper 023 via a corresponding transmission and steering device, thus achieving overall synchronous movement of the three grippers 023 in this structure. To ensure the movement of the gripper 023 along a specific trajectory, it is fixedly connected to the slider 024, ensuring that the slider 024 and gripper 023 (which can also be collectively referred to as the moving module in this embodiment) can move together on the guide rail 022.

[0054] Depending on the objects being connected, rope 027 can be divided into four rope segments: a first rope segment for connecting the follower module of the drive mechanism and the first moving module of the first transmission mechanism; a second rope segment for connecting the second moving module of the second transmission mechanism and the first moving module of the first transmission mechanism; a third rope segment for connecting the third moving module of the third transmission mechanism and the second moving module of the second transmission mechanism; and a fourth rope segment for connecting the third moving module of the third transmission mechanism and the follower module of the drive mechanism.

[0055] For the second transmission mechanism, a first guide pulley is arranged on the extension line of the guide rail of the first transmission mechanism toward the predetermined center O, and a second guide pulley is arranged on the guide rail of the second transmission mechanism at the end away from the predetermined center O. The second rope segment passes around the first guide pulley and the second guide pulley in sequence to connect the second moving module of the second transmission mechanism with the first moving module of the first transmission mechanism.

[0056] For the third transmission mechanism, a first guide pulley is arranged on the extension line of the guide rail of the second transmission mechanism toward the predetermined center O, and a second guide pulley is arranged on the guide rail of the third transmission mechanism at the end away from the predetermined center O. The third rope segment passes around the first guide pulley and the second guide pulley in sequence to connect the third moving module of the third transmission mechanism with the second moving module of the second transmission mechanism.

[0057] The ends of the first and fourth rope segments connected to the follower module of the drive mechanism (i.e., the two ends of the entire rope) can be either fixed or movable. For example, the two ends of the rope can be connected together to form a closed rope loop, so that when the drive mechanism moves, it causes changes in the length and relative position of the various parts of the rope in the middle. In this case, the two ends of the rope can be movable, and the total length of the rope remains unchanged. Alternatively, the two ends of the rope can be fixed to the follower module of the drive mechanism, so that when the drive mechanism moves, it causes changes in the length and relative position of the various parts of the rope in the middle. The two ends of the rope move with the follower module, and the total length of the rope remains unchanged. Furthermore, the two ends of the rope can be fixed to the stationary structure of the drive mechanism, so that when the drive mechanism moves, it causes changes in the length and relative position of the various parts of the rope in the middle. However, in this case, the two ends of the rope remain fixed, and the total length of the rope remains unchanged.

[0058] by Figure 2A and Figure 2B Based on the examples in, Figure 5 This is a schematic diagram illustrating an external support structure 030 according to an embodiment of the present disclosure.

[0059] like Figure 5 As shown, the external support structure 030 may include: an upper plate 031, columns 032, and a base plate 033. The upper plate 031 and the base plate 033 are arranged opposite to each other. Multiple columns may be used to connect the upper plate 031 and the base plate 033 to provide structural support. The external support structure may completely enclose both the aforementioned drive mechanism and the multiple transmission mechanisms, or it may only partially enclose a portion of both the drive mechanism and the multiple transmission mechanisms; for example, it may not completely enclose the transmission mechanisms, but rather leave the gripper portion exposed outside the external support structure. The external support structure primarily serves to protect the drive mechanism and the transmission mechanisms.

[0060] Optionally, the upper plate 031 may be parallel to the plane jointly determined by the guide rails and predetermined center of each transmission mechanism. The upper plate 031 may include a coordinate scale or one or more distance scales parallel to the guide rails of one or more of the multiple transmission mechanisms. These coordinate scales or distance scales are used to determine the position of each moving module or to determine the size of the object gripped by the grippers. Since each gripper moves together in a self-centering manner, Figure 2A and Figure 2B The mechanical structure can also be used to automatically center the object being grasped.

[0061] It should be understood that each component of the external support structure 030 can be made of transparent or non-transparent materials. When transparent materials are used, it can help users better observe the working status of the drive mechanism and transmission mechanism, and facilitate maintenance and measurement of internal dimensions.

[0062] Optionally, Figure 2A and Figure 2B The mechanical structure may also include a machine vision component to determine the position of each moving module. For example, the machine vision component can be placed on one side of the drive mechanism and multiple transmission mechanisms and arranged opposite to a predetermined center. Therefore, when the target workpiece is gripped by the gripper, the size of the target workpiece and its pose at that moment can be obtained through the processing of the machine vision component.

[0063] In order to Figure 2B The structural relationships between the various parts of the rope-based mechanical drive device are now clearer. Figure 6 This is a schematic top view illustrating a rope-based mechanical drive device according to an embodiment of the present disclosure.

[0064] from Figure 6 It can be seen that the follower module of the drive mechanism has a first pulley and a second pulley, which are arranged opposite to each other in the direction of movement of the follower module. For the first transmission mechanism, a first rope segment passes around the first pulley on the follower module to connect the follower module to the first moving module of the first transmission mechanism; for the third transmission mechanism, a fourth rope segment passes around the second pulley on the follower module to connect the third moving module of the third transmission mechanism to the follower module of the drive mechanism.

[0065] Optionally, both ends of the rope can be fixed to the stationary structure of the drive mechanism (e.g., on a bearing housing, base, etc.), or both ends of the rope can be fixed to the follower module (e.g., on a slider connector). This allows the length and relative position of the various parts of the rope to change as the rope drives the moving modules, while the two ends of the rope remain fixed and the total length of the rope remains constant. This rope-driven and rope-end-fixed mechanical method significantly reduces the difficulty of later maintenance and replacement.

[0066] Therefore, the embodiments of this disclosure apply line drive to gripper-type mechanical structures, which not only enables long-distance transmission of kinetic energy of the drive mechanism, but also significantly increases the space utilization of the mechanical structure through reasonable line layout, effectively reduces the inertia of the transmission mechanism, and improves the dynamic performance of the entire mechanical structure.

[0067] Meanwhile, the flexible arrangement of wire drives, with their small geometric space occupation, makes them ideal for transmission applications with limited space and a large number of required degrees of freedom. In the above mechanical design, a single rope is used to achieve collective self-centering motion in three directions, making the overall structure extremely flexible and ingenious. Wire drive transmission also significantly reduces the use of traditional mechanical components, making the entire structure lighter, greatly reducing its weight, and optimizing its internal structure.

[0068] The unique transmission method of wire drive is consistent with the transmission principle of human tendons, which well meets the background and requirements of bionic design. The industrial application of this transmission method will also have unique significance. This new transmission method can also be used in the design of robots (for example, robot joints, robot arms, mechanical dog tails, etc.). The wire drive method reduces the weight of the robot, enabling it to achieve high-speed movement with low inertia.

[0069] In summary, the embodiments of the present disclosure provide a mechanical device and a mechanical control method. According to the embodiments of the present disclosure, the mechanical device of the present disclosure includes: a driving mechanism and N transmission mechanisms, where N≥2. Among them, the N transmission mechanisms are symmetrically distributed around a predetermined center. Each of the N transmission mechanisms includes: a guide rail connected to the predetermined center, a guiding module, a moving module installed on the guide rail, and a rope segment corresponding to this transmission mechanism. And the rope segments corresponding to the N transmission mechanisms are used to form a complete rope. The guiding module is used to change the direction of the rope; the driving mechanism includes a follow-up module. The follow-up module is connected to the first moving module of the first transmission mechanism among the N transmission mechanisms through a first rope segment. The nth rope segment is used to connect the nth moving module of the nth transmission mechanism to the (n - 1)th moving module of the (n - 1)th transmission mechanism, where n is an integer and 1 < n ≤ N. The (N + 1)th rope segment is used to connect the Nth moving module of the Nth transmission mechanism to the follow-up module of the driving mechanism, so that when the driving mechanism drives the first moving module to move, it can带动 other each of the moving modules to move along their respective guide rails towards the predetermined center together, or move away from the predetermined center.

[0070] [[ID=,6]]By using a mechanical device, it can be realized that a single driving mechanism can simultaneously control the moving modules corresponding to multiple transmission mechanisms to move along their respective guide rails towards a predetermined center together, or move away from the predetermined center through ropes. This mechanical device has high control precision and does not need to repeatedly adjust control parameters during use, and can achieve synchronous and self-centralized movement control of multiple transmission mechanisms, which is convenient to apply. At the same time, this driving method based on ropes can adaptively adjust its material according to the attributes of the driven transmission mechanisms. Since the rope structure is simple, light, flexible, low-cost, and easy to maintain, it can be applied to a variety of mechanical control scenarios.

[0071] This disclosure uses specific terms to describe embodiments of the present disclosure. Terms such as "first / second embodiment," "an embodiment," and / or "some embodiments" refer to a particular feature, structure, or characteristic associated with at least one embodiment of the present disclosure. Therefore, it should be emphasized and noted that references to "an embodiment," "one embodiment," or "an alternative embodiment" in different locations throughout this specification do not necessarily refer to the same embodiment. Furthermore, certain features, structures, or characteristics in one or more embodiments of the present disclosure can be appropriately combined.

[0072] Unless otherwise defined, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. It should also be understood that terms such as those defined in a common dictionary shall be interpreted as having a meaning consistent with their meaning in the context of the relevant art, and not as having an idealized or highly formalized meaning, unless expressly defined herein.

[0073] The foregoing description is illustrative of the invention and should not be construed as limiting it. Although several exemplary embodiments of the invention have been described, those skilled in the art will readily understand that many modifications can be made to the exemplary embodiments without departing from the novel teachings and advantages of the invention. Therefore, all such modifications are intended to be included within the scope of the invention as defined in the claims. It should be understood that the foregoing description is illustrative of the invention and should not be construed as limiting it to the specific embodiments disclosed, and modifications to the disclosed embodiments and other embodiments are intended to be included within the scope of the appended claims. The invention is defined by the claims and their equivalents.

Claims

1. A mechanical device, comprising: Drive mechanism and N transmission mechanisms, N , The N transmission mechanisms are symmetrically distributed around a predetermined center. Each of the N transmission mechanisms includes: a guide rail connected to the predetermined center, a guide module, a moving module mounted on the guide rail, and a rope segment corresponding to the transmission mechanism. The rope segments corresponding to the N transmission mechanisms are used to form a complete rope, and the guide module is used to change the direction of the rope. The drive mechanism includes a follower module, which is connected to the first moving module of the first transmission mechanism among the N transmission mechanisms via a first rope segment. The nth rope segment is used to connect the nth moving module of the nth transmission mechanism to the (n-1)th moving module of the (n-1)th transmission mechanism, where n is an integer and 1 / 2. n N, the N+1th rope segment is used to connect the Nth moving module of the Nth transmission mechanism to the follower module of the drive mechanism, so that when the drive mechanism drives the first moving module to move, it can drive the other moving modules to move together along their respective guide rails toward the predetermined center, or move away from the predetermined center.

2. The mechanical device as claimed in claim 1, wherein, The guide module includes one or more pulleys and supports corresponding to the pulleys. Wherein, the one or more pulleys are used to change the transmission direction of the rope segment corresponding to the transmission mechanism, so that the rope segment bypasses the one or more pulleys and connects to the follower module of the drive mechanism, or connects to the moving module of at least a portion of the N transmission mechanisms; The pulley is installed and fixed by the support, and the support determines the installation height and installation angle of the pulley.

3. The mechanical device as described in claim 2, wherein, For the nth transmission mechanism, a first guide pulley is arranged on the extension line of the guide rail of the (n-1)th transmission mechanism toward the predetermined center, and a second guide pulley is arranged on the guide rail of the nth transmission mechanism at the end away from the predetermined center. The nth rope segment sequentially passes around the first guide pulley and the second guide pulley to connect the nth moving module of the nth transmission mechanism with the (n-1)th moving module of the (n-1)th transmission mechanism.

4. The mechanical device as claimed in claim 1, wherein, The two ends of the rope are respectively fixed to the stationary structure of the drive mechanism, or the two ends of the rope are respectively fixed to the follower module, so that the two ends of the rope remain stationary when the rope drives each of the moving modules to move.

5. The mechanical device as described in claim 4, wherein, The follower module of the drive mechanism has a first pulley and a second pulley, which are arranged opposite to each other in the direction of movement of the follower module. For the first transmission mechanism, the first rope segment passes around the first pulley and connects the follower module to the first moving module of the first transmission mechanism; For the Nth transmission mechanism, the (N+1)th rope segment passes around the second pulley and connects the Nth moving module of the Nth transmission mechanism to the follower module of the drive mechanism.

6. The mechanical device as claimed in claim 1, wherein, The drive mechanism includes a linear motor connected to the follower module to drive the follower module to move, thereby causing each of the moving modules to move along its respective guide rail along the rope; or... The drive mechanism includes a lead screw that passes through the follower module to drive the follower module to move, thereby causing each of the moving modules to move along its respective guide rail with the rope.

7. The mechanical device as claimed in claim 6, wherein, In the case where the drive mechanism includes a lead screw, One end of the lead screw is connected to a handle. Rotation of the handle drives the lead screw to rotate, thereby moving the rope and the moving module; or One end of the lead screw is connected to the shaft of a rotary motor. The rotation of the rotary motor drives the lead screw to rotate, thereby moving the rope and the moving module.

8. The mechanical device as claimed in claim 7, wherein, The follow-up module includes: a slider connector, a slider, and a slide rail, wherein the slider connector and the slider are fixedly connected, and the slider is placed on the slide rail. With one end of the lead screw connected to the handle, the lead screw passes through the slider connector, so that when the lead screw rotates, it drives the slider and the slider connector to move back and forth on the slide rail together, thereby driving the rope and the moving module to move.

9. The mechanical device as claimed in claim 1, wherein, The mechanical device also includes an external support structure. The external support structure surrounds all or part of both the drive mechanism and the N transmission mechanisms to protect them.

10. The mechanical device as claimed in claim 9, wherein, The external support structure includes a first outer panel, which is parallel to a first plane. The first plane is the plane jointly determined by the guide rails of each transmission mechanism and the predetermined center. The first outer panel includes a coordinate ruler or a distance ruler parallel to the guide rail of one or all of the N transmission mechanisms. The coordinate ruler or the distance ruler is used to determine the position of each of the moving modules.

11. The mechanical device as claimed in claim 1, wherein, The mechanical device also includes a machine vision component. The machine vision component is located on one side of the drive mechanism and the N transmission mechanisms, and is arranged opposite to the predetermined center to determine the position of each of the moving modules.

12. A mechanical control method, comprising: The rope is moved by a drive mechanism; N transmission mechanisms move together via ropes. ; The N transmission mechanisms are symmetrically distributed around a predetermined center. Each of the N transmission mechanisms includes: a guide rail connected to the predetermined center, a guide module, a moving module mounted on the guide rail, and a rope segment corresponding to the transmission mechanism. The rope segments corresponding to the N transmission mechanisms are used to form a complete rope, and the guide module is used to change the direction of the rope. The drive mechanism includes a follower module, which is connected to the first moving module of the first transmission mechanism among the N transmission mechanisms via a first rope segment. The nth rope segment is used to connect the nth moving module of the nth transmission mechanism to the (n-1)th moving module of the (n-1)th transmission mechanism, where n is an integer and 1 / 2. n N, the N+1th rope segment is used to connect the Nth moving module of the Nth transmission mechanism to the follower module of the drive mechanism, so that when the drive mechanism drives the first moving module to move, it can drive the other moving modules to move together along their respective guide rails toward the predetermined center, or move away from the predetermined center.

13. The mechanical control method as described in claim 12, wherein, The guide module includes one or more pulleys and supports corresponding to the pulleys. Wherein, the one or more pulleys are used to change the transmission direction of the rope segment corresponding to the transmission mechanism, so that the rope segment bypasses the one or more pulleys and connects to the follower module of the drive mechanism, or connects to the moving module of at least a portion of the N transmission mechanisms; The pulley is installed and fixed by the support, and the support determines the installation height and installation angle of the pulley.

14. The mechanical control method as described in claim 13, wherein, For the nth transmission mechanism, a first guide pulley is arranged on the extension line of the guide rail of the (n-1)th transmission mechanism toward the predetermined center, and a second guide pulley is arranged on the guide rail of the nth transmission mechanism at the end away from the predetermined center. The nth rope segment sequentially passes around the first guide pulley and the second guide pulley to connect the nth moving module of the nth transmission mechanism with the (n-1)th moving module of the (n-1)th transmission mechanism.

15. The mechanical control method as described in claim 12, wherein, The two ends of the rope are respectively fixed to the stationary structure of the drive mechanism, or the two ends of the rope are respectively fixed to the follower module, so that the two ends of the rope remain stationary when the rope drives each of the moving modules to move.

16. The mechanical control method as described in claim 15, wherein, The follower module of the drive mechanism has a first pulley and a second pulley, which are arranged opposite to each other in the direction of movement of the follower module. For the first transmission mechanism, the first rope segment passes around the first pulley and connects the follower module to the first moving module of the first transmission mechanism; For the Nth transmission mechanism, the (N+1)th rope segment passes around the second pulley and connects the Nth moving module of the Nth transmission mechanism to the follower module of the drive mechanism.

17. The mechanical control method as described in claim 12, wherein, The drive mechanism uses a linear motor to control N transmission mechanisms to move together. The linear motor is connected to the follower module to drive the follower module to move, which in turn drives each of the moving modules to move along its respective guide rail along the rope; or... The drive mechanism uses a lead screw to control N transmission mechanisms to move together. The lead screw passes through the follower module to drive the follower module to move, thereby causing each of the moving modules to move along its respective guide rail with the rope.

18. The mechanical control method as described in claim 17, wherein, When the drive mechanism uses a lead screw to control the simultaneous movement of N transmission mechanisms... One end of the lead screw is connected to a handle. Rotation of the handle drives the lead screw to rotate, thereby moving the rope and the moving module; or One end of the lead screw is connected to the shaft of a rotary motor. The rotation of the rotary motor drives the lead screw to rotate, thereby moving the rope and the moving module.

19. The mechanical control method as described in claim 18, wherein, The follow-up module includes: a slider connector, a slider, and a slide rail, wherein the slider connector and the slider are fixedly connected, and the slider is placed on the slide rail. With one end of the lead screw connected to the handle, the lead screw passes through the slider connector, so that when the lead screw rotates, it drives the slider and the slider connector to move back and forth on the slide rail together, thereby driving the rope and the moving module to move.

20. The mechanical control method as described in claim 12, further comprising: The positions of each of the moving modules are determined using a coordinate ruler or a distance ruler, wherein the coordinate ruler or the distance ruler is located on an external support structure surrounding all or part of both the drive mechanism and the N transmission mechanisms; or The position of each of the moving modules is determined using a machine vision component, wherein the machine vision component is located on one side of the drive mechanism and the N transmission mechanisms and is arranged opposite to the predetermined center.

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