Truss type series-parallel deployable envelope grabbing manipulator

Abstract

The invention discloses a truss type series-parallel deployable enveloping grabbing manipulator which comprises a shear fork mechanism and a driving mechanism for driving the shear fork mechanism to unfold or fold, the shear fork mechanism comprises a plurality of catching arms, and each catching arm comprises a plurality of shear fork assemblies which are sequentially connected in a hinged mode. The scissor fork assembly at the starting end of the catching arm is connected with the driving mechanism, the scissor fork assembly comprises a first scissor fork rod and a second scissor fork rod, and the middle of the first scissor fork rod is hinged to the middle of the second scissor fork rod. The start and tail ends of the first scissor rod and the second scissor rod are connected with the start ends or the tail ends of the first scissor rod and the second scissor rod of the adjacent scissor assembly through rotating plates correspondingly, and the rotating plates limit the rotating angle of the first scissor rod or the second scissor rod. The large-scale target grabbing device has the advantages of being high in rigidity, large in folding-unfolding ratio, high in shape adaptability and the like, and can be widely applied to grabbing of large-scale unknown targets.

Description

Technical Field

[0001] The invention relates to a manipulator, in particular to a truss-type hybrid expandable enveloping grasping manipulator. Background Art

[0002] At present, most of the grasping manipulators still have certain problems. First, a single-finger manipulator refers to a manipulator that can only perform linear motion and rotation in one direction. Compared with a multi-finger manipulator, although it has a simple structure and a larger working space and envelope range, the area that a single-finger grasping manipulator can contact with the grasped target is smaller when grasping the target, and the local pressure generated increases, which may cause damage to the surface of the grasped target. Second, a multi-finger grasping manipulator has multiple fingers. Compared with a single-finger grasping manipulator, although it has stronger shape adaptability and is better at grasping unknown targets, it has a smaller envelope range, that is, the spatial area in which a multi-finger grasping manipulator can grasp the target is limited. Third, in the design of the manipulator, when the manipulator grasps an unknown target, if the rigidity of the manipulator is insufficient, it will not only cause the grasped target to loosen or even fall off, causing harm, but also damage the manipulator. Therefore, the manipulator needs to have good rigidity and be able to grasp the target firmly.

[0003] The Chinese invention patent with publication number CN115817863A discloses a folding unit, folding mechanism and folding method of a space grasping manipulator with decoupled extension and bending motions, including a connecting disc, a driving unit, a folding rod group, a scissor unit and a truss rod. It is formed by connecting multiple folding units of a space grasping manipulator with decoupled extension and bending motions, has a large folding ratio, can be completely folded, and greatly reduces the carrying space. The current grasping manipulator has poor adaptability to large-scale unknown targets, poor folding and unfolding, and complex driving. Therefore, in order to avoid the shortcomings existing in the prior art, it is necessary to improve the prior art. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcomings and deficiencies in the prior art and to provide a truss-type hybrid deployable enveloping grasping manipulator with good rigidity performance and strong adaptability.

[0005] The present invention is achieved through the following technical solutions:

[0006] A truss-type hybrid deployable enveloping grasping manipulator comprises a scissor mechanism and a driving mechanism for driving the scissor mechanism to expand or collapse, the scissor mechanism comprises a plurality of grab arms, the grab arms comprise a plurality of scissor assemblies hingedly connected in sequence, the scissor assembly at the beginning of the grab arm is connected to the driving mechanism, the scissor assembly comprises a first scissor rod and a second scissor rod, the first scissor rod is hinged to the middle part of the second scissor rod, the first scissor rod and the second scissor rod are respectively connected at their beginning and end to the beginning or end of the first scissor rod and the second scissor rod of the adjacent scissor assembly through a rotating plate, the rotating plate limits the rotation angle of the first scissor rod or the second scissor rod.

[0007] Further, the starting ends of the first scissors rod and the second scissors rod are connected with a first rotating plate, the first rotating plate is slidably connected to the starting ends of the first scissors rod and the second scissors rod along the retraction and extension direction of the scissors assembly through a first connecting component, the first connecting component is rotatably connected to the first scissors rod and the second scissors rod, the ends of the first scissors rod and the second scissors rod are connected with a second rotating plate, the second rotating plate is slidably connected to the ends of the first scissors rod and the second scissors rod along the retraction and extension direction of the scissors assembly through a second connecting component, and the second connecting component is rotatably connected to the first scissors rod and the second scissors rod.

[0008] Further, the first connecting component includes a first connecting member and a second connecting member, the first connecting member is rotatably connected to the second connecting member, the end of the first connecting member is rotatably connected to the first scissors rod or the second scissors rod, the middle part of the first connecting member is slidably connected to the first rotating plate, the starting end of the first connecting member is rotatably connected to the second connecting member, and the starting end of the first connecting member is slidably connected to the second connecting member and the first rotating plate; the second connecting component includes a third connecting member and a fourth connecting member, the starting end of the third connecting member is rotatably connected to the first scissors rod or the second scissors rod, the end of the fourth connecting member is fixedly and slidably connected to the second rotating plate, the end of the third connecting member is rotatably connected to the starting end of the fourth connecting member, and the end of the third connecting member is rotatably and slidably connected to the starting end of the fourth connecting member and the second rotating plate.

[0009] Furthermore, the capture arm also includes a support mechanism for limiting the bending angle and bending direction, the support mechanism includes a first support rod, a second support rod and a telescopic rod, the starting end of the first support rod is hinged to the first rotating plate, the end of the second support rod is hinged to the second rotating plate, the end of the first support rod, the starting end of the second support rod and the starting end of the telescopic rod are hinged, and the end of the telescopic rod is hinged to the middle part of the adjacent first support rod.

[0010] Furthermore, positioning grooves for limiting the opening angle are provided on the first scissor rod and the second scissor rod.

[0011] Furthermore, the driving mechanism includes a fixed rod, a fixed seat installed on the fixed rod, a sliding seat sliding on the fixed rod, and a retracting and extending component respectively hinged on the fixed seat and the sliding seat.

[0012] Furthermore, the retractable and deployable assembly includes a retractable and deployable plate and a connecting rod assembly driving the retractable and deployable plate, and the catching arm is installed on the retractable and deployable plate and is linked with the retractable and deployable plate.

[0013] Further, the connecting rod assembly includes a first upper connecting rod, a second upper connecting rod, a third upper connecting rod, a fourth upper connecting rod, a first lower connecting rod, a second lower connecting rod, a third lower connecting rod, a fourth lower connecting rod and a pushing rod, the starting ends of the first upper connecting rod and the second upper connecting rod are respectively hinged to the upper part of the fixing seat, the starting ends of the first lower connecting rod and the second lower connecting rod are respectively hinged to the lower part of the fixing seat, the ends of the third upper connecting rod and the fourth upper connecting rod are respectively hinged to the rear part of the stowage and expansion plate, the ends of the third lower connecting rod and the fourth lower connecting rod are respectively hinged to the rear part of the stowage and expansion plate, and the ends of the third lower connecting rod and the fourth lower connecting rod are respectively hinged to the rear part of the stowage and expansion plate. The ends are respectively hinged to the front of the retractable and unfoldable plates, the end of the first upper connecting rod is hinged to the front end of the third upper connecting rod, the end of the second upper connecting rod is hinged to the front end of the fourth upper connecting rod, the starting end of the pushing rod is hinged to the sliding seat, the end of the pushing rod has a first hinged end and a second hinged end, the first hinged end is respectively hinged to the end of the first lower connecting rod and the starting end of the third lower connecting rod, the second hinged end is respectively hinged to the end of the second lower connecting rod and the starting end of the fourth lower connecting rod.

[0014] Furthermore, the connecting rod assembly also includes a driving rod, the starting end of which passes through the retractable plate and is movably connected to the retractable plate, and the ends of the driving rod are respectively hinged to the middle parts of the first scissor rod and the second scissor rod.

[0015] Furthermore, the scissor mechanism includes four grab arms.

[0016] The present invention has many advantages such as high rigidity, large fold-to-expansion ratio, strong shape adaptability, etc., and can be widely used in grasping large-scale unknown targets.

[0017] By using the scissor-type assembly as the basic unit, the robot arm can have a good folding and unfolding ratio. This is because the scissor-type mechanism has a good folding and unfolding ratio and single degree of freedom characteristics, and also has better stability.

[0018] By adopting a modular design, this design method makes it expandable and adaptable to different working conditions. The number of scissor mechanisms can be increased or reduced according to working conditions.

[0019] By designing a support mechanism on the capture arm, the capture arm has better rigidity. Taking a tetrahedron as a reference, the tetrahedron has better stability, so the support mechanism can effectively improve the rigidity of the module.

[0020] By setting up multiple grab arms, better shape adaptability can be achieved, further improving the stability of the grabbing manipulator in grabbing the target. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0022] Figure 1 It is a schematic diagram of the first angle structure of the scissor assembly of the truss-type hybrid expandable enveloping grasping manipulator of the present invention;

[0023] Figure 2 It is a schematic diagram of the second angle structure of the scissor assembly of the truss-type hybrid expandable enveloping grasping manipulator of the present invention;

[0024] Figure 3 It is a schematic structural diagram of the scissor assembly of the truss-type hybrid expandable enveloping grasping manipulator of the present invention in a folded state;

[0025] Figure 4 It is a schematic structural diagram of the scissor assembly of the truss-type hybrid expandable enveloping grasping manipulator of the present invention in an expanded state;

[0026] Figure 5 It is a schematic diagram of the structure of the scissor assembly of the truss-type hybrid expandable enveloping grasping manipulator of the present invention in the grasping state;

[0027] Figure 6 It is a schematic structural diagram of a folded state of a grabbing arm composed of two scissor-fork assemblies of a truss-type hybrid expandable enveloping grabbing manipulator of the present invention;

[0028] Figure 7 It is a schematic structural diagram of the expanded state of the capture arm composed of two scissor-fork assemblies of the truss-type hybrid expandable enveloping grasping manipulator of the present invention;

[0029] Figure 8 It is a schematic diagram of the structure of the grabbing arm of the truss-type hybrid expandable enveloping grabbing manipulator of the present invention, which is composed of two scissor-fork assemblies;

[0030] Fig. 9 It is a schematic structural diagram of a truss-type hybrid expandable enveloping grasping manipulator of the present invention, which is composed of three scissor-fork assemblies and is in a folded state;

[0031] Fig.10 It is a schematic structural diagram of the unfolded state of the grabbing arm composed of three scissor-fork assemblies of the truss-type hybrid expandable enveloping grabbing manipulator of the present invention;

[0032] Fig.11 It is a schematic diagram of the structure of the grabbing arm of the truss-type hybrid expandable enveloping grabbing manipulator of the present invention, which is composed of three scissor-fork assemblies;

[0033] Fig.12 It is a schematic diagram of the structure of the driving mechanism of the truss-type hybrid expandable enveloping grasping manipulator in the grasping state of the present invention;

[0034] Fig.13 It is a schematic structural diagram of the folded state of the driving mechanism of the truss-type hybrid expandable enveloping grasping manipulator of the present invention;

[0035] Fig.14 It is a schematic diagram of the structure of the driving mechanism of the truss-type hybrid deployable enveloping grasping manipulator of the present invention in the deployed state;

[0036] Fig.15 It is a schematic structural diagram of the unfolded state of the truss-type hybrid unfoldable enveloping grasping manipulator of the present invention;

[0037] Fig.16 It is a schematic structural diagram of the folded state of the truss-type hybrid expandable enveloping grasping manipulator of the present invention;

[0038] Fig.17 It is a schematic diagram of the structure of the grasping state of the truss-type hybrid expandable enveloping grasping manipulator of the present invention;

[0039] Fig.18 This is a schematic structural diagram of the first specific implementation mode of the truss-type hybrid deployable envelope grasping manipulator of the present invention, which is a spherical target grasping state;

[0040] Fig.19 This is a schematic structural diagram of the expanded state of the second specific implementation mode of the truss-type hybrid deployable enveloping grasping manipulator of the present invention for grasping a cylindrical target;

[0041] Fig. 20 This is a schematic structural diagram of the expanded state of the third specific implementation mode of the truss-type hybrid deployable envelope grasping manipulator of the present invention for capturing irregular targets;

[0042] Fig.21 This is a schematic structural diagram of the expanded state of the fourth specific implementation mode of the truss-type hybrid deployable envelope grasping manipulator of the present invention for capturing irregular targets.

[0043] In the figure: 1-scissors mechanism; 2-driving mechanism; 3-grabbing arm; 4-scissors assembly; 5-first scissors rod; 6-second scissors rod; 7-first rotating plate; 8-second rotating plate; 9-first connecting member; 10-second connecting member; 11-third connecting member; 12-fourth connecting member; 13-support mechanism; 14-first supporting rod; 15-second supporting rod; 16-telescopic rod; 17-fixing rod; 18-fixing seat; 19-sliding seat; 20-folding and unfolding plate; 21-connecting rod assembly; 22-first upper connecting rod; 23-second upper connecting rod; 24-third upper connecting rod; 25-fourth upper connecting rod; 26-first lower connecting rod; 27-second lower connecting rod; 28-third lower connecting rod; 29-fourth lower connecting rod; 30-pushing rod; 31-driving rod; 32-target. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0045] Grasping manipulators are a research hotspot in the field of robot mechanism. In the history of the development of manipulators, serial manipulators play the role of pioneers. Typical serial manipulators are usually composed of arm mechanisms, wrist mechanisms and grippers. The essence is to imitate human hands. Therefore, the designed mechanism is an open-chain mechanism composed of a series of connecting rods and kinematic pairs connected in sequence. It will have two or more degrees of freedom, so the workspace that can be formed is larger, but the rigidity of the serial mechanism is smaller, so it is only suitable for grasping lightweight targets. When the basic composition of parallel manipulators and serial manipulators is the same, the most essential difference is that the kinematic chain of parallel manipulators is a closed chain. Although the design of this kinematic chain overcomes the problem of insufficient rigidity of serial manipulators, it has a small workspace and poor dexterity. The characteristics of serial and parallel are neutralized, and a hybrid manipulator is proposed. This manipulator has a larger workspace and overcomes the problem of insufficient rigidity. However, these three types of grasping manipulators have common problems when grasping large-scale unknown targets, that is, they have no foldability, large folding volume, complex drive, and are difficult to transport and store conveniently.

[0046] Therefore, in view of the above problems, the present invention aims to solve the problem of grasping large-scale unknown targets, and proposes a truss-type hybrid expandable enveloping grasping manipulator, which is composed of a finger mechanism and a palm mechanism. Each finger mechanism is composed of a module unit, and the length of the finger can be controlled by controlling the number of modules. The scissor-fork assembly is used as the basic unit. The scissor-fork assembly has good folding and unfolding properties, and can reduce the scale during transportation, thereby increasing the space utilization rate of the truss-type expandable enveloping grasping manipulator during transportation and reducing transportation costs; and the scissor-fork assembly has the characteristics of a single degree of freedom, so it is simple to drive; in addition, in order to enhance the rigidity of the module, the mechanism is designed with a support mechanism, taking the tetrahedron as a reference, the tetrahedron has good stability, so the support mechanism can effectively improve the rigidity of the module. At the same time, the palm mechanism of the truss-type hybrid expandable envelope grasping manipulator contains four identical branches, each of which contains two quadrilateral mechanisms, which are coupled through the revolving pair connected by the quadrilateral mechanisms, so that the two quadrilateral mechanisms only need one driver; in order to further make the palm mechanism only need one driver, the coupled quadrilateral mechanisms are further coupled through the moving pair. When the finger mechanism of the grasping manipulator is connected to the palm mechanism, a four-finger grasping manipulator can be formed. Among them, the four-finger grasping manipulator can quickly adapt to large-scale unknown targets.

[0047] like Figures 1 to 17 The present invention is shown as a truss-type hybrid expandable enveloping grasping manipulator, including a scissor mechanism 1 and a driving mechanism 2 for driving the scissor mechanism 1 to expand or fold, the scissor mechanism 1 includes a plurality of grab arms 3, the grab arms 3 include a plurality of scissor assemblies 4 hingedly connected in sequence, the scissor assembly 4 at the starting end of the grab arm 3 is connected to the driving mechanism 2, the scissor assembly 4 includes a first scissor rod 5 and a second scissor rod 6, the first scissor rod 5 is hinged to the middle part of the second scissor rod 6, the first scissor rod 5 and the second scissor rod 6 are connected at both ends to the starting end or the end of the first scissor rod 5 and the second scissor rod 6 of the adjacent scissor assembly 4 through a rotating plate, and the rotating plate limits the rotation angle of the first scissor rod 5 or the second scissor rod 6.

[0048] The first rotating plate 7 is connected to the beginning of the first scissor rod 5 and the second scissor rod 6. The first rotating plate 7 is connected to the beginning of the first scissor rod 5 and the second scissor rod 6 through the first connecting assembly, and is slidably connected along the direction of the scissor assembly 4. The first connecting assembly is rotatably connected to the first scissor rod 5 and the second scissor rod 6. The ends of the first scissor rod 5 and the second scissor rod 6 are connected to the second rotating plate 8. The second rotating plate 8 is connected to the ends of the first scissor rod 5 and the second scissor rod 6 through the second connecting assembly, and is slidably connected along the direction of the scissor assembly 4. The second connecting assembly is rotatably connected to the first scissor rod 5 and the second scissor rod 5. The first connecting assembly and the second connecting assembly allow the joints between the two adjacent scissor assemblies 4 to bend, relatively rotate, and fold and unfold synchronously, so as to achieve the grasping target 32.

[0049] The first connecting component includes a first connecting member 9 and a second connecting member 10, the first connecting member 9 is rotatably connected to the second connecting member 10, the end of the first connecting member 9 is rotatably connected to the first scissors rod 5 or the second scissors rod 6, the middle part of the first connecting member 9 is slidably connected to the first rotating plate 7, the starting end of the first connecting member 9 is rotatably connected to the second connecting member 10, and the starting end of the first connecting member 9 is slidably connected to the second connecting member 10 and the first rotating plate 7; the second connecting component includes a third connecting member 11 and a fourth connecting member 12, the starting end of the third connecting member 11 is rotatably connected to the first scissors rod 5 or the second scissors rod 6, the end of the fourth connecting member 12 is fixedly slidably connected to the second rotating plate 8, the end of the third connecting member 11 is rotatably connected to the starting end of the fourth connecting member 12, and the end of the third connecting member 11 is rotatably and slidably connected to the starting end of the fourth connecting member 12 and the second rotating plate 8.

[0050] The capture arm 3 also includes a support mechanism 13 for limiting the bending angle and bending direction. The support mechanism 13 includes a first support rod 14, a second support rod 15 and a telescopic rod 16. The starting end of the first support rod 14 is hinged to the first rotating plate 7, the end of the second support rod 15 is hinged to the second rotating plate 8, the end of the first support rod 14, the starting end of the second support rod 15 and the starting end of the telescopic rod 16 are hinged, and the end of the telescopic rod 16 is hinged to the middle part of the adjacent first support rod 14.

[0051] Positioning grooves for limiting the opening angle are provided on the first scissor rod 5 and the second scissor rod 6 .

[0052] The driving mechanism comprises a fixed rod 17, a fixed seat 18 mounted on the fixed rod 17, a sliding seat 19 sliding on the fixed rod 17, and a retracting and extending assembly respectively hinged on the fixed seat 18 and the sliding seat 19.

[0053] The retractable and deployable assembly includes a retractable and deployable plate 20 and a connecting rod assembly 21 for driving the retractable and deployable plate 20 to retract and deploy. The catching arm 3 is installed on the retractable and deployable plate 20 and is linked with the retractable and deployable plate 20 .

[0054] The connecting rod assembly 21 includes a first upper connecting rod 22, a second upper connecting rod 23, a third upper connecting rod 24, a fourth upper connecting rod 25, a first lower connecting rod 26, a second lower connecting rod 27, a third lower connecting rod 28, a fourth lower connecting rod 29 and a pushing rod 30. The starting ends of the first upper connecting rod 22 and the second upper connecting rod 23 are respectively hinged to the upper part of the fixing seat 18, the starting ends of the first lower connecting rod 26 and the second lower connecting rod 27 are respectively hinged to the lower part of the fixing seat 18, the ends of the third upper connecting rod 24 and the fourth upper connecting rod 25 are respectively hinged to the rear of the stowage and expansion plate 20, and the third lower connecting rod 28 and The ends of the fourth lower connecting rod 29 are hinged to the front of the retractable and unfolding plate 20, the ends of the first upper connecting rod 22 are hinged to the front end of the third upper connecting rod 24, the ends of the second upper connecting rod 23 are hinged to the front end of the fourth upper connecting rod 25, the starting end of the pushing rod 30 is hinged to the sliding seat 19, and the end of the pushing rod 30 has a first hinged end and a second hinged end, the first hinged end is hinged to the end of the first lower connecting rod 26 and the starting end of the third lower connecting rod 28, and the second hinged end is hinged to the end of the second lower connecting rod 15 and the starting end of the fourth lower connecting rod 29.

[0055] The connecting rod assembly 21 also includes a driving rod 31, the beginning of which passes through the retractable plate 20 and is movably connected to the retractable plate 20, and the ends of the driving rod 31 are respectively hinged to the middle of the first scissor rod 5 and the second scissor rod 6. Through the force of the driver, the scissor mechanism 1 is unfolded as the driving rod 31 is pushed out, realizing the folding and unfolding of the truss-type hybrid expandable enveloping grasping manipulator; and as the telescopic rod 16 of the support mechanism 13 slides, the angle between the scissor assemblies 4 is changed, realizing the enveloping grasping of the truss-type hybrid expandable enveloping grasping manipulator.

[0056] The scissor mechanism 1 comprises four grab arms 3, forming a four-finger grabbing manipulator.

[0057] like Fig.18 As shown, as a first specific embodiment, the scissor mechanism 1 includes four capturing arms 3, each capturing arm 3 includes three scissor assemblies 4, and the driving mechanism 2 includes four retracting and extending assemblies, which can capture the spherical target 32.

[0058] like Fig.19 As shown, as a second specific implementation, a cylindrical target 32 ​​can be captured.

[0059] like Fig. 20 As shown, as a third specific implementation, irregular targets 32 can be captured.

[0060] like Fig.21 As shown, as the fourth specific implementation method, it is able to capture irregular targets 32 and has good capture applicability.

[0061] In order to achieve a good folding and unfolding ratio of the truss-type hybrid deployable envelope grasping manipulator, the finger module uses the scissor assembly 4 as the basic unit, because the scissor assembly 4 has a good folding and unfolding ratio and single degree of freedom characteristics, and also has better stability. In addition, a component with both a cylindrical pair and a moving pair is designed in the adjacent scissor assemblies 4 as a component connecting the scissor assemblies, so that the two adjacent scissor assemblies 4 can rotate relative to each other and can be folded and unfolded synchronously.

[0062] In order to enable the truss-type hybrid deployable enveloping grasping manipulator to adapt to different working conditions, the present invention adopts a modular design in the design of the finger mechanism. This design method makes the truss-type hybrid deployable enveloping grasping manipulator expandable, and the number of modules can be further adjusted according to different working conditions to meet the actual needs of grasping large-scale unknown targets.

[0063] In order to achieve good rigidity of the truss-type hybrid deployable enveloping grasping manipulator, the present invention designs a support mechanism 13 on the module of the manipulator finger, so that the scissor assembly 4 and the support mechanism 13 together constitute a single module, and the tetrahedron is used as a reference for the support mechanism 13. The tetrahedron has good stability, so the addition of the support mechanism 13 can effectively improve the rigidity of the module.

[0064] In order to achieve better shape adaptability of the truss-type hybrid deployable enveloping grasping manipulator, the present invention adopts a four-finger mechanism, wherein the four-finger mechanism allows the grasping surface to approximate a sphere, which can effectively envelop large-scale unknown targets. Therefore, this design enables the truss-type deployable enveloping grasping manipulator to not only have higher adaptability, but also improve the stability of the grasping manipulator in grasping the target 32.

[0065] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A truss-type hybrid expandable enveloping grasping manipulator, characterized in that: It includes a scissors-fork mechanism and a driving mechanism for driving the scissors-fork mechanism to expand or fold, the scissors-fork mechanism includes a plurality of grab arms, the grab arms include a plurality of scissors-fork assemblies hingedly connected in sequence, the scissors-fork assembly at the starting end of the grab arm is connected to the driving mechanism, the scissors-fork assembly includes a first scissors-fork rod and a second scissors-fork rod, the first scissors-fork rod is hinged to the middle part of the second scissors-fork rod, the first scissors-fork rod and the second scissors-fork rod are respectively connected at their beginning and end to the beginning or end of the first scissors-fork rod and the second scissors-fork rod of the adjacent scissors-fork assembly through a rotating plate, and the rotating plate limits the rotation angle of the first scissors-fork rod or the second scissors-fork rod.

2. The truss-type hybrid deployable enveloping grasping manipulator according to claim 1 is characterized in that: The starting ends of the first scissors rod and the second scissors rod are connected with a first rotating plate, and the first rotating plate is slidably connected to the starting ends of the first scissors rod and the second scissors rod along the retraction and extension direction of the scissors assembly through a first connecting component, the first connecting component is rotatably connected to the first scissors rod and the second scissors rod, and the ends of the first scissors rod and the second scissors rod are connected with a second rotating plate, and the second rotating plate is slidably connected to the ends of the first scissors rod and the second scissors rod along the retraction and extension direction of the scissors assembly through a second connecting component, and the second connecting component is rotatably connected to the first scissors rod and the second scissors rod.

3. The truss-type hybrid deployable enveloping grasping manipulator according to claim 2 is characterized in that: The first connecting component includes a first connecting member and a second connecting member, the first connecting member is rotatably connected to the second connecting member, the end of the first connecting member is rotatably connected to the first scissors rod or the second scissors rod, the middle part of the first connecting member is slidably connected to the first rotating plate, the starting end of the first connecting member is rotatably connected to the second connecting member, and the starting end of the first connecting member is slidably connected to the second connecting member and the first rotating plate; the second connecting component includes a third connecting member and a fourth connecting member, the starting end of the third connecting member is rotatably connected to the first scissors rod or the second scissors rod, the end of the fourth connecting member is fixedly and slidably connected to the second rotating plate, the end of the third connecting member is rotatably connected to the starting end of the fourth connecting member, and the end of the third connecting member is rotatably and slidably connected to the starting end of the fourth connecting member and the second rotating plate.

4. The truss-type hybrid deployable enveloping grasping manipulator according to claim 2 is characterized in that: The capture arm also includes a support mechanism for limiting the bending angle and bending direction, the support mechanism includes a first support rod, a second support rod and a telescopic rod, the starting end of the first support rod is hinged to the first rotating plate, the end of the second support rod is hinged to the second rotating plate, the end of the first support rod, the starting end of the second support rod and the starting end of the telescopic rod are hinged, and the end of the telescopic rod is hinged to the middle part of the adjacent first support rod.

5. The truss-type hybrid deployable enveloping grasping manipulator according to claim 1 is characterized in that: The first scissor rod and the second scissor rod are provided with positioning grooves for limiting the opening angle.

6. The truss-type hybrid deployable enveloping grasping manipulator according to claim 1 is characterized in that: The driving mechanism comprises a fixed rod, a fixed seat installed on the fixed rod, a sliding seat sliding on the fixed rod, and a retracting and extending component respectively hinged on the fixed seat and the sliding seat.

7. The truss-type hybrid deployable enveloping grasping manipulator according to claim 6 is characterized in that: The retractable and deployable assembly comprises a retractable and deployable plate and a connecting rod assembly driving the retractable and deployable plate. The catching arm is installed on the retractable and deployable plate and is linked with the retractable and deployable plate.

8. The truss-type hybrid deployable enveloping grasping manipulator according to claim 7 is characterized in that: The connecting rod assembly includes a first upper connecting rod, a second upper connecting rod, a third upper connecting rod, a fourth upper connecting rod, a first lower connecting rod, a second lower connecting rod, a third lower connecting rod, a fourth lower connecting rod and a pushing rod. The starting ends of the first upper connecting rod and the second upper connecting rod are respectively hinged to the upper part of the fixing seat, the starting ends of the first lower connecting rod and the second lower connecting rod are respectively hinged to the lower part of the fixing seat, the ends of the third upper connecting rod and the fourth upper connecting rod are respectively hinged to the rear part of the stowage and expansion plate, and the ends of the third lower connecting rod and the fourth lower connecting rod are respectively hinged to the rear part of the stowage and expansion plate. The first upper connecting rod is hinged to the front of the third upper connecting rod, the second upper connecting rod is hinged to the front of the fourth upper connecting rod, the starting end of the pushing rod is hinged to the sliding seat, the end of the pushing rod has a first hinge end and a second hinge end, the first hinge end is hinged to the end of the first lower connecting rod and the starting end of the third lower connecting rod, the second hinge end is hinged to the end of the second lower connecting rod and the starting end of the fourth lower connecting rod.

9. The truss-type hybrid deployable enveloping grasping manipulator according to claim 7, characterized in that: The connecting rod assembly also includes a driving rod, the starting end of which passes through the retractable plate and is movably connected to the retractable plate, and the ends of the driving rod are respectively hinged to the middle parts of the first scissor rod and the second scissor rod.

10. The truss-type hybrid deployable enveloping grasping manipulator according to claim 1, characterized in that: The scissor mechanism comprises four grab arms.

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