Truss type hybrid deployable enveloping gripping manipulator

Abstract

The application discloses a truss type hybrid deployable envelope grabbing manipulator, which comprises a scissor mechanism and a driving mechanism for driving the scissor mechanism to deploy or contract, the scissor mechanism comprises a plurality of catching arms, the catching arm comprises a plurality of sequentially hinged scissor assemblies, the scissor assembly at the starting end of the catching arm is connected with the driving mechanism, the scissor assembly comprises a first scissor rod and a second scissor rod, the middle part of the first scissor rod is hinged with the second scissor rod, the starting end or the ending end of the first scissor rod and the second scissor rod is connected with the starting end or the ending end of the first scissor rod and the second scissor rod of the adjacent scissor assembly through a rotating plate, and the rotating plate limits the rotating angle of the first scissor rod or the second scissor rod. The application has the advantages of high rigidity, large folding and unfolding ratio, strong shape adaptability and the like, and can be widely applied to the grabbing of large-scale unknown targets.

Description

TECHNICAL FIELD

[0001] The present application relates to a mechanical hand, in particular to a truss type hybrid deployable envelope grabbing mechanical hand. BACKGROUND

[0002] At present, most of the grabbing mechanical hands still have some problems. First, single finger mechanical hand refers to a mechanical hand that can only move linearly and rotate in one direction. Compared with multi-finger mechanical hand, although the structure is simple, it has a larger working space and envelope range, but when grabbing the target, the single finger grabbing mechanical hand can only contact a small area of the target, increasing the local pressure, which may cause damage to the surface of the grabbed target. Second, multi-finger grabbing mechanical hand has multiple fingers. Compared with single finger grabbing mechanical hand, it has stronger shape adaptability and is better at grabbing unknown targets, but it has a smaller envelope range, that is, the spatial region that the multi-finger grabbing mechanical hand can grab the target is limited. Third, in the design of the mechanical hand, when the mechanical hand grabs an unknown target, if the rigidity of the mechanical hand is insufficient, it will not only cause the target to loosen or even fall off, causing harm, but also damage the mechanical hand, so the mechanical hand needs to have good rigidity to grab the target firmly.

[0003] The Chinese invention patent with publication number CN115817863A discloses a space grabbing mechanical hand folding and unfolding unit, folding and unfolding mechanism and folding and unfolding method for decoupling stretching and bending motion, which comprises a connecting disc, a driving unit, a folding rod group, a scissor unit and a truss rod. A plurality of space grabbing mechanical hand folding and unfolding units for decoupling stretching and bending motion are connected to form a large folding ratio, which can be completely folded to greatly reduce the carrying space. The current grabbing mechanical hand has poor adaptability to large-scale unknown targets, poor folding performance and complex driving. Therefore, in order to avoid the shortcomings in the prior art, it is necessary to improve the existing technology. SUMMARY

[0004] The present application relates to a mechanical hand, in particular to a truss type hybrid deployable envelope grabbing mechanical hand.

[0005] The present application is achieved by the following technical solutions:

[0006] The truss type hybrid deployable envelope grabbing manipulator comprises a scissor mechanism and a driving mechanism for driving the scissor mechanism to deploy or contract, the scissor mechanism comprises a plurality of grabbing arms, each of the grabbing arms comprises a plurality of sequentially hinged scissor assemblies, the scissor assembly at the starting end of the grabbing arm is connected with the driving mechanism, the scissor assembly comprises a first scissor rod and a second scissor rod, the middle part of the first scissor rod is hinged with the second scissor rod, the starting end and the ending end of the first scissor rod and the second scissor rod are respectively connected with the starting end or the ending end of the first scissor rod and the second scissor rod of the adjacent scissor assembly through a rotating plate, and the rotating plate limits the rotating angle of the first scissor rod or the second scissor rod.

[0007] Further, the starting end of the first scissor rod and the second scissor rod is connected with a first rotating plate, the first rotating plate is slidably connected with the starting end of the first scissor rod and the second scissor rod along the deployment direction of the scissor assembly through a first connecting assembly, the first connecting assembly is rotatably connected with the first scissor rod and the second scissor rod, the ending end of the first scissor rod and the second scissor rod is connected with a second rotating plate, the second rotating plate is slidably connected with the ending end of the first scissor rod and the second scissor rod along the deployment direction of the scissor assembly through a second connecting assembly, the second connecting assembly is rotatably connected with the first scissor rod and the second scissor rod.

[0008] Further, the first connecting assembly comprises a first connecting piece and a second connecting piece, the first connecting piece and the second connecting piece are rotatably connected, the ending end of the first connecting piece is rotatably connected with the first scissor rod or the second scissor rod, the middle part of the first connecting piece is slidably connected with the first rotating plate, the starting end of the first connecting piece is rotatably connected with the second connecting piece and the starting end of the first connecting piece is slidably connected with the second connecting piece and the first rotating plate; the second connecting assembly comprises a third connecting piece and a fourth connecting piece, the starting end of the third connecting piece is rotatably connected with the first scissor rod or the second scissor rod, the ending end of the fourth connecting piece is fixedly and slidably connected with the second rotating plate, the ending end of the third connecting piece is rotatably connected with the starting end of the fourth connecting piece and the ending end of the third connecting piece is rotatably and slidably connected with the starting end of the fourth connecting piece and the second rotating plate.

[0009] Further, the grabbing arm further comprises a supporting mechanism for limiting the bending angle and the bending direction, the supporting mechanism comprises a first supporting rod, a second supporting rod and an extension rod, the starting end of the first supporting rod is hinged with the first rotating plate, the ending end of the second supporting rod is hinged with the second rotating plate, the ending end of the first supporting rod, the starting end of the second supporting rod and the starting end of the extension rod are hinged, and the ending end of the extension rod is hinged with the middle part of the adjacent first supporting rod.

[0010] Further, the first scissor lever and the second scissor lever are provided with positioning grooves for limiting the opening angle.

[0011] Further, the driving mechanism comprises a fixed rod, a fixed seat mounted on the fixed rod, a sliding seat slidingly arranged on the fixed rod, and a folding and unfolding assembly respectively hinged to the fixed seat and the sliding seat.

[0012] Further, the folding and unfolding assembly comprises a folding and unfolding plate and a linkage assembly for driving the folding and unfolding plate, and the catching arms are mounted on the folding and unfolding plate and connected with the folding and unfolding plate.

[0013] Further, the linkage assembly comprises a first upper linkage, a second upper linkage, a third upper linkage, a fourth upper linkage, a first lower linkage, a second lower linkage, a third lower linkage, a fourth lower linkage, and a pushing rod, the initial ends of the first upper linkage and the second upper linkage are respectively hinged to the upper part of the fixed seat, the initial ends of the first lower linkage and the second lower linkage are respectively hinged to the lower part of the fixed seat, the terminal ends of the third upper linkage and the fourth upper linkage are respectively hinged to the rear part of the folding and unfolding plate, the terminal ends of the third lower linkage and the fourth lower linkage are respectively hinged to the front part of the folding and unfolding plate, the terminal end of the first upper linkage is hinged to the front end of the third upper linkage, the terminal end of the second upper linkage is hinged to the front end of the fourth upper linkage, the initial end of the pushing rod is hinged to the sliding seat, and the terminal end of the pushing rod has a first hinged end and a second hinged end, the first hinged end is respectively hinged to the terminal end of the first lower linkage and the initial end of the third lower linkage, and the second hinged end is respectively hinged to the terminal end of the second lower linkage and the initial end of the fourth lower linkage.

[0014] Further, the linkage assembly further comprises a driving rod, the initial end of the driving rod passes through the folding and unfolding plate and is movably connected with the folding and unfolding plate, and the terminal end of the driving rod is respectively hinged to the middle part of the first scissor lever and the second scissor lever.

[0015] Further, the scissor mechanism comprises four catching arms.

[0016] The present application has the advantages of high rigidity, large folding and unfolding ratio, strong shape adaptability, and the like, and can be widely applied to the grasping of large-scale unknown targets.

[0017] By taking the scissor assembly as a basic unit, the manipulator has a good folding and unfolding ratio, because the scissor mechanism has a good folding and unfolding ratio and a single degree of freedom, and has better stability.

[0018] By adopting the modular design, the design method has expansibility, is suitable for different working conditions, and can increase or reduce the number of scissor mechanisms according to the working condition requirements.

[0019] Supporting mechanism is designed on the catching arm, so that the catching arm has good rigidity, and the four-pyramid is taken as a reference, the four-pyramid has good stability, so that the supporting mechanism can effectively improve the rigidity of the module.

[0020] By arranging multiple catching arms, better shape adaptability can be achieved, and the stability of the grabbing manipulator in target grabbing is further improved. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0022] Figure 1 The first angle structure schematic diagram of the scissor assembly of the truss type hybrid deployable envelope grabbing manipulator of the present application;

[0023] Figure 2 The second angle structure schematic diagram of the scissor assembly of the truss type hybrid deployable envelope grabbing manipulator of the present application;

[0024] Figure 3 The folding state structure schematic diagram of the scissor assembly of the truss type hybrid deployable envelope grabbing manipulator of the present application;

[0025] Figure 4 The unfolded state structure schematic diagram of the scissor assembly of the truss type hybrid deployable envelope grabbing manipulator of the present application;

[0026] Figure 5 The grabbing state structure schematic diagram of the scissor assembly of the truss type hybrid deployable envelope grabbing manipulator of the present application;

[0027] Figure 6 The folding state structure schematic diagram of the catching arm composed of two scissor assemblies of the truss type hybrid deployable envelope grabbing manipulator of the present application;

[0028] Figure 7 The unfolded state structure schematic diagram of the catching arm composed of two scissor assemblies of the truss type hybrid deployable envelope grabbing manipulator of the present application;

[0029] Figure 8 The grabbing state structure schematic diagram of the catching arm composed of two scissor assemblies of the truss type hybrid deployable envelope grabbing manipulator of the present application;

[0030] Figure 9 The folding state structure schematic diagram of the catching arm composed of three scissor assemblies of the truss type hybrid deployable envelope grabbing manipulator of the present application;

[0031] Figure 10 The structure diagram of the three scissor assemblies of the truss type hybrid deployable envelope grabbing manipulator in the expanded state;

[0032] Figure 11 The structure diagram of the three scissor assemblies of the truss type hybrid deployable envelope grabbing manipulator in the grabbing state;

[0033] Figure 12 The structure diagram of the driving mechanism of the truss type hybrid deployable envelope grabbing manipulator in the grabbing state;

[0034] Figure 13 The structure diagram of the driving mechanism of the truss type hybrid deployable envelope grabbing manipulator in the retracted state;

[0035] Figure 14 The structure diagram of the driving mechanism of the truss type hybrid deployable envelope grabbing manipulator in the expanded state;

[0036] Figure 15 The structure diagram of the truss type hybrid deployable envelope grabbing manipulator in the expanded state;

[0037] Figure 16 The structure diagram of the truss type hybrid deployable envelope grabbing manipulator in the retracted state;

[0038] Figure 17 The structure diagram of the truss type hybrid deployable envelope grabbing manipulator in the grabbing state;

[0039] Figure 18 The structure diagram of the truss type hybrid deployable envelope grabbing manipulator in the expanded state for grabbing a spherical target in the first specific embodiment;

[0040] Figure 19 The structure diagram of the truss type hybrid deployable envelope grabbing manipulator in the expanded state for grabbing a cylindrical target in the second specific embodiment;

[0041] Figure 20 The structure diagram of the truss type hybrid deployable envelope grabbing manipulator in the expanded state for grabbing an irregular target in the third specific embodiment;

[0042] Figure 21 The structure diagram of the truss type hybrid deployable envelope grabbing manipulator in the expanded state for grabbing an irregular target in the fourth specific embodiment.

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

[0044] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0045] The grabbing manipulator is a research hotspot in the field of robot mechanism. In the development history of the manipulator, the serial manipulator plays the role of pioneer. The typical serial manipulator is usually composed of an arm mechanism, a wrist mechanism and a gripper. The essence is to imitate the human hand, so the designed mechanism is an open-chain mechanism composed of a series of connecting rods and kinematic pairs connected in sequence. It has two or more degrees of freedom, so the working space formed is larger, but the stiffness of the serial mechanism is smaller, so it is only suitable for grabbing light targets. The most essential difference between the parallel manipulator and the serial manipulator is that the motion chain of the parallel manipulator is closed. Although the design of such a motion chain overcomes the problem of insufficient stiffness of the serial manipulator, the working space is small and the dexterity is poor. The characteristics of series and parallel are neutralized, and a hybrid manipulator is proposed. This kind of manipulator has a larger working space and overcomes the problem of insufficient stiffness. However, all three types of grabbing manipulators have the same problem when grabbing large-scale unknown targets, i.e. they have no folding and unfolding property, and the volume of the folded body is large, the driving is complex, and it is difficult to transport and store conveniently.

[0046] Therefore, aiming at the above problems, the present application aims to solve the problem of grabbing large-scale unknown targets, and proposes a truss type hybrid deployable enveloping grabbing manipulator, which is composed of finger mechanisms and palm mechanisms. Each finger mechanism is composed of module units, and the length of the finger can be controlled by controlling the number of modules. The scissor assembly is used as the basic unit, and the scissor assembly has good folding and unfolding properties, which can reduce the size during transportation, thereby increasing the utilization rate of space and reducing the transportation cost of the truss type deployable enveloping grabbing manipulator during transportation. In addition, the scissor assembly has the characteristics of single degree of freedom, so the driving is simple. In addition, in order to enhance the rigidity of the module, a support mechanism is designed, which takes a four-pyramid as a reference. The four-pyramid 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 deployable enveloping grabbing manipulator includes four identical branches. Each branch includes two quadrilateral mechanisms, which are coupled through the rotating pairs 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 coupled again through the moving pairs. When the finger mechanism of the grabbing manipulator is connected to the palm mechanism, a four-fingered grabbing manipulator can be formed. The four-fingered grabbing manipulator can quickly adapt to large-scale unknown targets.

[0047] As Figures 1 to 17 The truss type hybrid deployable enveloping grabbing manipulator of the present application includes a scissor mechanism 1 and a driving mechanism 2 for driving the scissor mechanism 1 to expand or contract, the scissor mechanism 1 includes a plurality of catching arms 3, the catching arm 3 includes a plurality of scissor assemblies 4 connected in sequence, the scissor assembly 4 at the beginning of the catching arm 3 is connected with the driving mechanism 2, the scissor assembly 4 includes a first scissor rod 5 and a second scissor rod 6, the middle part of the first scissor rod 5 and the second scissor rod 6 is hinged, the beginning and end of the first scissor rod 5 and the second scissor rod 6 are connected with the beginning or end of the first scissor rod 5 and the second scissor rod 6 of the adjacent scissor assembly 4 through rotating plates, and the rotating plates limit the rotation angle of the first scissor rod 5 or the second scissor rod 6.

[0048] The first end of the first and second scissors levers 5 and 6 is connected with a first rotating plate 7, the first rotating plate 7 is slidably connected with the first end of the first and second scissors levers 5 and 6 along the folding and unfolding direction of the scissors assembly 4 through a first connecting assembly, the first connecting assembly is rotatably connected with the first and second scissors levers 5 and 6, the second end of the first and second scissors levers 5 and 6 is connected with a second rotating plate 8, the second rotating plate 8 is slidably connected with the second end of the first and second scissors levers 5 and 6 along the folding and unfolding direction of the scissors assembly 4 through a second connecting assembly, the second connecting assembly is rotatably connected with the first and second scissors levers 5 and 6. The first and second connecting assemblies make the joints between the adjacent two scissors assemblies 4 be able to bend, relatively rotate and synchronously fold and unfold, so as to realize the grasping of the target 32.

[0049] The first connecting assembly comprises a first connecting piece 9 and a second connecting piece 10, the first connecting piece 9 is rotatably connected with the second connecting piece 10, the second end of the first connecting piece 9 is rotatably connected with the first or second scissors lever 5 or 6, the middle part of the first connecting piece 9 is slidably connected with the first rotating plate 7, the first end of the first connecting piece 9 is rotatably connected with the second connecting piece 10 and slidably connected with the second connecting piece 10 and the first rotating plate 7; the second connecting assembly comprises a third connecting piece 11 and a fourth connecting piece 12, the first end of the third connecting piece 11 is rotatably connected with the first or second scissors lever 5 or 6, the second end of the fourth connecting piece 12 is fixedly and slidably connected with the second rotating plate 8, the second end of the third connecting piece 11 is rotatably connected with the first end of the fourth connecting piece 12 and slidably connected with the first end of the fourth connecting piece 12 and the second rotating plate 8.

[0050] The catching arm 3 further comprises a supporting mechanism 13 for limiting the bending angle and the bending direction, the supporting mechanism 13 comprises a first supporting lever 14, a second supporting lever 15 and an extension lever 16, the first end of the first supporting lever 14 is hingedly connected with the first rotating plate 7, the second end of the second supporting lever 15 is hingedly connected with the second rotating plate 8, the second end of the first supporting lever 14, the first end of the second supporting lever 15 and the first end of the extension lever 16 are hingedly connected, and the second end of the extension lever 16 is hingedly connected with the middle part of the adjacent first supporting lever 14.

[0051] Positioning grooves for limiting the opening angle are formed on the first and second scissors levers 5 and 6.

[0052] The driving mechanism comprises a fixed rod 17, a fixed seat 18 mounted on the fixed rod 17, a sliding seat 19 slidably running on the fixed rod 17 and a folding and unfolding assembly hingedly connected to the fixed seat 18 and the sliding seat 19 respectively.

[0053] The folding and unfolding assembly comprises a folding and unfolding plate 20 and a connecting rod assembly 21 for driving the folding and unfolding plate 20 to fold and unfold, and the catching arm 3 is mounted on the folding and unfolding plate 20 and moves together with the folding and unfolding plate 20.

[0054] The linkage assembly 21 includes a first upper linkage 22, a second upper linkage 23, a third upper linkage 24, a fourth upper linkage 25, a first lower linkage 26, a second lower linkage 27, a third lower linkage 28, a fourth lower linkage 29, and a push rod 30. The starting ends of the first upper linkage 22 and the second upper linkage 23 are respectively hinged to the upper part of the fixed base 18, the starting ends of the first lower linkage 26 and the second lower linkage 27 are respectively hinged to the lower part of the fixed base 18, the ends of the third upper linkage 24 and the fourth upper linkage 25 are respectively hinged to the rear part of the retracting plate 20, and the third lower linkage 28 and the fourth lower linkage 29 are respectively hinged to the push rod 30. The end of the fourth lower connecting rod 29 is hinged to the front of the retractable plate 20. The end of the first upper connecting rod 22 is hinged to the front of the third upper connecting rod 24. The end of the second upper connecting rod 23 is hinged to the front of the fourth upper connecting rod 25. The beginning of the push rod 30 is hinged to the sliding seat 19. The end of the push rod 30 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 26 and the beginning of the third lower connecting rod 28, respectively. The second hinge end is hinged to the end of the second lower connecting rod 15 and the beginning of the fourth lower connecting rod 29, respectively.

[0055] The linkage assembly 21 also includes a drive rod 31. The beginning of the drive rod 31 passes through and is movably connected to the retractable plate 20. The end of the drive rod 31 is hinged to the middle of the first scissor bar 5 and the second scissor bar 6, respectively. Through the force of the actuator, the scissor mechanism 1 unfolds as the drive rod 31 extends, realizing the retraction and unfolding of the truss-type hybrid deployable envelope gripping robot. Furthermore, the angle between the scissor assemblies 4 changes as the telescopic rod 16 of the support mechanism 13 slides, realizing the envelope gripping of the truss-type hybrid deployable envelope gripping robot.

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

[0057] like Figure 18 As shown, in the first specific embodiment, the scissor mechanism 1 includes four grabbing arms 3, each grabbing arm 3 includes three scissor assemblies 4, and the drive mechanism 2 includes four retraction assemblies, which can grab spherical targets 32.

[0058] like Figure 19 As shown, in the second specific embodiment, it can capture cylindrical targets 32.

[0059] like Figure 20 As shown, as a third specific implementation, it can capture irregular targets 32.

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

[0061] In order to realize that the truss type mixed connection deployable envelope grabbing manipulator has good folding and unfolding ratio, the module of the finger takes the scissor assembly 4 as a basic unit, because the scissor assembly 4 has good folding and unfolding ratio and single degree of freedom characteristics, and also has better stability. In addition, a component with both cylindrical pair and moving pair is designed in the adjacent scissor assembly 4 as the connecting component of the scissor assembly, so that the two adjacent scissor assemblies 4 can be relatively rotated and synchronously folded and unfolded.

[0062] In order to realize that the truss type mixed connection deployable envelope grabbing manipulator can adapt to different working conditions, the modular design is adopted in the design of the finger mechanism, so that the truss type mixed connection deployable envelope grabbing manipulator has expandability, and the number of modules can be further adjusted according to different working conditions to meet the actual demand of grabbing large-scale unknown targets.

[0063] In order to realize that the truss type mixed connection deployable envelope grabbing manipulator has better rigidity, a supporting mechanism 13 is designed on the module of the manipulator finger, so that the scissor assembly 4 and the supporting mechanism 13 jointly constitute a single module, and the four-pyramid is taken as the reference of the supporting mechanism 13, the four-pyramid has good stability, so the increase of the supporting mechanism 13 can effectively improve the rigidity of the module.

[0064] In order to realize that the truss type mixed connection deployable envelope grabbing manipulator can have better shape adaptability, the four-finger mechanism is adopted, wherein the four-finger mechanism makes the grabbing surface approach to a spherical surface, and can effectively envelope large-scale unknown targets, so this design makes the truss type deployable envelope grabbing manipulator not only has higher adaptability, but also improves the stability of the grabbing manipulator to the target 32.

[0065] The above only describes the preferred embodiments of the present application, and does not limit the present application, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A truss-type hybrid deployable envelope gripping robot, characterized in that: The device includes a scissor lift mechanism and a drive mechanism for extending or retracting the scissor lift mechanism. The scissor lift mechanism includes a plurality of grab arms, each grab arm including a plurality of scissor lift assemblies that are hinged together in sequence. The scissor lift assembly at the beginning of each grab arm is connected to the drive mechanism. Each scissor lift assembly includes a first scissor lift and a second scissor lift. The first scissor lift and the second scissor lift are hinged together at their middle portions. The beginning and end ends of the first scissor lift and the second scissor lift are respectively connected to the beginning or end of the first scissor lift and the second scissor lift of an adjacent scissor lift assembly via rotating plates. The rotating plates limit the rotation angle of the first scissor lift or the second scissor lift. The first scissor bar and the second scissor bar are connected to a first rotating plate at their starting ends. The first rotating plate is slidably connected to the starting ends of the first scissor bar and the second scissor bar along the retraction and extension direction of the scissor bar assembly via a first connecting assembly. The first connecting assembly is rotatably connected to the first scissor bar and the second scissor bar. The first scissor bar and the second scissor bar are connected to a second rotating plate at their ending ends. The second rotating plate is slidably connected to the ending ends of the first scissor bar and the second scissor bar along the retraction and extension direction of the scissor bar assembly via a second connecting assembly. The second connecting assembly is rotatably connected to the first scissor bar and the second scissor bar. The first connecting assembly includes a first connector and a second connector. The first connector and the second connector are rotatably connected. The end of the first connector is rotatably connected to the first scissor bar or the second scissor bar. The middle part of the first connector is slidably connected to the first rotating plate. The beginning of the first connector is rotatably connected to the second connector and slidably connected to the second connector and the first rotating plate. The second connecting assembly includes a third connector and a fourth connector. The beginning of the third connector is rotatably connected to the first scissor bar or the second scissor bar. The end of the fourth connector is fixedly slidably connected to the second rotating plate. The end of the third connector is rotatably connected to the beginning of the fourth connector and rotatably slidably connected to the beginning of the fourth connector and the second rotating plate. The capture arm also includes a support mechanism that limits the bending angle and bending direction. The support mechanism includes a first support rod, a second support rod, and a telescopic rod. The beginning 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 beginning of the second support rod, and the beginning of the telescopic rod are hinged together, and the end of the telescopic rod is hinged to the middle of the adjacent first support rod.

2. The truss-type hybrid deployable envelope gripping robot according to claim 1, characterized in that: The first scissor bar and the second scissor bar are provided with positioning grooves that limit the opening angle.

3. The truss-type hybrid deployable envelope gripping robot according to claim 1, characterized in that: The drive mechanism includes a fixed rod, a fixed seat mounted on the fixed rod, a sliding seat that slides on the fixed rod, and retraction components respectively hinged to the fixed seat and the sliding seat.

4. The truss-type hybrid deployable envelope gripping robot according to claim 3, characterized in that: The retraction assembly includes a retraction plate and a linkage assembly that drives the retraction plate to retract and extend. The capture arm is mounted on the retraction plate and is linked to the retraction plate.

5. The truss-type hybrid deployable envelope gripping robot according to claim 4, characterized in that: The linkage assembly includes a first upper linkage, a second upper linkage, a third upper linkage, a fourth upper linkage, a first lower linkage, a second lower linkage, a third lower linkage, a fourth lower linkage, and a push rod. The starting ends of the first upper linkage and the second upper linkage are respectively hinged to the upper part of the fixed base, and the starting ends of the first lower linkage and the second lower linkage are respectively hinged to the lower part of the fixed base. The ends of the third upper linkage and the fourth upper linkage are respectively hinged to the rear part of the retractable plate, and the ends of the third lower linkage and the fourth lower linkage are respectively hinged to the rear part of the retractable plate. The first upper connecting rod is hinged to the front of the retractable plate. The end of the first upper connecting rod is hinged to the front of the third upper connecting rod. The end of the second upper connecting rod is hinged to the front of the fourth upper connecting rod. The beginning of the push rod is hinged to the sliding seat. The end of the push 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 beginning of the third lower connecting rod, respectively. The second hinge end is hinged to the end of the second lower connecting rod and the beginning of the fourth lower connecting rod, respectively.

6. The truss-type hybrid deployable envelope gripping robot according to claim 4, characterized in that: The linkage assembly also includes a drive rod, the beginning of which passes through the retractable plate and is movably connected to the retractable plate, and the end of which is hinged to the middle of the first scissor bar and the second scissor bar, respectively.

7. The truss-type hybrid deployable envelope gripping robot according to claim 1, characterized in that: The scissor mechanism includes four grab arms.

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