A reusable cable net two-finger flexible skeleton

Abstract

This invention relates to the field of capture mechanism technology, and in particular to a reusable cable net two-finger flexible skeleton, including a support frame with a vertical slot in the support frame, a screw shaft inserted in the vertical slot, a support plate rotatably mounted in the support frame, a support bracket hinged to the support plate, an eccentric circular rudder disk rotatably mounted in the support frame, a support plate fixedly connected to one side of the support plate, and a grabbing plate assembly mounted on the support plate. The grabbing plate assembly includes a first-section cooperating grabbing plate, a second-section cooperating grabbing plate, a connecting section grabbing plate, and a last-section grabbing plate. A protruding rod is fixedly connected to one side of the last-section grabbing plate, and a cable net is fixedly connected to one end of the protruding rod. The cable net wraps around the outside of the grabbing plate assembly. This invention relies on a mechanical linkage structure to realize the reciprocating opening and closing function of the cable net skeleton, so that the cable net on the skeleton can complete the cyclic action of stable deployment for capture and rapid retraction and reset. The entire mechanism can be quickly restored and put into the next operation.

Description

Technical Field

[0001] This invention relates to the field of capture mechanism technology, specifically to a reusable cable net two-finger flexible skeleton. Background Technology

[0002] A capture mechanism is an actuator that uses mechanical, pneumatic, or flexible structures to grasp, fix, and release a target object. It is widely used in many key fields such as industrial automation, drone operations, emergency rescue, and space exploration as a core actuator for target acquisition.

[0003] In the field of drone operations, drones are generally used in conjunction with cable net grippers to achieve rapid capture, stable holding and reuse of targets in dynamic environments. Cable net grippers have advantages such as light weight, large envelope space and strong adaptability, and are particularly suitable for flexible capture operations of non-cooperative targets or irregularly shaped objects.

[0004] However, most cable net capture devices use a one-time deformation structure or an irreversible triggering mechanism. After one capture, the cable net or support structure cannot be reliably reset and re-deployed, which can only achieve single capture use, resulting in a significant increase in operating costs and difficulty in adapting to the needs of continuous operation. Therefore, a reusable cable net two-finger flexible skeleton is proposed to address the above problems. Summary of the Invention

[0005] The purpose of this invention is to provide a reusable cable mesh two-finger flexible skeleton to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A reusable cable net two-finger flexible skeleton includes a support frame with a vertical slot in which an optical axis screw is inserted. A support plate is rotatably mounted in the support frame, and a support bracket is hinged to the support plate. An eccentric circular rudder is rotatably mounted in the support frame. A support plate is fixedly connected to one side of the support plate, and a gripping plate assembly is mounted on the support plate. The gripping plate assembly includes a first-section mating gripping plate, a second-section mating gripping plate, a connecting section gripping plate, and a last-section gripping plate. A protruding rod is fixedly connected to one side of the last-section gripping plate, and a cable net is fixedly connected to one end of the protruding rod. The cable net wraps around the outside of the gripping plate assembly and is bonded to the second-section mating gripping plate, the connecting section gripping plate, and the last-section gripping plate.

[0008] As a further optimization of this utility model, the support plate is provided in two sets, with two support plates in each set, and the two support plates in the same set are arranged symmetrically, and the positions of the support plates correspond one-to-one with the positions of the support plates.

[0009] As a further optimization of this utility model, the number of support plates is the same as the number of gripping plate assemblies, the two sets of support plates correspond to the two sets of gripping plate assemblies respectively, and the rotation directions of the two support plates in the same set are opposite.

[0010] As a further optimization of this utility model, the outer peripheral surface of the optical axis screw is in contact with the eccentric circular rudder disk, an upper and lower sliding pair is formed between the optical axis screw and the vertical groove, and the radial projection of the optical axis screw is "I" shaped.

[0011] As a further optimization of this utility model, the support frame is a connecting rod structure, and its end that is not hinged to the support plate has a through hole adapted to the optical axis screw, and the optical axis screw is inserted into the through hole, forming a rotating pair between the support frame and the optical axis screw.

[0012] As a further optimization of this utility model, the first section of the gripping plate, the second section of the gripping plate, the connecting section gripping plate, and the last section gripping plate are sequentially hinged together, and the first section of the gripping plate is hinged to the side of the support plate away from the eccentric circular rudder.

[0013] As a further optimization of this utility model, the eccentric circular rudder disk has a small hole at one end away from its rotation center, and a flexible pull wire connected to the optical axis screw is inserted through the small hole.

[0014] Compared with the prior art, the beneficial effects of the present invention are:

[0015] This invention relies on a mechanical linkage structure to realize the reciprocating opening and closing function of the cable net skeleton, enabling the cable net on the skeleton to complete a cyclic action of stable deployment and capture, and rapid retraction and reset. The entire mechanism can be quickly restored and put into the next operation. At the same time, the device has a good ability to fit and wrap around non-cooperative targets with irregular geometry and complex surface features, effectively buffering the capture impact and avoiding rigid damage to the target. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0017] Figure 2 This is a schematic diagram of another overall structural form of the present invention;

[0018] Figure 3 This is a schematic diagram of the mounting position structure of the eccentric circular rudder disk of the present invention;

[0019] Figure 4 for Figure 3 The front view;

[0020] Figure 5 for Figure 3 Another structural diagram;

[0021] Figure 6 This is a schematic diagram of the installation position structure of the support frame of the present invention;

[0022] Figure 7 This is a schematic diagram of the eccentric circular rudder disk structure of the present invention;

[0023] Figure 8 This is a schematic diagram of the gripper assembly structure of the present invention.

[0024] In the diagram: 1. Support frame; 2. Vertical slot; 3. Optical shaft screw; 4. Support plate; 5. Support frame; 6. Eccentric circular rudder; 7. Support plate; 8. Grab plate assembly; 81. First section cooperating grab plate; 82. Second section cooperating grab plate; 83. Connecting section grab plate; 84. Last section grab plate; 85. Protruding rod; 9. Cable net. Detailed Implementation

[0025] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0027] Please see Figures 1-8 The present invention will provide the following embodiments to clearly and completely describe the technical solution of the present invention:

[0028] Implementation 1

[0029] This embodiment provides a reusable cable-net two-finger flexible skeleton, such as Figure 1 , Figure 3 , Figure 6As shown, the device includes a support frame 1, with a vertical groove 2 in the support frame 1. A vertically inserted optical axis screw 3 is inserted into the groove 2. The optical axis screw 3 is radially projected into an I-shaped structure. The outer wall of the optical axis screw 3 fits snugly against the groove wall of the vertical groove 2, allowing the optical axis screw 3 to form a vertical sliding pair along the interior of the vertical groove 2. An eccentric circular rudder disk 6 is symmetrically mounted inside the support frame 1 via bearings. The outer circumferential surface of the eccentric circular rudder disk 6 is in close contact with the outer circumferential surface of the optical axis screw 3. A small hole is opened at the end of the eccentric circular rudder disk 6 away from its rotation center. A flexible wire passes through this small hole and connects to the optical axis screw 3. Rotation of the eccentric circular rudder disk 6 can push the optical axis screw 3 upward along the vertical groove 2. In addition, when the eccentric circular rudder disk 6 rotates to reset, it pulls the flexible wire, thereby pulling the optical axis screw 3 to move and reset along the vertical groove 2, thus realizing the up-and-down reciprocating sliding of the optical axis screw 3 along the vertical groove 2.

[0030] like Figure 2 , Figure 4 , Figure 5 As shown, a support plate 4 is rotatably mounted on the support frame 1. The support plate 4 is configured as two groups, each group containing two support plates 4. The two support plates 4 in the same group are arranged symmetrically about the central axis of the support frame 1, and the two support plates 4 in the same group can rotate synchronously in opposite directions around the hinge point. A support frame 5 is hinged to the upper part of each support plate 4. The support frame 5 adopts a rigid connecting rod structure. A through hole adapted to the outer diameter of the optical axis screw 3 is opened at the end of the support frame 5 away from the support plate 4. The optical axis screw 3 is vertically inserted into the through hole, so that a rotating pair that can rotate freely is formed between the support frame 5 and the optical axis screw 3. When the optical axis screw 3 slides up and down, the support plate 4 can be pushed and pulled by the support frame 5 to realize the swing opening and closing.

[0031] like Figure 8 As shown, each support plate 4 has a support plate 7 fixedly welded to its outer side. The number of support plates 7 corresponds one-to-one with the number of support plates 4, and the number of support plates 4 is consistent with the number of gripping plate assemblies 8. The two sets of support plates 4 are respectively configured with two sets of gripping plate assemblies 8. The gripping plate assembly 8 is a multi-segment flexible joint structure composed of a first section of the cooperating gripping plate 81, a second section of the cooperating gripping plate 82, a connecting section of the gripping plate 83, and a last section of the gripping plate 84, which are sequentially hinged end to end. The first section of the cooperating gripping plate 81 is hinged and fixed to the end of the support plate 7 away from the eccentric circular rudder disk 6, so that the entire gripping plate assembly 8 can swing with the support plate 4 and fold and bend itself.

[0032] A protruding rod 85 is integrally fixed to the outer side of the last section grab plate 84. A cable net 9 is fixedly tied to the outer end of the protruding rod 85. The cable net 9 is completely wrapped and laid on the outer wall of the entire grab plate assembly 8. The cable net 9 is bonded and fixed to the surfaces of the second section grab plate 82, the connecting section grab plate 83 and the last section grab plate 84 with high-strength adhesive. The first section grab plate 81 is not bonded to the cable net 9, so as to ensure that the cable net 9 can flexibly deform with the shape when the grab plate assembly 8 is bent.

[0033] Example 2

[0034] In actual assembly, the entire device is mounted on the end of a drone or automated operating equipment. In the initial state, the two sets of gripping plate assemblies 8 are in a retracted and closed state. The cable net 9 is folded and stored along with the gripping plate assemblies 8, driving the eccentric circular rudder disk 6 to rotate. The eccentric contour of the eccentric circular rudder disk 6 pushes the optical axis screw 3 to slide upward along the vertical groove 2 of the support frame 1. The optical axis screw 3 pulls the two sets of support plates 4 to swing outward in opposite directions synchronously through the support frame 5. The support plates 4 drive the support plate 7 and the entire gripping plate assembly 8 to open. The multi-segment hinged gripping plate assembly 8 adapts to the attitude. The bending mechanism simultaneously expands the outer bonded cable net 9 to form an enveloping space, flexibly capturing irregular target objects. After capture, the reverse drive eccentric circular rudder disk 6 rotates, and the optical axis screw 3 is driven to reset downward along the vertical groove 2 via the flexible pull wire. The support plate 4 is driven to retract in the opposite direction via the support frame 5, the grabbing plate assembly 8 folds and resets, and the cable net 9 is simultaneously retracted and reset. The entire mechanism can be quickly restored and repeatedly deployed for capture, achieving multiple cycles of use. This solves the problem of traditional cable net capture devices being used only once and unable to be reset and reused.

[0035] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A reusable cable net two-finger flexible skeleton, comprising a support frame (1), characterized in that: The support frame (1) has a vertical groove (2) and an optical axis screw (3) inserted in the vertical groove (2). A support plate (4) is rotatably installed in the support frame (1). A support frame (5) is hinged on the support plate (4). An eccentric circular rudder disk (6) is rotatably installed in the support frame (1). A support plate (7) is fixedly connected to one side of the support plate (4). A gripping plate assembly (8) is installed on the support plate (7). The gripping plate assembly (8) includes a first section gripping plate (81), a second section gripping plate (82), a connecting section gripping plate (83), and a last section gripping plate (84). A protruding rod (85) is fixedly connected to one side of the last section gripping plate (84). A cable net (9) is fixedly connected to one end of the protruding rod (85). The cable net (9) is wrapped around the outside of the gripping plate assembly (8) and is bonded to the second section gripping plate (82), the connecting section gripping plate (83), and the last section gripping plate (84).

2. The reusable cable mesh two-finger flexible skeleton according to claim 1, characterized in that: The support plate (4) is provided in two sets, and each set of the support plate (4) has two plates. The two support plates (4) in the same set are arranged symmetrically. The position of the support plate (7) corresponds one-to-one with the position of the support plate (4).

3. The reusable cable mesh two-finger flexible skeleton according to claim 2, characterized in that: The number of support plates (4) is the same as the number of gripping plate assemblies (8). The two sets of support plates (4) correspond to the two sets of gripping plate assemblies (8) respectively, and the rotation directions of the two support plates (4) in the same set are opposite.

4. The reusable cable mesh two-finger flexible skeleton according to claim 1, characterized in that: The outer peripheral surface of the optical axis screw (3) is in contact with the eccentric circular rudder disk (6), and an upper and lower sliding pair is formed between the optical axis screw (3) and the vertical groove (2). The optical axis screw (3) is projected in the radial direction as an "I" shape.

5. A reusable cable mesh two-finger flexible skeleton according to claim 1, characterized in that: The support frame (5) is a connecting rod structure. One end of the support frame (5) that is not hinged to the support plate (4) has a through hole that is adapted to the optical axis screw (3). The optical axis screw (3) is inserted into the through hole. The support frame (5) and the optical axis screw (3) form a rotating pair.

6. A reusable cable mesh two-finger flexible skeleton according to claim 1, characterized in that: The first section of the gripping plate (81), the second section of the gripping plate (82), the connecting section gripping plate (83), and the last section gripping plate (84) are sequentially hinged together. The first section of the gripping plate (81) is hinged to the side of the support plate (7) away from the eccentric circular rudder disk (6).

7. A reusable cable mesh two-finger flexible skeleton according to claim 1, characterized in that: The eccentric circular rudder disk (6) has a small hole at one end away from its rotation center, and a flexible pull wire connected to the optical axis screw (3) is inserted through the small hole.

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