A gripping mechanism
By designing a gripping mechanism that includes a base, a drive component, a sliding component, and a rhomboid mechanism, and utilizing flexible materials and an underactuated method, the problem of the robot hand's inability to adapt to the gripping of objects of various shapes is solved, achieving stable gripping and a compact structure.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- BEIJING POLYTECHNIC
- Filing Date
- 2025-05-26
- Publication Date
- 2026-06-05
AI Technical Summary
Existing robotic hands struggle to simultaneously achieve stable adaptive gripping and pinching of objects of various shapes, and their structures are complex and costly.
A gripping mechanism is designed, comprising a base, a drive assembly, a sliding assembly, first and second rhomboid mechanisms, a groove assembly, a slide bar assembly, and a rope drive assembly. It utilizes flexible materials and an underactuated method to achieve adaptive clamping and gripping, simplifying the sensing and control system.
It achieves stable adaptive gripping and holding of objects of various shapes, reduces structural complexity and maintenance costs, and is suitable for robot work.
Smart Images
Figure CN224323106U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of robotic hand technology, and in particular to a grasping mechanism. Background Technology
[0002] The robotic hand is a very important component of a robot, mainly used for grasping actions.
[0003] Currently, most robotic hands that work with robots fall into three categories. The first is the industrial gripper, but industrial grippers struggle to provide stable gripping and cannot adapt to the stable envelope grasping of objects of various shapes. The second is the adaptive underactuated finger, which uses an adaptive envelope grasping method but cannot perform pinching or grasping actions. The third is the coupled multi-joint hand, which can rotate multiple joints simultaneously and perform pinching actions, but cannot achieve stable multi-point envelope grasping of objects of various shapes. Therefore, we propose a gripping mechanism that has both gripping function and stable adaptive gripping. Utility Model Content
[0004] The purpose of this invention is to provide a gripping mechanism to solve the problems mentioned in the background art.
[0005] To achieve the above objectives, this utility model provides the following technical solution: a gripping mechanism, comprising:
[0006] Base;
[0007] A driving component, wherein the driving component is disposed on the front side of the base;
[0008] A sliding component, wherein the sliding component is disposed on the front side of the base;
[0009] The first rhomboid mechanism is disposed on the front side of the sliding component;
[0010] The second rhomboid mechanism is disposed on the front side of the sliding component;
[0011] A slide rail assembly, which is connected to a first rhomboid mechanism and a second rhomboid mechanism;
[0012] A slide bar assembly, which is connected to a slide groove assembly;
[0013] A rope drive assembly, which is connected to a slide bar assembly.
[0014] Preferably, the sliding assembly includes a first sliding groove, a first slider, a second slider, and a first spring. The first sliding groove is fixedly connected to the front side of the base. The first slider is slidably embedded in the inner wall of the first sliding groove. The driving assembly is disposed at the top of the first sliding groove. The second slider is slidably embedded in the inner wall of the first sliding groove. One end of the first spring is connected to the bottom end of the second slider, and the other end of the first spring is connected to the top end of the first slider.
[0015] Preferably, the drive assembly includes a driver and a transmission component. The driver is mounted on the front side of the base, the transmission component is mounted on the front side of the base, the output shaft of the driver is connected to the input end of the transmission component, and the output end of the transmission component is connected to the second slider.
[0016] Preferably, the first rhomboid mechanism includes a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a first shaft, a second shaft, and a third shaft. The first shaft is disposed on the front side of the first slider. One end of the first connecting rod is sleeved on the outer wall of the first shaft, and the other end of the first connecting rod is sleeved on the outer wall of the second shaft. One end of the second connecting rod is sleeved on the outer wall of the second shaft, the middle part of the second connecting rod is sleeved on the outer wall of the third shaft, the middle part of the third connecting rod is sleeved on the outer wall of the third shaft, one end of the third connecting rod is sleeved on the outer wall of the fourth shaft, one end of the fourth connecting rod is sleeved on the fourth shaft, and the other end of the fourth connecting rod is sleeved on the outer wall of the first shaft.
[0017] Preferably, the second rhomboid mechanism includes a fifth link, a sixth link, a seventh link, an eighth link, a fifth axis, a sixth axis, and a seventh axis. The fifth axis is disposed on the front side of the second slider. One end of the fifth link is sleeved on the outer wall of the fifth axis, and the other end of the fifth link is sleeved on the outer wall of the sixth axis. One end of the sixth link is sleeved on the outer wall of the sixth axis, and the middle part of the sixth link is sleeved on the outer wall of the third axis. The middle part of the seventh link is sleeved on the outer wall of the third axis, and the other end of the seventh link is sleeved on the outer wall of the seventh axis. One end of the eighth link is sleeved on the outer wall of the seventh axis, and the other end of the eighth link is sleeved on the outer wall of the fifth axis.
[0018] Preferably, the slide rail assembly includes a first right slide rail, a right slide rod, a third right slide rail, a first left slide rail, a left slide rod, and a third left slide rail. The first right slide rail is fixedly connected to the outer wall of the sixth link, the third right slide rail is fixedly connected to the outer wall of the second link, and a plurality of right slide rods are arranged in an array inside the first right slide rail. The first left slide rail is fixedly connected to the outer wall of the seventh link, the third left slide rail is fixedly connected to the outer wall of the third link, and a plurality of left slide rods are arranged in an array inside the first left slide rail. The ends of the right and left slide rods are made of flexible material.
[0019] Preferably, the slide rod assembly includes a first right spring, a first right small shaft, a right bearing, a second right small shaft, a right slide rod seat, a second right spring, a second right slide groove, a third right small shaft, a third right slide groove, a right slider, a right adjusting bolt, a first left spring, a first left small shaft, a left bearing, a second left small shaft, a left slide rod seat, a second left spring, a second left slide groove, a third left small shaft, a third left slide groove, a left slider, and a left adjusting bolt. The first right small shaft array is slidably embedded in the inner wall of the first right slide groove, and the right bearing is sleeved on the first right slide groove. The outer wall of a right small shaft; a second right small shaft is disposed at one end of a first right small shaft; the second right small shaft is connected to a rope transmission assembly; a first right spring is disposed between two adjacent second right small shafts; one end of a right slide block is hinged to one end of a second right small shaft; the other end of the right slide block is fixedly connected to one end of a second right spring; the other end of the second right spring is fixedly connected to one end of a right slide rod; the right slider is slidably embedded in the inner wall of a third right slide groove; and the third right small shaft is fixedly inserted and connected. At the bottom end of the right slider, the second right slide groove is rotatably sleeved on the bottom end of the third right small shaft, the right slide rod is slidably embedded in the inner wall of the second right slide groove, and the right adjusting bolt is set on one side of the third right slide groove; the first left small shaft array is slidably embedded in the inner wall of the first left slide groove, the left bearing is sleeved on the outer wall of the first left small shaft, the second left small shaft is set at one end of the first left small shaft, the second left small shaft is connected to the rope transmission assembly, the first left spring is set between two adjacent second left small shafts, one end of the left slide rod seat is hinged to one end of the second left small shaft, the other end of the left slide rod seat is fixedly connected to one end of the second left spring, the other end of the second left spring is fixedly connected to one end of the left slide rod, the left slider is slidably embedded in the inner wall of the third left slide groove, the third left small shaft is fixedly inserted and connected to the bottom end of the left slider, the second left slide groove is rotatably sleeved on the bottom end of the third left small shaft, the left slide rod is slidably embedded in the inner wall of the second left slide groove, and the left adjusting bolt is set on one side of the third left slide groove.
[0020] Preferably, the rope drive assembly includes a right pull block, a right reverse pulley, a right reverse pulley shaft, a right bracket, a right rope, a right guide pulley, a right guide pulley shaft, a left pull block, a left reverse pulley, a left reverse pulley shaft, a left bracket, a left rope, a left guide pulley, a left guide pulley shaft, a first wheel, a second wheel, a gear, a rack, a main rope, and a main steering mechanism. The rack is fixedly connected to the front of the base. The gear is sleeved on the outer wall of the first shaft, and the outer wall of the gear meshes with the outer wall of the rack. The first wheel is fixedly connected to the front of the gear. The second wheel is sleeved on the outer wall of the fifth shaft. The main steering mechanism is sleeved on the outer wall of the third shaft. The right guide pulley is sleeved on the outer wall of the right guide pulley shaft. The right guide pulley shaft is located on the front of the sixth link. The right bracket is fixedly connected to the end of the first right slide groove. The right reverse pulley shaft is fixedly connected to the inside of the right bracket. The left guide wheel shaft is located on the front of the seventh link and is fitted onto the outer wall of the right reverse wheel shaft. The left guide wheel is fitted onto the outer wall of the left guide wheel shaft. The left bracket is fixedly connected to the end of the first left slide groove. The left reverse wheel shaft is fixedly connected to the inside of the left bracket. The left reverse wheel is fitted onto the outer wall of the left reverse wheel shaft. One end of the main rope is fixedly connected to the outer wall of the first wheel. The main rope is wound around the outer wall of the second wheel. The other end of the main rope is fixedly connected to the left rope and the right rope. A left pull block is fitted onto the outer wall of one of the second left small shafts. One end of the left rope passes through the main steering mechanism, the left guide wheel, and the left reverse wheel in sequence and is fixedly connected to one side of the left pull block. A right pull block is fitted onto the outer wall of one of the second right small shafts. One end of the right rope passes through the main steering mechanism, the right guide wheel, and the right reverse wheel in sequence and is fixedly connected to one side of the right pull block.
[0021] The technical effects and advantages of this utility model are as follows:
[0022] (1) This utility model utilizes the first rhomboid mechanism, the second rhomboid mechanism, the slide groove assembly, the slide rod assembly and the rope transmission assembly. The ends of the left slide rod and the right slide rod are made of flexible materials, which can not only clamp objects but also not damage the surface of the objects. It also enables the gripping mechanism to achieve adaptive clamping and gripping functions according to the different contour surface shapes of the target objects, and improves the gripping range of the gripping mechanism.
[0023] (2) By using the drive component and the sliding component, the gripping mechanism can work in an underactuated manner. A single driver is used to drive the first and second sliders. This eliminates the need for complex sensing and control systems, resulting in a compact gripping mechanism with a small size, reduced manufacturing and maintenance costs, and suitability for use with robots. Attached Figure Description
[0024] Figure 1 This is a three-dimensional structural diagram of the present invention.
[0025] Figure 2This is a three-dimensional structural diagram of the first rhomboid mechanism of this utility model.
[0026] Figure 3 This is a three-dimensional structural diagram of the slide bar assembly of this utility model.
[0027] Figure 4 This is a schematic diagram of the inverted three-dimensional structure of the slide rod assembly of this utility model.
[0028] In the diagram: 1. Base; 11. Driver; 12. Transmission component; 13. First slide groove; 14. First slider; 15. Second slider; 16. First spring; 21. First connecting rod; 22. Second connecting rod; 23. Third connecting rod; 24. Fourth connecting rod; 25. Fifth connecting rod; 26. Sixth connecting rod; 27. Seventh connecting rod; 28. Eighth connecting rod; 31. First shaft; 32. Second shaft; 33. Third shaft; 34. Fourth shaft; 35. Fifth shaft; 36. Sixth shaft; 37. Seventh shaft; 41. First right slide groove; 42. First right spring; 43. First right small shaft; 44. Right bearing; 45. Second right small shaft; 46. Right slide rod seat; 47. Second right spring; 48. Right slide rod; 49. Second right slide groove; 49. Third right small shaft; 50. Right pull block; 51. Right reverse wheel; 1. Right reverse wheel axle; 52. Right bracket; 53. Right rope; 54. Right guide wheel; 541. Right guide wheel axle; 55. Third right slide groove; 56. Right slider; 57. Right adjusting bolt; 61. First left slide groove; 62. First left spring; 63. First left small shaft; 64. Left bearing; 65. Second left small shaft; 66. Left slide rod seat; 67. Second left spring; 68. Left slide rod; 69. Second left slide groove; 691. Third left small shaft; 70. Left pull block; 71. Left reverse wheel; 711. Left reverse wheel axle; 72. Left bracket; 73. Left rope; 74. Left guide wheel; 741. Left guide wheel axle; 75. Third left slide groove; 76. Left slider; 77. Left adjusting bolt; 81. First wheel; 82. Second wheel; 83. Gear; 84. Rack; 85. Main rope; 86. Main steering mechanism. Detailed Implementation
[0029] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.
[0030] This utility model provides, for example Figures 1-4The gripping mechanism shown includes a base 1, a drive assembly, a sliding assembly, a first rhomboid mechanism, a second rhomboid mechanism, a groove assembly, a slide rod assembly, and a rope transmission assembly. The drive assembly and the sliding assembly are both located on the front of the base 1. The first and second rhomboid mechanisms are located on the front of the sliding assembly. The groove assembly is connected to both the first and second rhomboid mechanisms. The slide rod assembly is connected to the groove assembly. The rope transmission assembly is connected to the slide rod assembly. The mechanism utilizes the arrangement of the first and second rhomboid mechanisms, the groove assembly, the slide rod assembly, and the rope transmission assembly. Furthermore, the ends of the left slider 68 and the right slider 48 are made of flexible materials, which can grip objects without damaging their surfaces. This allows the gripping mechanism to adaptively grip and hold objects based on their contours, thus increasing its gripping range. By utilizing the drive and sliding components, the gripping mechanism operates in an underactuated manner, using a single driver 11 to drive the first slider 14 and the second slider 15. This eliminates the need for complex sensing and control systems, resulting in a compact and small gripping mechanism that reduces manufacturing and maintenance costs and is suitable for use with robots.
[0031] The sliding assembly includes a first slide groove 13, a first slider 14, a second slider 15, and a first spring 16. The first slide groove 13 is fixedly connected to the front of the base 1. The first slider 14 is slidably embedded in the inner wall of the first slide groove 13. The driving assembly is located at the top of the first slide groove 13. The second slider 15 is slidably embedded in the inner wall of the first slide groove 13. One end of the first spring 16 is connected to the bottom end of the second slider 15, and the other end of the first spring 16 is connected to the top end of the first slider 14. The second slider 15 and the first slider 14 are connected by the first spring 16, so that the sliding assembly works in an underactuated manner. The first slider 14 and the second slider 15 are driven by a single driver 11, eliminating the need for a complex sensing and control system. This makes the gripping mechanism compact, small in size, and reduces manufacturing and maintenance costs.
[0032] The drive assembly includes a driver 11 and a transmission component 12. The driver 11 is mounted on the front of the base 1, and the transmission component 12 is mounted on the front of the base 1. The output shaft of the driver 11 is connected to the input end of the transmission component 12, and the output end of the transmission component 12 is connected to the second slider 15. The transmission component 12 converts the motion of the driver 11 into the translational motion of the second slider 15, thereby driving the second slider 15 and the first slider 14 to move within the first slide groove 13. The driver 11 is electrically connected to an external power supply through an external switch, which facilitates the operator's control of it and improves the convenience and stability of the driver 11's operation.
[0033] The first rhomboid mechanism includes a first connecting rod 21, a second connecting rod 22, a third connecting rod 23, a fourth connecting rod 24, a first shaft 31, a second shaft 32, and a third shaft 33. The first shaft 31 is located on the front of the first slider 14. One end of the first connecting rod 21 is sleeved on the outer wall of the first shaft 31, and the other end of the first connecting rod 21 is sleeved on the outer wall of the second shaft 32. One end of the second connecting rod 22 is sleeved on the outer wall of the second shaft 32, and the middle part of the second connecting rod 22 is sleeved on the outer wall of the third shaft 33. The middle part of the third connecting rod 23 is sleeved on the outer wall of the third shaft 33. One end of the third connecting rod 23 is sleeved on the outer wall of the fourth shaft 34, and one end of the fourth connecting rod 24 is sleeved on the fourth shaft 34. The other end of the fourth connecting rod 24 is sleeved on the outer wall of the first shaft 31. The first rhomboid mechanism can be driven to work by the movement of the first slider 14 in the first slide groove 13.
[0034] The second rhomboid mechanism includes a fifth link 25, a sixth link 26, a seventh link 27, an eighth link 28, a fifth shaft 35, a sixth shaft 36, and a seventh shaft 37. The fifth shaft 35 is located on the front of the second slider 15. One end of the fifth link 25 is fitted onto the outer wall of the fifth shaft 35, and the other end of the fifth link 25 is fitted onto the outer wall of the sixth shaft 36. One end of the sixth link 26 is fitted onto the outer wall of the sixth shaft 36, and the middle part of the sixth link 26 is fitted onto the outer wall of the third shaft 33. The middle part of the seventh link 27 is fitted onto the outer wall of the third shaft 33, and the other end of the seventh link 27 is fitted onto the outer wall of the seventh shaft 37. One end of the eighth link 28 is fitted onto the outer wall of the seventh shaft 37, and the other end of the eighth link 28 is fitted onto the outer wall of the fifth shaft 35. The second rhomboid mechanism can be driven to work by the movement of the second slider 15 within the first slide groove 13.
[0035] The slide rail assembly includes a first right slide rail 41, a right slide rod 48, a third right slide rail 55, a first left slide rail 61, a left slide rod 68, and a third left slide rail 75. The first right slide rail 41 is fixedly connected to the outer wall of the sixth link 26, the third right slide rail 55 is fixedly connected to the outer wall of the second link 22, and multiple right slide rods 48 are arrayed inside the first right slide rail 41. The first left slide rail 61 is fixedly connected to the outer wall of the seventh link 27, the third left slide rail 75 is fixedly connected to the outer wall of the third link 23, and multiple left slide rods 48 are arrayed inside the first right slide rail 41. An array of rods 68 is disposed inside the first left slide groove 61. The ends of the right slide rod 48 and the left slide rod 68 are made of flexible material. The slide rod assembly includes a first right spring 42, a first right small shaft 43, a right bearing 44, a second right small shaft 45, a right slide rod seat 46, a second right spring 47, a second right slide groove 49, a third right small shaft 491, a third right slide groove 55, a right slider 56, a right adjusting bolt 57, a first left spring 62, a first left small shaft 63, a left bearing 64, a second left small shaft 65, a left slide rod seat 66, and a second right spring 47. The system includes two left springs 67, a second left slide groove 69, a third left small shaft 691, a third left slide groove 75, a left slider 76, and a left adjusting bolt 77. A first right small shaft 43 is slidably embedded in the inner wall of the first right slide groove 41. A right bearing 44 is sleeved on the outer wall of the first right small shaft 43. A second right small shaft 45 is located at one end of the first right small shaft 43 and is connected to the rope drive assembly. A first right spring 42 is located between two adjacent second right small shafts 45. One end of a right slide rod seat 46 is hinged to the second right small shaft 43. One end of shaft 45 and the other end of right slide rod seat 46 are fixedly connected to one end of second right spring 47. The other end of second right spring 47 is fixedly connected to one end of right slide rod 48. Right slide block 56 is slidably embedded in the inner wall of third right slide groove 55. Third right small shaft 491 is fixedly inserted and connected to the bottom end of right slide block 56. Second right slide groove 49 is rotatably sleeved on the bottom end of third right small shaft 491. Right slide rod 48 is slidably embedded in the inner wall of second right slide groove 49. Right adjusting bolt 57 is set on one side of third right slide groove 55.The first left small shaft 63 is slidably embedded in the inner wall of the first left slide groove 61. The left bearing 64 is sleeved on the outer wall of the first left small shaft 63. The second left small shaft 65 is disposed at one end of the first left small shaft 63 and is connected to the rope transmission assembly. The first left spring 62 is disposed between two adjacent second left small shafts 65. One end of the left slide rod seat 66 is hinged to one end of the second left small shaft 65, and the other end of the left slide rod seat 66 is fixedly connected to one end of the second left spring 67. The other end of the second left spring 67 is fixedly connected to the left slide rod 67. At one end of the 8, the left slider 76 is slidably embedded in the inner wall of the third left slide groove 75, the third left small shaft 691 is fixedly inserted and connected to the bottom end of the left slider 76, the second left slide groove 69 is rotatably sleeved on the bottom end of the third left small shaft 691, the left slide rod 68 is slidably embedded in the inner wall of the second left slide groove 69, and the left adjusting bolt 77 is set on one side of the third left slide groove 75. The operation of the second and first rhomboid mechanisms drives the slide groove assembly and the slide rod assembly, thereby enabling the left slide rod 68 and the right slide rod 48 to clamp and grasp external objects.
[0036] The rope drive assembly includes a right pull block 50, a right reverse pulley 51, a right reverse pulley shaft 511, a right bracket 52, a right rope 53, a right guide pulley 54, a right guide pulley shaft 541, a left pull block 70, a left reverse pulley 71, a left reverse pulley shaft 711, a left bracket 72, a left rope 73, a left guide pulley 74, a left guide pulley shaft 741, a first wheel 81, a second wheel 82, a gear 83, a rack 84, a main rope 85, and a main guide directional device 86. The rack 84 is fixedly connected to the front of the base 1. The gear 83 is sleeved on the outer wall of the first shaft 31, and the outer wall of the gear 83 meshes with the outer wall of the rack 84. The first wheel 81 is fixedly connected to... On the front of gear 83, the second wheel 82 is fitted onto the outer wall of the fifth shaft 35, the main guide 86 is fitted onto the outer wall of the third shaft 33, the right guide wheel 54 is fitted onto the outer wall of the right guide wheel shaft 541, the right guide wheel shaft 541 is located on the front of the sixth link 26, the right bracket 52 is fixedly connected to the end of the first right slide groove 41, the right reverse wheel shaft 511 is fixedly connected to the inside of the right bracket 52, the right reverse wheel 51 is fitted onto the outer wall of the right reverse wheel shaft 511, the left guide wheel shaft 741 is located on the front of the seventh link 27, the left guide wheel 74 is fitted onto the outer wall of the left guide wheel shaft 741, and the left bracket 72 is fixedly connected to the first left slide groove 41. At the end of groove 61, the left reverse wheel axle 711 is fixedly connected to the inside of the left bracket 72. The left reverse wheel 71 is sleeved on the outer wall of the left reverse wheel axle 711. One end of the main rope 85 is fixedly connected to the outer wall of the first wheel 81. The main rope 85 is wound around the outer wall of the second wheel 82. The other end of the main rope 85 is fixedly connected to the left rope 73 and the right rope 53. A left pull block 70 is sleeved on the outer wall of one of the second left small shafts 65. One end of the left rope 73 passes through the main guide 86, the left guide wheel 74, and the left reverse wheel 71 in sequence and is fixedly connected to one side of the left pull block 70. A right pull block 50 is sleeved on the outer wall of one of the second right small shafts 45. One end of the rope 53 passes sequentially through the main guide 86, the right guide wheel 54, and the right reverse wheel 51, and is fixedly connected to one side of the right pull block 50. The first slider 14 moves, driving the first shaft 31 to move, which in turn drives the gear 83 to move. Through the meshing of the gear 83 and the rack 84, the gear 83 rotates during its movement. The rotation of the gear 83 drives the first wheel 81 to rotate, thereby winding or unwinding the main rope 85 fixed to the first wheel 81. The movement of the main rope 85 drives the left pull block 70 and the right pull block 50 to move through the movement of the left rope 73 and the right rope 53, thus enabling the rope transmission assembly to work.
[0037] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.
Claims
1. A gripping mechanism, characterized in that, include: Base (1); A drive assembly is disposed on the front side of the base (1); A sliding component is disposed on the front side of the base (1); The first rhomboid mechanism is disposed on the front side of the sliding component; The second rhomboid mechanism is disposed on the front side of the sliding component; A slide rail assembly, which is connected to a first rhomboid mechanism and a second rhomboid mechanism; A slide bar assembly, which is connected to a slide groove assembly; A rope drive assembly, which is connected to a slide bar assembly.
2. The gripping mechanism according to claim 1, characterized in that, The sliding assembly includes a first slide groove (13), a first slider (14), a second slider (15), and a first spring (16). The first slide groove (13) is fixedly connected to the front of the base (1). The first slider (14) is slidably embedded in the inner wall of the first slide groove (13). The driving assembly is disposed at the top of the first slide groove (13). The second slider (15) is slidably embedded in the inner wall of the first slide groove (13). One end of the first spring (16) is connected to the bottom end of the second slider (15), and the other end of the first spring (16) is connected to the top of the first slider (14).
3. The gripping mechanism according to claim 2, characterized in that, The drive assembly includes a driver (11) and a transmission component (12). The driver (11) is mounted on the front side of the base (1), and the transmission component (12) is mounted on the front side of the base (1). The output shaft of the driver (11) is connected to the input end of the transmission component (12), and the output end of the transmission component (12) is connected to the second slider (15).
4. A gripping mechanism according to claim 3, characterized in that, The first rhomboid mechanism includes a first connecting rod (21), a second connecting rod (22), a third connecting rod (23), a fourth connecting rod (24), a first shaft (31), a second shaft (32), and a third shaft (33). The first shaft (31) is disposed on the front of the first slider (14). One end of the first connecting rod (21) is sleeved on the outer wall of the first shaft (31), and the other end of the first connecting rod (21) is sleeved on the outer wall of the second shaft (32). One end of the second connecting rod (22) is sleeved on the outer wall of the second shaft (32), the middle part of the second connecting rod (22) is sleeved on the outer wall of the third shaft (33), the middle part of the third connecting rod (23) is sleeved on the outer wall of the third shaft (33), one end of the third connecting rod (23) is sleeved on the outer wall of the fourth shaft (34), one end of the fourth connecting rod (24) is sleeved on the fourth shaft (34), and the other end of the fourth connecting rod (24) is sleeved on the outer wall of the first shaft (31).
5. A gripping mechanism according to claim 4, characterized in that, The second rhomboid mechanism includes a fifth link (25), a sixth link (26), a seventh link (27), an eighth link (28), a fifth shaft (35), a sixth shaft (36), and a seventh shaft (37). The fifth shaft (35) is located on the front of the second slider (15). One end of the fifth link (25) is fitted onto the outer wall of the fifth shaft (35), and the other end of the fifth link (25) is fitted onto the outer wall of the sixth shaft (36). One end of the sixth link (26) is fitted onto the outer wall of the sixth shaft (36), the middle part of the sixth link (26) is fitted onto the outer wall of the third shaft (33), the middle part of the seventh link (27) is fitted onto the outer wall of the third shaft (33), the other end of the seventh link (27) is fitted onto the outer wall of the seventh shaft (37), one end of the eighth link (28) is fitted onto the outer wall of the seventh shaft (37), and the other end of the eighth link (28) is fitted onto the outer wall of the fifth shaft (35).
6. A gripping mechanism according to claim 5, characterized in that, The slide assembly includes a first right slide (41), a right slide rod (48), a third right slide (55), a first left slide (61), a left slide rod (68), and a third left slide (75). The first right slide (41) is fixedly connected to the outer wall of the sixth link (26), the third right slide (55) is fixedly connected to the outer wall of the second link (22), and a plurality of right slide rods (48) are arranged in an array inside the first right slide (41). The first left slide (61) is fixedly connected to the outer wall of the seventh link (27), the third left slide (75) is fixedly connected to the outer wall of the third link (23), and a plurality of left slide rods (68) are arranged in an array inside the first left slide (61). The ends of the right slide rods (48) and the left slide rods (68) are made of flexible material.
7. A gripping mechanism according to claim 6, characterized in that, The slide rod assembly includes a first right spring (42), a first right small shaft (43), a right bearing (44), a second right small shaft (45), a right slide rod seat (46), a second right spring (47), a second right slide groove (49), a third right small shaft (491), a third right slide groove (55), a right slider (56), a right adjusting bolt (57), a first left spring (62), a first left small shaft (63), a left bearing (64), a second left small shaft (65), a left slide rod seat (66), a second left spring (67), a second left slide groove (69), a third left small shaft (691), a third left slide groove (75), a left slider (76), and a left adjusting bolt (77). The first right small shaft (43) is slidably embedded in the array. The inner wall of the first right slide groove (41), the right bearing (44) is sleeved on the outer wall of the first right small shaft (43), the second right small shaft (45) is disposed at one end of the first right small shaft (43), the second right small shaft (45) is connected to the rope transmission assembly, the first right spring (42) is disposed between two adjacent second right small shafts (45), one end of the right slide rod seat (46) is hinged to one end of the second right small shaft (45), the other end of the right slide rod seat (46) is fixedly connected to one end of the second right spring (47), the other end of the second right spring (47) is fixedly connected to one end of the right slide rod (48), the right slider (56) is slidably embedded in the inner wall of the third right slide groove (55), the third The right small shaft (491) is fixedly inserted and connected to the bottom end of the right slider (56). The second right slide groove (49) is rotatably sleeved on the bottom end of the third right small shaft (491). The right slide rod (48) is slidably embedded in the inner wall of the second right slide groove (49). The right adjusting bolt (57) is set on one side of the third right slide groove (55). The first left small shaft (63) array is slidably embedded in the inner wall of the first left slide groove (61). The left bearing (64) is sleeved on the outer wall of the first left small shaft (63). The second left small shaft (65) is set at one end of the first left small shaft (63). The second left small shaft (65) is connected to the rope transmission assembly. The first left spring (62) is set on two adjacent second left small shafts (56). Between 65), one end of the left slide rod seat (66) is hinged to one end of the second left small shaft (65), the other end of the left slide rod seat (66) is fixedly connected to one end of the second left spring (67), the other end of the second left spring (67) is fixedly connected to one end of the left slide rod (68), the left slide block (76) is slidably embedded in the inner wall of the third left slide groove (75), the third left small shaft (691) is fixedly inserted and connected to the bottom end of the left slide block (76), the second left slide groove (69) is rotatably sleeved on the bottom end of the third left small shaft (691), the left slide rod (68) is slidably embedded in the inner wall of the second left slide groove (69), and the left adjusting bolt (77) is set on one side of the third left slide groove (75).
8. A gripping mechanism according to claim 7, characterized in that, The rope drive assembly includes a right pull block (50), a right reverse pulley (51), a right reverse pulley shaft (511), a right bracket (52), a right rope (53), a right guide pulley (54), a right guide pulley shaft (541), a left pull block (70), a left reverse pulley (71), a left reverse pulley shaft (711), a left bracket (72), a left rope (73), a left guide pulley (74), a left guide pulley shaft (741), a first wheel (81), a second wheel (82), a gear (83), a rack (84), a main rope (85), and a main steering mechanism (86). The rack (84) is fixedly connected to the front of the base (1), and the gear (83) is sleeved on... Located on the outer wall of the first shaft (31), the outer wall of the gear (83) meshes with the outer wall of the rack (84). The first wheel (81) is fixedly connected to the front of the gear (83). The second wheel (82) is sleeved on the outer wall of the fifth shaft (35). The main guide (86) is sleeved on the outer wall of the third shaft (33). The right guide wheel (54) is sleeved on the outer wall of the right guide wheel shaft (541). The right guide wheel shaft (541) is located on the front of the sixth link (26). The right bracket (52) is fixedly connected to the end of the first right slide groove (41). The right reverse wheel shaft (511) is fixedly connected to the right bracket (541). Inside 2), the right reverse wheel (51) is sleeved on the outer wall of the right reverse wheel axle (511), the left guide wheel axle (741) is located on the front of the seventh link (27), the left guide wheel (74) is sleeved on the outer wall of the left guide wheel axle (741), the left bracket (72) is fixedly connected to the end of the first left slide groove (61), the left reverse wheel axle (711) is fixedly connected to the inside of the left bracket (72), the left reverse wheel (71) is sleeved on the outer wall of the left reverse wheel axle (711), one end of the main rope (85) is fixedly connected to the outer wall of the first wheel (81), and the main rope (85) is wound around the second wheel. The outer wall of (82) is provided with a left pull block (70) on the other end of the main rope (85), and the left pull block (70) is fixedly connected to the left rope (73) and the right rope (53) on the other end. The outer wall of one of the second left small shafts (65) is provided with a left pull block (70). One end of the left rope (73) passes through the main guide (86), the left guide wheel (74), and the left reverse wheel (71) in sequence and is fixedly connected to one side of the left pull block (70). The outer wall of one of the second right small shafts (45) is provided with a right pull block (50). One end of the right rope (53) passes through the main guide (86), the right guide wheel (54), and the right reverse wheel (51) in sequence and is fixedly connected to one side of the right pull block (50).