Intelligent grabbing robot based on rope-driven orthogonal flexible mechanical arm

Abstract

The invention discloses an intelligent grabbing robot based on a rope-driven orthogonal flexible mechanical arm. The intelligent grabbing robot comprises the rope-driven orthogonal flexible mechanical arm, an intelligent soft gripper, an intelligent trolley and a base. The rope-driven orthogonal flexible mechanical arm comprises a driving motor, an orthogonal flexible supporting beam, a section disc and a driving rope. The intelligent soft gripper comprises a silica gel finger, a driving device, a touch sensor and an information collecting device. The intelligent trolley comprises a chassis, Mecanum wheels and a sensing mechanism; the base comprises a connecting piece I, a connecting piece II, a rotating motor and a connecting piece III; the intelligent grabbing robot based on the rope-driven orthogonal flexible mechanical arm has high flexibility and safety, is high in control precision, and is suitable for operation in various unstructured scenes needing high flexibility and high safety.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to an intelligent grasping robot based on a cable-driven orthogonal flexible robotic arm. Background Art

[0002] Industrial grasping robots are widely used in various industries, especially playing an important role in the fields of logistics and warehousing, rescue and special operations, and medical treatment. Traditional grasping robots mostly adopt rigid robotic arms and rigid grippers. The rigid robotic arms have poor flexibility and high collision risks, and the rigid grippers have weak adaptability, require customized fixtures, are costly, and cannot grasp fragile items. In practical application scenarios such as grasping goods in the gaps of shelves, grasping obstacles in earthquake ruins, and picking fruits and vegetables in farmland in narrow and complex environments, traditional grasping robots have great limitations. Therefore, it is necessary to create a grasping robot with strong flexibility, strong adaptability, and high safety. Summary of the Invention

[0003] To solve the above problems, the present invention proposes an intelligent grasping robot based on a cable-driven orthogonal flexible robotic arm, which uses an intelligent trolley as the base and cooperates with a cable-driven orthogonal flexible robotic arm and an intelligent soft gripper for grasping operations. Utilize the advantages of the cable-driven orthogonal flexible robotic arm, such as small size, fast response, and strong flexibility, so that it can perform grasping operations efficiently and flexibly in various narrow and complex environments; adopt an intelligent soft gripper that can adapt to different shapes, has strong versatility, and can grasp precision, fragile, and breakable items; and is equipped with an intelligent trolley to enable it to have full-scenario coverage capabilities.

[0004] The technical solution adopted by the embodiment of the present invention to solve the above technical problems is: to provide an intelligent grasping robot based on a cable-driven orthogonal flexible robotic arm, including a cable-driven orthogonal flexible robotic arm, an intelligent soft gripper, an intelligent trolley, and a base. One end of the cable-driven orthogonal flexible robotic arm is fixedly connected to the base, and the other end of the cable-driven orthogonal flexible robotic arm is fixedly connected to the intelligent soft gripper; the base is fixedly connected to the intelligent trolley; the cable-driven orthogonal flexible robotic arm includes a driving module, an orthogonal flexible support beam, joint discs, and driving cables; the joint discs and the orthogonal flexible support beam are fixedly connected and evenly distributed in the length direction of the orthogonal flexible support beam; the driving cables pass through the wire holes on the joint discs and are evenly distributed in the circumferential direction of the joint discs. One end of the driving cable is fixedly connected to the winding wheel in the driving module, and the other end is fixedly connected to the joint disc at the end of the orthogonal flexible support beam;

[0005] Further define that the orthogonal flexible support beam includes arm segment I and arm segment II; arm segment I is fixedly connected to arm segment II; arm segment I deforms in a vertical plane driven by the driving rope, and arm segment II deforms in a horizontal plane driven by the driving rope. The driving rope drives arm segment I and arm segment II to deform in plane I and plane II respectively, and plane I and plane II are perpendicular to each other.

[0006] Further define that the driving module includes a driving motor, a coupling and a winding wheel, which are distributed in a ring shape; the winding wheel is fixedly connected to the driving motor through the coupling; the driving motor drives the winding wheel to rotate, thereby pulling the driving rope and causing the orthogonal flexible support beam to deform.

[0007] Further define that the intelligent soft gripper includes silicone fingers, a driving device, a transmission lead screw, a moving platform, a tactile sensor, an embedded inertial measurement unit and a 3D vision device; the silicone fingers are respectively hinged to the driving device and the sliding platform; the driving device is fixedly connected to the transmission lead screw; the transmission lead screw is threadedly connected to the sliding platform; the guide rail is fixedly connected to the driving device, and the sliding platform is located within the guide rail; the driving device drives the transmission lead screw to rotate, and when the transmission lead screw rotates, it can drive the sliding platform to slide along the guide rail, thereby driving the silicone fingers to open and close for grasping operations.

[0008] Further define that the intelligent vehicle includes a chassis, Mecanum wheels, and a sensing mechanism; a plurality of mounting holes are arranged on the chassis for fixedly installing the sensing mechanism and the base. The intelligent vehicle can dynamically adjust the moving route according to the grasping requirements of the cable-driven orthogonal flexible manipulator, avoid obstacles and reach the target position, and can select the optimal path according to different task priorities in a complex environment.

[0009] Further define that the base is composed of connecting piece I, connecting piece II, a rotating motor and connecting piece III; connecting piece I is fixedly connected to connecting piece II, connecting piece II is hinged to connecting piece III, connecting piece I is fixedly connected to one end of the cable-driven orthogonal flexible manipulator, connecting piece II is fixedly connected to the chassis, and the rotating motor is fixedly connected to connecting piece II for driving the cable-driven orthogonal flexible manipulator to rotate.

[0010] Further limit that the tactile sensor is fixedly connected to the silicone finger; the tactile sensor is used to sense the weight of the object to be grasped, and realizing real-time visualization of stress distribution can effectively cope with the grasping of fragile items; the embedded inertial measurement unit is fixedly connected to the driving device, and can obtain the position and pose information of the intelligent soft gripper and transmit this information to the control system for motion compensation; the 3D vision device is fixedly connected to the sliding platform, and can identify the material of the object to be grasped and the working environment, support material classification such as metal, glass, fabric, etc., and can quickly generate a depth map of the capture environment to help the control system make corresponding automatic capture decisions in a timely manner.

[0011] Further limit that the sensing mechanism consists of an obstacle avoidance module and a binocular vision module distributed around the vehicle body; the obstacle avoidance module is used for vehicle obstacle avoidance, and the binocular vision module is used to sense the working environment around the vehicle body in real time and construct a three-dimensional map.

[0012] Further limit that an intelligent grasping robot based on a cable-driven orthogonal flexible robotic arm further includes a control system, and the control system is placed inside the intelligent trolley to control the coordinated operation of the entire device through the control system.

[0013] Further limit the usage method of an intelligent grasping robot based on a cable-driven orthogonal flexible robotic arm, including the following steps:

[0014] S1. Input the task target into the computer, and obtain the position control parameters and arm shape control parameters of the intelligent grasping robot through the control software of the intelligent grasping robot.

[0015] S2. Transmit the control parameters to the intelligent grasping robot, and the control system moves the intelligent grasping robot to the target position according to the position control parameters.

[0016] S3. The control system pulls the driving cable (14) to move according to the arm shape control parameters, deforms the cable-driven orthogonal flexible robotic arm (1), and the intelligent soft gripper (2) at the end of the cable-driven orthogonal flexible robotic arm (1) reaches the target position.

[0017] S4. The control system controls the intelligent soft gripper (2) to complete the capture operation and return to the designated position.

[0018] Further limit that the control software of the intelligent grasping robot is written based on Matlab software.

[0019] The advantages of the present invention are:

[0020] The intelligent grasping robot based on a cable-driven orthogonal flexible robotic arm of the present invention can perform grasping operations efficiently and flexibly in various narrow and complex environments; it can adapt to multiple shapes, with strong versatility; it can automatically identify and grasp various precision, fragile, and breakable items; and it has the ability to cover the entire scene. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the intelligent grasping robot based on a cable-driven orthogonal flexible robotic arm according to an embodiment of the present invention;

[0022] Figure 2 It is a schematic diagram of the structure of the cable-driven orthogonal flexible robotic arm of the intelligent grasping robot based on a cable-driven orthogonal flexible robotic arm according to an embodiment of the present invention;

[0023] Figure 3 is Figure 2 a schematic diagram of the structure of the orthogonal flexible support beam in

[0024] Figure 4 It is a schematic diagram of the structure of an embodiment of the drive module of the present invention;

[0025] Figure 5 It is a schematic diagram of the structure of the intelligent soft gripper of the intelligent grasping robot based on a cable-driven orthogonal flexible robotic arm according to an embodiment of the present invention;

[0026] Figure 6 It is a schematic diagram of the structure of the intelligent trolley of the intelligent grasping robot based on a cable-driven orthogonal flexible robotic arm according to an embodiment of the present invention;

[0027] Figure 7 It is a schematic diagram of the structure of the base of the intelligent grasping robot based on a cable-driven orthogonal flexible robotic arm according to an embodiment of the present invention;

[0028] In the figure: 1 - cable-driven orthogonal flexible robotic arm, 2 - intelligent soft gripper, 3 - intelligent trolley, 4 - base, 11 - drive module, 12 - orthogonal flexible support beam, 13 - joint disc, 14 - drive cable, 15 - arm segment Ⅰ, 16 - arm segment Ⅱ, 17 - drive motor, 18 - coupling, 19 - wire winding wheel, 21 - silicone finger, 22 - drive device, 23 - transmission lead screw, 24 - moving platform, 25 - guide rail, 26 - tactile sensor, 27 - embedded inertial measurement unit, 28 - 3D vision device, 31 - chassis, 32 - Mecanum wheel, 33 - mounting hole, 34 - obstacle avoidance module, 35 - binocular vision module, 41 - connecting piece Ⅰ, 42 - connecting piece Ⅱ, 43 - rotating motor, 44 - connecting piece Ⅲ. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0029] The concept, specific structure and technical effects of the present invention will be clearly and completely described below in conjunction with the embodiments and the drawings, so as to fully understand the purpose, solution and effects of the present invention. It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

[0030] In the description of the embodiments of the present invention, if it involves orientation description, such as "upper", "lower", "front", "rear", "left", "right", etc., the orientation or positional relationship indicated is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, so it cannot be understood as a limitation to the present invention.

[0031] In the description of the embodiments of the present invention, if a certain feature is described as "set", "fixed", "connected", "installed" on another feature, it can be directly set, fixed, connected on another feature, or indirectly set, fixed, connected, installed on another feature. In the description of the embodiments of the present invention, if it involves "several", its meaning is more than one; if it involves "multiple", its meaning is more than two; if it involves "greater than", "less than", "exceeding", it should be understood as not including the number itself; if it involves "above", "below", "within", it should be understood as including the number itself. If it involves "first", "second", it should be understood as used to distinguish technical features, rather than indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence relationship of the indicated technical features.

[0032] Refer to Figure 1 The intelligent grasping robot based on the cable-driven orthogonal flexible robotic arm of the present invention includes a cable-driven orthogonal flexible robotic arm 1, an intelligent soft gripper 2, an intelligent trolley 3 and a base 4. The cable-driven orthogonal flexible robotic arm 1 is used to drive the intelligent soft gripper 2 to perform grasping operations and can perform grasping in various narrow and complex environments; the intelligent soft gripper 2 is used to grasp the target object, can adapt to different shapes, has strong versatility, and can grasp precision, fragile and breakable items; the intelligent trolley 3 is used to support the cable-driven orthogonal flexible robotic arm 1 and install various accessories, has the ability to quickly and flexibly cover the entire scene, and can give full play to the advantages of the cable-driven orthogonal flexible robotic arm 1, such as small size, fast response and strong flexibility; the base 4 is used to drive the cable-driven orthogonal flexible robotic arm 1 to rotate, which can improve the working efficiency of the intelligent grasping robot.

[0033] Refer to Figure 1 And Figure 2, one end of the cable-driven orthogonal flexible robotic arm 1 is fixedly connected to the base 4, and the other end of the cable-driven orthogonal flexible robotic arm 1 is fixedly connected to the intelligent soft gripper 2. The fixed connection method is preferably fixed by bolts. The base 4 is fixedly connected to the intelligent trolley 3, and the fixed connection method is preferably fixed by bolts. The cable-driven orthogonal flexible robotic arm 1 includes a driving module 11, an orthogonal flexible support beam 12, a joint disc 13, and a driving cable 14. The joint disc 13 and the orthogonal flexible support beam 12 are fixedly connected, and the fixed connection method is preferably fixed by bonding and is evenly distributed in the length direction of the orthogonal flexible support beam 12. The driving cable 14 passes through the wire holes on the joint disc 13 and is evenly distributed in the circumferential direction of the joint disc 13. One end of the driving cable 14 is fixedly connected to the driving module 11, and the other end is fixedly connected to the joint disc 13 at the end of the orthogonal flexible support beam 12. The driving module 11 drives the driving cable 14 to move, and the driving cable 14 can pull the orthogonal flexible support beam 12 to bend and deform.

[0034] Referring to Figure 3 , the orthogonal flexible support beam 12 is composed of an arm segment I 15 and an arm segment II 16. The arm segment I 15 and the arm segment II 16 are fixedly connected, and the fixed connection method is preferably fixed by bonding. The driving cables 14 are respectively fixedly connected to the joint discs 13 at the ends of the arm segment I 15 and the arm segment II 16, and the fixed connection method is preferably fixed by bonding. The driving cables 14 drive the arm segment I 15 and the arm segment II 16 to deform in the plane I and the plane II respectively, and the plane I and the plane II are perpendicular to each other.

[0035] Referring to Figure 4 , the driving module 11 includes a driving motor 17, a coupling 18, and a wire winding wheel 19; the wire winding wheel 19 is fixedly connected to the driving motor 17 through the coupling 18, and the fixed connection method is preferably fixed by bonding. The driving motor 17 drives the wire winding wheel 19 to rotate, thereby pulling the driving cable 14 to move. The driving motor 17 is preferably a stepping motor, and the movement of the wire winding wheel 19 can be accurately controlled through the control system to ensure the movement accuracy of the driving cable 14.

[0036] Specifically, each driving module 11 can drive one driving cable 14 to move. In order to drive the movement of multiple driving cables 14, four driving modules 11 are provided and distributed in a ring shape to drive four driving cables 14 respectively. Every two driving cables 14 can drive a section of the arm segment I 15 or the arm segment II 16 to bend and deform, so that the end of the robotic arm reaches the desired end position.

[0037] It should be noted that the cable-driven orthogonal flexible robotic arm disclosed in the embodiment of the present invention is only some preferred embodiments of the present invention. Those skilled in the art can change the number of driving cables, the number of joint discs, the number and distribution method of the arm segment I and the arm segment II to obtain more models, and these should be within the protection scope of the present invention.

[0038] Reference Figure 5 , the intelligent soft gripper 2 is composed of a silicone finger 21, a driving device 22, a transmission lead screw 23, a moving platform 24, a guide rail 25, a tactile sensor 26, an embedded inertial measurement unit 27 and a 3D vision device 28. The silicone finger 21 is respectively hinged to the driving device 22 and the sliding platform 24, and the hinged manner is preferably pin hinge. The driving device 22 is fixedly connected to one end of the cable-driven orthogonal flexible robotic arm 1, and the fixed connection manner is preferably bolt connection. The transmission lead screw 23 is fixedly connected to the driving device 22, the transmission lead screw 23 is threadedly connected to the sliding platform 24, and the guide rail 25 is fixedly connected to the driving device 22, and the fixed connection manner is preferably bolt connection. The sliding platform 24 is located within the guide rail 25. The driving device 22 drives the transmission lead screw 23 to rotate. When the transmission lead screw 23 rotates, it can drive the sliding platform 24 to slide along the guide rail 25, thereby driving the silicone finger 21 to open and close for grasping operations. The driving device 22 is preferably a stepping motor. Through the control system, the rotation of the transmission lead screw 23 can be accurately controlled, and then the movement of the moving platform 24 along the guide rail 25 back and forth can be controlled, driving the silicone finger 21 to perform opening and closing movements, and then accurately controlling the intelligent soft gripper 2 to grasp the target object. The tactile sensor 23 is fixedly connected to the silicone finger 21, and the fixed connection manner is preferably adhesive bonding,

[0039] The embedded inertial measurement unit 27 is fixedly connected to the driving device 22, and the fixed connection manner is preferably bolt fixation. The 3D vision device 28 is fixedly connected to the driving device 22, and the fixed connection manner is preferably bolt fixation. The tactile sensor 26 can accurately identify the weight of the object being grasped during the grasping operation. The embedded inertial measurement unit 27 is preferably a 9-axis IMU, which can obtain the accurate position and pose information of the intelligent soft gripper 2 in real time and transmit this information to the control system for motion compensation. The 3D vision device 28 is preferably a ToF camera, which can identify the material of the object being grasped and the working environment, support material classification such as metal, glass, fabric, etc., can provide high-precision depth data within the capture range, quickly generate a depth map of the capture environment, and help the control system make decisions in a timely manner to implement automatic capture.

[0040] Reference Figure 6, the intelligent vehicle 3 includes a chassis 31, Mecanum wheels 32 and a sensing mechanism; multiple mounting holes 33 are arranged on the chassis 31 for fixedly mounting the sensing mechanism, the base 4 and other accessories. The Mecanum wheels 32 are fixedly connected to the chassis 31, and each Mecanum wheel 32 is independently controlled by a motor. The six Mecanum wheels 32 operate collaboratively through a control system, enabling the chassis 31 to achieve an omnidirectional movement effect. The sensing mechanism consists of an obstacle avoidance module 34 and a binocular vision module 35 distributed around the vehicle body; the obstacle avoidance module 34 is preferably a millimeter-wave radar for vehicle obstacle avoidance, and the binocular vision module 35 is preferably a binocular camera for real-time sensing of the working environment around the vehicle body and constructing a three-dimensional map. By transmitting the information sensed by the binocular obstacle avoidance module 34 and the vision module 35 to the control system in real time and combining with the grasping task, the intelligent vehicle can dynamically adjust the movement route, avoid obstacles and reach the target position; in a complex environment, the control system can select the optimal path according to different task priorities.

[0041] Referring to Figure 6 , the base 4 consists of a connecting piece Ⅰ 41, a connecting piece Ⅱ 42, a rotating motor 43 and a connecting piece Ⅲ 44. The connecting piece Ⅰ 41 is fixedly connected to the connecting piece Ⅱ 42, and the fixed connection method is preferably bolt connection; the connecting piece Ⅱ 42 is hinged to the connecting piece Ⅲ 44, and the hinged method is preferably pin hinge. The connecting piece Ⅱ 43 is fixedly connected to the chassis 31, and the fixed connection method is preferably bolt fixation. The connecting piece Ⅰ 41 is fixedly connected to the cable-driven orthogonal flexible manipulator 1, and the fixed connection method is preferably bolt connection. The rotating motor 42 is fixedly connected to the connecting piece Ⅱ 43 for driving the cable-driven orthogonal flexible manipulator 1 to rotate. One end of the cable-driven orthogonal flexible manipulator 1 is fixedly connected to the connecting piece Ⅰ 41, and the fixed connection method is preferably bolt connection; the rotating motor 42 is preferably a stepping motor, and the cable-driven orthogonal flexible manipulator 1 can be precisely controlled to rotate through the control system. By controlling the rotation of the cable-driven orthogonal flexible manipulator 1, the working efficiency of the intelligent grasping robot can be improved.

[0042] The above is a specific description of the preferred embodiment of the present invention, but the present invention is not limited to the described embodiment. Those skilled in the art can also make various equivalent deformations or substitutions without departing from the spirit of the present invention, and these equivalent deformations or substitutions are all included within the scope defined by the claims of this application.

Claims

1. An intelligent grasping robot based on a cable-driven orthogonal flexible robotic arm, characterized in that, It includes a cable-driven orthogonal flexible robotic arm (1), an intelligent soft gripper (2), an intelligent trolley (3) and a base (4); one end of the cable-driven orthogonal flexible robotic arm (1) is fixedly connected to the base (4), and the other end of the cable-driven orthogonal flexible robotic arm (1) is fixedly connected to the intelligent soft gripper (2); the base (4) is fixedly connected to the intelligent trolley (3); the cable-driven orthogonal flexible robotic arm (1) includes a driving module (11), an orthogonal flexible support beam (12), joint discs (13), and driving cables (14); the joint discs (13) and the orthogonal flexible support beam (12) are fixedly connected and evenly distributed along the length direction of the orthogonal flexible support beam (12); the driving cables (14) pass through the wire holes on the joint discs (13) and are evenly distributed circumferentially on the joint discs (13), one end of the driving cable (14) is fixedly connected to the winding wheel (19) in the driving module (11), and the other end is fixedly connected to the joint disc (13) at the end of the orthogonal flexible support beam (12).

2. The intelligent grasping robot based on a cable-driven orthogonal flexible robotic arm according to claim 1, characterized in that, The orthogonal flexible support beam (12) includes arm segment I (15) and arm segment II (16); arm segment I (15) is fixedly connected to arm segment II (16); the driving cable (14) drives arm segment I (15) and arm segment II (16) to deform in plane I and plane II respectively, and plane I and plane II are perpendicular to each other.

3. An intelligent grasping robot based on a cable-driven orthogonal flexible robotic arm according to claim 1, characterized in that, The driving module (11) includes a driving motor (17), a coupling (18) and a winding wheel (19), which are annularly distributed; the winding wheel (19) is fixedly connected to the driving motor (17) through the coupling (18); the driving motor (17) drives the winding wheel (19) to rotate, thereby pulling the driving cable (14) to move and causing the orthogonal flexible support beam (12) to deform.

4. An intelligent grasping robot based on a cable-driven orthogonal flexible robotic arm according to claim 1, characterized in that, The intelligent soft gripper (2) includes silicone fingers (21), a driving device (22), a transmission lead screw (23), a sliding platform (24), a guide rail (25), a tactile sensor (26), an embedded inertial measurement unit (27) and a 3D vision device (28); the silicone fingers (21) are respectively hinged to the driving device (22) and the sliding platform (24); the driving device (22) is fixedly connected to one end of the cable-driven orthogonal flexible robotic arm (1), and the transmission lead screw (23) is fixedly connected to the driving device (22); the transmission lead screw (23) is threadedly connected to the sliding platform (24); the guide rail (25) is fixedly connected to the driving device (22), and the sliding platform (24) is located within the guide rail (25); the driving device (22) drives the transmission lead screw (23) to rotate, and when the transmission lead screw (23) rotates, it can drive the sliding platform (24) to slide along the guide rail (25), thereby driving the silicone fingers (21) to open and close for grasping operations.

5. An intelligent grasping robot based on a cable-driven orthogonal flexible robotic arm according to claim 1, wherein, The intelligent vehicle (3) includes a chassis (31), Mecanum wheels (32) and a sensing mechanism; a plurality of mounting holes (33) are arranged on the chassis (31) for fixedly mounting the sensing mechanism and the base (4); the intelligent vehicle (3) can dynamically adjust the moving route according to the grasping requirements of the cable-driven orthogonal flexible robotic arm (1), avoid obstacles and reach the target position, and can select the optimal path according to different task priorities in a complex environment.

6. An intelligent grasping robot based on a cable-driven orthogonal flexible robotic arm according to claim 1, characterized in that, The base (4) is composed of a connecting piece I (41), a connecting piece II (42), a rotating motor (43) and a connecting piece III (44); the connecting piece I (41) is fixedly connected to the connecting piece II (42), the connecting piece II (42) is hinged to the connecting piece III (44), the connecting piece I (41) is fixedly connected to one end of the cable-driven orthogonal flexible robotic arm (1), the connecting piece II (42) is fixedly connected to the chassis (31), and the rotating motor (43) is fixedly connected to the connecting piece II (42) for driving the cable-driven orthogonal flexible robotic arm (1) to rotate.

7. An intelligent grasping robot based on a cable-driven orthogonal flexible robotic arm according to claim 4, characterized in that, The tactile sensor (26) is fixedly connected to the silicone finger (21); the tactile sensor (26) is used to sense the weight of the grasped object, and the real-time visualization of the stress distribution can effectively cope with the grasping of fragile items; the embedded inertial measurement unit (27) is fixedly connected to the driving device (22), and can obtain the position and pose information of the intelligent soft gripper (2) and transmit this information to the control system for motion compensation; the 3D vision device (28) is fixedly connected to the sliding platform (24), can identify the material of the grasped object and the working environment, support the classification of materials such as metal, glass, fabric, etc., and can quickly generate a depth map of the capture environment to help the control system make corresponding automatic capture decisions in a timely manner.

8. An intelligent grasping robot based on a cable-driven orthogonal flexible robotic arm according to claim 5, characterized in that, The sensing mechanism is composed of an obstacle avoidance module (34) and a binocular vision module (35) distributed around the vehicle body; the obstacle avoidance module (34) is used for vehicle obstacle avoidance, and the binocular vision module (35) is used for real-time sensing of the working environment around the vehicle body to construct a three-dimensional map.

9. An intelligent grasping robot based on a cable-driven orthogonal flexible robotic arm according to claim 1, characterized in that, It also includes a set of control system, and the control system is placed inside the intelligent vehicle (3) to control the coordinated operation of the entire device through the control system.

10. The usage method of an intelligent grasping robot based on a cable-driven orthogonal flexible robotic arm according to any one of claims 1-9, characterized in that, It includes the following steps: S1. Input the task target into the computer, and obtain the position control parameters and arm shape control parameters of the intelligent grasping robot through the control software of the intelligent grasping robot. S2. Transmit the control parameters to the intelligent grasping robot, and the control system moves the intelligent grasping robot to the target position according to the position control parameters. S3. The control system pulls the driving cable (14) to move according to the arm shape control parameters, deforms the cable-driven orthogonal flexible robotic arm (1), and the intelligent soft gripper (2) at the end of the cable-driven orthogonal flexible robotic arm (1) reaches the target position. S4. The control system controls the intelligent soft gripper (2) to complete the capture operation and return to the designated position.

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