robot

Abstract

The present invention relates to a robot, comprising: a mechanical arm and an actuator disposed at the end of the mechanical arm, the actuator being transmission-connected to the mechanical arm; a first driving member, transmission-connected to the mechanical arm; a detection member disposed at the actuator, used to detect the real-time position of the actuator; and at least one adjustment mechanism, one end of each adjustment mechanism being connected to the first driving member, used to adjust the position of the first driving member according to the real-time position of the actuator, thereby adjusting the position of the actuator to a target position. The above robot is provided with a detection member and at least one adjustment mechanism, and the detection member is disposed at the actuator, so that the real-time position of the actuator is detected by the detection member, so that the adjustment mechanism adjusts the position of the first driving member according to the real-time position of the actuator, thereby adjusting the position of the actuator structure to a target position, so that the target position is kept consistent with the real-time position, so as to eliminate the joint cumulative error between the mechanical arm and the actuator, thereby improving the operation accuracy of the robot.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial automation, and in particular to a robot. Background Art

[0002] With the development of industrial automation, automation products such as manipulators, robotic arms, and robots are widely used in production lines to improve the degree of automation. Among them, robots are divided into serial structure robots and parallel structure robots. Serial structure robots can flexibly control their postures, while parallel robots can only perform X, Y, and Z spatial movements, but both have defects.

[0003] The various connecting joints of the robot in the related art have joint cumulative errors and low operating accuracy. Summary of the invention

[0004] Based on this, it is necessary to provide a robot that combines series and parallel connections, and the parallel adjustment mechanism can eliminate the cumulative joint errors of the series part, thereby improving the operation accuracy of the robot.

[0005] According to one aspect of the present application, a robot is provided, characterized in that it includes:

[0006] A mechanical arm and an actuator disposed at the end of the mechanical arm, wherein the actuator is transmission-connected to the mechanical arm;

[0007] A first driving member, drivingly connected to the mechanical arm;

[0008] a detection member, provided on the actuator, for detecting the real-time position of the actuator; and

[0009] At least one adjusting mechanism, one end of each adjusting mechanism is connected to the first driving member, and is used to adjust the position of the first driving member according to the real-time position of the actuator, thereby adjusting the position of the actuator to the target position.

[0010] The above-mentioned robot is provided with a first driving member to drive the movement of the robot arm, and the movement of the robot arm can drive the corresponding movement of the actuator; a detection member and at least one adjustment mechanism are provided, and the detection member is provided on the actuator so that the real-time position of the actuator can be detected by the detection member, so that the adjustment mechanism adjusts the position of the first driving member according to the real-time position of the actuator, thereby adjusting the position of the actuator structure to the target position, so that the target position is consistent with the real-time position, so as to eliminate the accumulated joint error between the robot arm and the actuator, thereby improving the operation accuracy of the robot.

[0011] In one embodiment, the adjustment mechanism comprises:

[0012] a flexible composite hinge connected to the first driving member; and

[0013] A driving mechanism has one end connected to the flexible composite hinge; the driving mechanism is configured to be able to controllably adjust the position of the flexible composite hinge, thereby adjusting the position of the actuator.

[0014] In one of the embodiments, the drive mechanism is configured as a magnetostrictive drive mechanism.

[0015] In one embodiment, the driving mechanism comprises:

[0016] An iron core, wherein the iron core has a first mounting cavity and a second mounting cavity, and the first mounting cavity is arranged around the second mounting cavity;

[0017] A coil, wound around the iron core and located in the first mounting cavity;

[0018] A magnetostrictive rod is inserted into the iron core by means of the second mounting cavity, and the magnetostrictive rod is configured to be able to extend and retract along its own axis; the center line of the first mounting cavity, the center line of the second mounting cavity and the axis of the magnetostrictive rod are arranged to coincide with each other;

[0019] a first transmission member, one end of which abuts against one end of the magnetostrictive rod, and the other end of which is connected to the flexible composite hinge; and

[0020] A pressing member is used to keep the first transmission member in contact with the magnetostrictive rod.

[0021] In one embodiment, the magnetostrictive rod is a terbium-dysprosium-iron rod.

[0022] In one embodiment, three adjusting mechanisms are provided, and the three adjusting mechanisms are evenly spaced along the circumference of the first driving member.

[0023] In one embodiment, the robot further includes a first mounting seat, the first mounting seat is provided with a third mounting cavity; the first driving member is provided on the first mounting seat and accommodated in the third mounting cavity.

[0024] In one embodiment, the robot further includes a second transmission member, one side of the second transmission member is connected to the first driving member, and the other side of the second transmission member is connected to the adjusting mechanism.

[0025] In one of the embodiments, the robot further comprises a second mounting base for mounting and supporting the adjusting mechanism and located at an end of the adjusting mechanism away from the first driving member.

[0026] In one embodiment, the actuator is a hydraulic gripper or a pneumatic gripper. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a schematic diagram of the structure of a robot in one embodiment of the present application;

[0028] Figure 2 This is a structural schematic diagram of an adjustment mechanism in an embodiment of the present application;

[0029] Figure 3 It is a cross-sectional schematic diagram of a driving mechanism in one embodiment of the present application.

[0030] Description of Figure Numbers:

[0031] 10. Robot; 11. Robotic arm; 111. First joint; 112. Second joint; 113. First revolute pair; 114. Second revolute pair; 12. Actuator; 13. Adjustment mechanism; 131. Support mechanism; 1311. Fourth mounting cavity; 132. Flexible composite hinge; 133. Driving mechanism; 1331. Sleeve; 1331a. Fifth mounting cavity; 1332. Iron core; 1332a. First mounting cavity; 1332b. Second mounting cavity; 1332c. Coil skeleton; 1332d. Permanent magnet; 1333. Coil; 1334. Magnetostrictive rod; 1335. First transmission member; 1336. Pressing member; 14. Third transmission member; 15. First mounting seat; 16. Second transmission member; 17. Second mounting seat. DETAILED DESCRIPTION

[0032] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0033] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0034] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0035] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0036] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0037] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0038] Figure 1 Schematic diagram of the structure of the robot in one embodiment of the present application.

[0039] See also Figure 1The present application provides a robot 10, comprising a mechanical arm 11, an actuator 12 disposed at the end of the mechanical arm 11, a first driving member (not shown in the figure) connected to the mechanical arm 11, a detection member (not shown in the figure) and at least one adjustment mechanism 13. The mechanical arm 11 is connected to the actuator 12 in a transmission manner, the detection member is disposed on the actuator 12 to detect the real-time position of the actuator 12, and one end of the adjustment mechanism is connected to the first driving member so as to adjust the position of the first driving member according to the real-time position of the actuator 12, thereby adjusting the position of the actuator 12 to the target position.

[0040] In this way, by setting a first driving member to drive the movement of the robot arm, the movement of the robot arm 11 can drive the corresponding movement of the actuator 12; by setting a detection member and at least one adjustment mechanism 13, and the detection member is arranged on the actuator 12, so that the real-time position of the actuator 12 can be detected by the detection member, so that the adjustment mechanism 13 adjusts the position of the first driving member according to the real-time position of the actuator 12, thereby adjusting the position of the actuator to the target position, so that the target position is consistent with the real-time position, so as to eliminate the accumulated joint error between the robot arm 11 and the actuator 12, thereby improving the operation accuracy of the robot 10.

[0041] See also Figure 1 , the robot arm 11 includes a first joint 111 and a second joint 112 which are sequentially connected in transmission, one end of the first joint 111 is connected to the first driving member, the other end of the first joint 111 is connected in transmission to one end of the second joint 112, and the other end of the second joint 112 is connected in transmission to the actuator 12. It can be understood that the robot arm 11 may include multiple joints, the number of joints can be set as needed, and all joints are connected in transmission. In this way, by setting the first joint 111 and the second joint 112 which are connected in transmission, compared with the robot arm 11 with only one joint, the setting of multiple joints can increase the degree of freedom of the actuator 12, so that the actuator 12 can operate flexibly, which is conducive to expanding the scope of application of the robot 10.

[0042] See also Figure 1 In some embodiments, the robot arm 11 further includes a first rotation pair 113 and a second rotation pair 114, the first joint 111 and the second joint 112 are connected by transmission via the first rotation pair 113, and the second joint 112 and the actuator 12 are connected by transmission via the second rotation pair 114. That is, the second joint 112 can rotate relative to the first joint 111 around the axis of the first rotation pair 113, and the actuator 12 can rotate relative to the second joint 112 around the axis of the second rotation pair 114. It can be understood that there are many ways to achieve transmission connection, and it is not limited to the rotation pair given in this application.

[0043] See also Figure 1In some embodiments, the robot 10 further includes a third transmission member 14, the first driving member is connected to the third transmission member 14, and the first driving member can controllably drive the third transmission member 14 to rotate around the center line of the third transmission member 14, and the end of the first joint 111 away from the second joint 112 is connected to the side of the third transmission member 14 away from the first driving member. Optionally, the third transmission member 14 is a revolute pair, and it can be understood that the third transmission member 14 can also be other specific types, and is not limited to the revolute pair given in the present application. In this way, by setting the third transmission member 14, the third transmission member 14 is driven by the first driving member to rotate around the center line of the third transmission member 14, and the rotation of the third transmission member 14 will drive the overall rotation of the robot arm 11, thereby adjusting the position of the actuator 12 to the target position.

[0044] See also Figure 1 In some embodiments, the robot 10 further includes a first mounting seat 15, the first mounting seat 15 is provided with a third mounting cavity (not shown in the figure), and the first driving member is provided on the first mounting seat 15 and accommodated in the third mounting cavity. Optionally, the first driving member is a motor.

[0045] See also Figure 1 In some embodiments, the robot 10 further includes a second transmission member 16, and the first mounting seat 15 is disposed on one side of the second transmission member 16. Since the first driving member is disposed on the first mounting seat 15, that is, one side of the second transmission member 16 is connected to the first driving member through the first mounting seat 15, and the other side of the second transmission member 16 is connected to the adjustment mechanism 13. Among them, the second transmission member 16 can rotate around the X-axis and the Y-axis under the drive of the adjustment mechanism 13 (it can be seen that the rotation of the second transmission member 16 is decomposed into rotation around the X-axis and around the Y-axis), and move along the Z-axis (the X-axis, the Y-axis, and the Z-axis are arranged perpendicular to each other); when only one adjustment mechanism 13 is provided, the center of the adjustment mechanism 13 is preferably consistent with the center of the second transmission member 16 to prevent the second transmission member 16 from being unstable. It can be understood that the shape of the second transmission member 16 is not limited to Figure 1 In this way, by providing the second transmission member 16, the adjustment mechanism 13 can adjust the position of the first mounting seat 15 through the second transmission member 16, and the change of the position of the first mounting seat 15 can change the position of the first driving member, thereby achieving the adjustment of the position of the actuator 12.

[0046] The detection member is provided on the actuator 12, and is used to detect the real-time position of the actuator 12. Optionally, the detection member is a position sensor. It should be noted that the robot 10 to be protected by the present application is also provided with a controller, the detection member is electrically connected to the controller, and the adjustment mechanism 13 is also electrically connected to the controller. When the robot 10 is working, when the actuator 12 moves from the initial position (before the robot 10 starts working, the position of the actuator 12 is not the initial position) to the target position, the detection member detects the actual position (that is, the real-time position) of the actuator 12, and obtains the position error information between the actual position and the target position. If the position error information represents that there is a deviation between the actual position and the target position of the actuator 12, the detection member transmits the position error information to the controller, and after the controller processes the position error information, it transmits the position error information to the adjustment mechanism 13 in other forms such as pulses, so that the adjustment mechanism 13 works, thereby adjusting the position of the actuator 12 to the target position.

[0047] One end of each adjustment mechanism 13 is connected to the first driving member, which is used to adjust the position of the first driving member according to the real-time position of the actuator 12, thereby adjusting the position of the actuator 12 to the target position. In this way, by setting the adjustment mechanism 13, the adjustment mechanism 13 can adjust the position of the second transmission member 16, and then adjust the position of the first mounting seat 15. The first driving member is arranged in the first mounting seat 15, and the position of the first driving member will also change. The first driving member drives the mechanical arm 11 and the actuator 12 connected to the end of the mechanical arm 11. Through the above-mentioned transmission relationship, the adjustment mechanism 13 can adjust the position of the actuator 12 to the target position, thereby eliminating the joint connection error generated by the mechanical arm 11 composed of multiple joints, and improving the operation accuracy of the robot 10.

[0048] Figure 2 This is a structural schematic diagram of an adjustment mechanism in an embodiment of the present application; Figure 3 It is a cross-sectional schematic diagram of a driving mechanism in one embodiment of the present application.

[0049] See also Figure 2 and Figure 3 , and combined with Figure 1 The adjusting mechanism 13 includes a flexible composite hinge 132 and a driving mechanism 133. The flexible composite hinge 132 is connected to the first driving member. One end of the driving mechanism 133 is connected to the flexible composite hinge 132. The driving mechanism 133 is configured to be able to controllably adjust the position of the flexible composite hinge 132, thereby adjusting the position of the actuator 12.

[0050] In some embodiments, the adjustment mechanism 13 further includes a support mechanism 131, the support mechanism 131 is provided with a fourth installation cavity 1311, one end of the flexible composite hinge 132 is connected to one end of the support mechanism 131 close to the first driving member, and the other end is connected to the first driving member, and the driving mechanism 133 is provided in the fourth installation cavity 1311. Optionally, the flexible composite hinge 132 and the support mechanism 131 are connected by welding.

[0051] In some embodiments, the drive mechanism 133 is configured as a magnetostrictive drive mechanism.

[0052] Specifically, see Figure 3 The driving mechanism 133 includes an iron core 1332, a coil 1333, a magnetostrictive rod 1334, a first transmission member 1335 and a pressing member 1336. The iron core 1332 has a first mounting cavity 1332a and a second mounting cavity 1332b, and the first mounting cavity 1332a is arranged around the second mounting cavity 1332b. The coil 1333 is wound around the iron core 1332 and is located in the first mounting cavity 1332a. The magnetostrictive rod 1334 is inserted into the iron core 1332 by means of the second mounting cavity 1332b, and the magnetostrictive rod 1334 is configured to be able to extend and retract along its own axis. Among them, the center line of the first mounting cavity 1332a, the center line of the second mounting cavity 1332b and the axis of the magnetostrictive rod 1334 are arranged to coincide. Optionally, the magnetostrictive rod 1334 is a terbium-dysprosium-iron rod.

[0053] One end of the first transmission member 1335 abuts against one end of the magnetostrictive rod 1334, and the other end is connected to the flexible composite hinge 132, that is, the other end of the first transmission member 1335 abuts against the inner side of the support mechanism 131, that is, against the side wall of the fourth installation cavity 1311 close to the flexible composite hinge 132 ( Figure 2 The inner side A shown in FIG. 1 ) is used to keep the first transmission member 1335 in contact with the magnetostrictive rod 1334. The first transmission member 1335 is in contact with the magnetostrictive rod 1334 by the friction between the first transmission member 1335 and the pressing member 1336.

[0054] It can be understood that the iron core 1332 can be an integrally formed structure, or it can be composed of a coil 1333 skeleton 1332c and four permanent magnets 1332d, the second installation cavity 1332b is formed in the coil 1333 skeleton 1332c, the magnetostrictive rod 1334 is inserted into the coil 1333 skeleton 1332c with the help of the second installation cavity 1332b, the coil 1333 is wound around the outer circumference of the coil 1333 skeleton 1332c, the four permanent magnets 1332d are evenly and symmetrically arranged around the coil 1333 skeleton 1332c, the four permanent magnets 1332d are all arranged in the coil 1333 skeleton 1332c, and the first installation cavity 1332a is formed between the inner circumference of the four permanent magnets 1332d and the outer circumference of the coil 1333 skeleton 1332c. When the coil 1333 is energized, the magnetic field changes due to the iron core 1332, and the magnetostrictive rod 1334 is made of magnetostrictive material. When the magnetic field changes, the magnetostrictive rod 1334 will telescope, so that the magnetostrictive rod 1334 drives the first transmission member 1335 to move along the axis of the magnetostrictive rod 1334, and the telescopic movement of the first transmission member 1335 can be adjusted by adjusting the current. Of course, the telescopic movement of the magnetostrictive rod 1334 can be adjusted by the current of the coil 1333, and the current of the coil 1333 can be changed according to the distance between the actual position and the target position, so as to achieve micro-precision adjustment and improve the accuracy of adjustment.

[0055] See also Figure 3 In some embodiments, the driving mechanism 133 further includes a sleeve 1331 having a fifth mounting cavity 1331 a , and the iron core 1332 is disposed in the sleeve 1331 and located in the fifth mounting cavity 1331 a .

[0056] It should be noted that the flexible composite hinge 132 refers to a flexible hinge in which a displacement amplification mechanism (not shown in the figure) is provided. The function of the displacement amplification mechanism is to amplify the displacement. Both the flexible hinge and the displacement amplification mechanism are widely present in the relevant technology, so they will not be described here. In addition, when the adjustment mechanism 13 is working, the magnetostrictive rod 1334 drives the first transmission member 1335 to move along the axis direction of the magnetostrictive rod 1334, so that the side where the support mechanism 131 abuts against the first transmission member 1335 is slightly deformed. At this time, the support mechanism 131 is equivalent to a lever amplification mechanism (that is, the side where the support mechanism 131 abuts against the first transmission member 1335 can be slightly bent and deformed), so as to amplify the telescopic displacement of the magnetostrictive rod 1334, and then transmit the amplified displacement to the flexible composite hinge 132, and the flexible composite hinge 132 is also provided with a displacement amplification mechanism, which can further amplify the displacement transmitted to the flexible composite hinge 132.

[0057] In some embodiments, three adjusting mechanisms 13 are provided, and the three adjusting mechanisms 13 are evenly spaced along the circumference of the first driving member. It can be understood that if only one adjusting mechanism 13 is provided, the degree of freedom of adjustment is not as good as that of providing multiple adjusting mechanisms 13. When three adjusting mechanisms 13 are provided, the three adjusting mechanisms 13 are electrically connected to the controller respectively, and the controller determines the working states of the three adjusting mechanisms 13 according to the position error information transmitted by the detection member. The three adjusting mechanisms 13 can work simultaneously and synchronously, or one of the adjusting mechanisms 13 can work, or two of the adjusting mechanisms 13 can work simultaneously and synchronously, or two of the adjusting mechanisms 13 can work simultaneously but not synchronously (so that the second transmission member 16 can rotate). In other words, the working states of the three adjusting mechanisms 13 can be controlled by the controller as needed, rather than working in a specific mode. Among them, the adjustment mechanism 13 works, that is, the coil 1333 is energized to make the magnetostrictive rod 1334 expand and contract, so as to adjust the position of the actuator 12 to the target position according to the transmission connection relationship; "simultaneous" work means that the coils 1333 of the corresponding adjustment mechanisms 13 are energized at the same time, and "synchronous" work means that the currents passing through the coils 1333 of the corresponding adjustment mechanisms 13 are the same in magnitude.

[0058] In some embodiments, the robot 10 further includes a second mounting base 17 , which is used to mount and support the adjustment mechanism 13 and is located at an end of the adjustment mechanism 13 away from the first driving member.

[0059] In some embodiments, the actuator 12 is a hydraulic gripper or a pneumatic gripper. It is understood that the actuator 12 may also be other specific forms and structures, which can be selected according to specific usage scenarios and are not limited here.

[0060] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0061] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A robot, It is characterized in that include: A mechanical arm and an actuator disposed at the end of the mechanical arm, wherein the actuator is transmission-connected to the mechanical arm; A first driving member, drivingly connected to the mechanical arm; A detection member, provided on the actuator, for detecting the real-time position of the actuator; A plurality of adjusting mechanisms, one end of each of the adjusting mechanisms being connected to the first driving member, and the plurality of adjusting mechanisms being used to adjust the position of the first driving member according to the real-time position of the actuator, thereby adjusting the position of the actuator to a target position; and a controller, electrically connected to the detection member and the plurality of adjustment mechanisms, the controller being used to determine the working states of the plurality of adjustment mechanisms according to the detection information of the detection member, so as to control the plurality of adjustment mechanisms to adjust the position of the first driving member; Wherein, the adjustment mechanism comprises a flexible composite hinge connected to the first driving member, and a driving mechanism having one end connected to the flexible composite hinge; the driving mechanism is configured to be able to controllably adjust the position of the flexible composite hinge, thereby adjusting the position of the actuator; The driving mechanism is configured as a magnetostrictive driving mechanism; the driving mechanism comprises: An iron core, wherein the iron core has a first mounting cavity and a second mounting cavity, and the first mounting cavity is arranged around the second mounting cavity; A coil, wound around the iron core and located in the first mounting cavity; a magnetostrictive rod, inserted into the iron core by means of the second mounting cavity, the magnetostrictive rod being configured to be able to extend and retract along its own axis; a center line of the first mounting cavity, a center line of the second mounting cavity and an axis of the magnetostrictive rod being arranged to coincide with each other; a first transmission member, one end of which abuts against one end of the magnetostrictive rod, and the other end of which is connected to the flexible composite hinge; and A pressing member is used to keep the first transmission member in contact with the magnetostrictive rod.

2. The robot according to claim 1, It is characterized in that The magnetostrictive rod is a terbium-dysprosium-iron rod.

3. The robot according to claim 1, It is characterized in that The mechanical arm comprises a first joint and a second joint which are sequentially connected in transmission; One end of the first joint is connected to the first driving member, the other end of the first joint is transmission-connected to one end of the second joint, and the other end of the second joint is transmission-connected to the actuator.

4. The robot according to claim 3, It is characterized in that The mechanical arm further comprises a first rotation pair and a second rotation pair; The first joint and the second joint are transmission connected by means of the first rotating pair, and the second joint and the actuator are transmission connected by means of the second rotating pair.

5. The robot according to claim 1, It is characterized in that The iron core is an integrally formed structure; or The iron core is composed of a coil frame and four permanent magnets, the second mounting cavity is formed in the coil frame, the magnetostrictive rod is inserted into the coil frame with the aid of the second mounting cavity, the coil is wound around the outer circumference of the coil frame, the four permanent magnets are evenly and symmetrically arranged around the coil frame, the four permanent magnets are all arranged in the coil frame, and the first mounting cavity is formed between the inner circumferences of the four permanent magnets and the outer circumference of the coil frame.

6. The robot according to any one of claims 1 to 5, It is characterized in that There are three adjusting mechanisms, and the three adjusting mechanisms are evenly spaced along the circumference of the first driving member.

7. The robot according to any one of claims 1 to 5, It is characterized in that The robot further comprises a first mounting seat, wherein the first mounting seat is provided with a third mounting cavity; the first driving member is arranged on the first mounting seat and is accommodated in the third mounting cavity.

8. The robot according to any one of claims 1 to 5, It is characterized in that The robot further comprises a second transmission member, one side of which is connected to the first driving member, and the other side of which is connected to the adjusting mechanism.

9. The robot according to any one of claims 1 to 5, It is characterized in that The robot further comprises a second mounting seat, which is used for mounting and supporting the adjusting mechanism and is located at an end of the adjusting mechanism away from the first driving member.

10. The robot according to any one of claims 1 to 5, It is characterized in that The actuator is a hydraulic gripper or a pneumatic gripper.

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