A flexible gripper

Abstract

This application discloses a gripper for grasping flexible objects. The gripper includes a base, a drive assembly, a transmission gear set, finger assemblies, and a force sensing system. A single motor in the drive assembly drives the transmission gear set, simultaneously controlling the opening and closing of at least two finger assemblies to grasp the flexible object. During grasping, the force sensing system detects and controls the gripping force, achieving precise adjustment of the gripping force. This application uses a cylindrical cam to convert the rotational force of the motor into a linear force, and each finger assembly is driven individually. Belt drives drive the linkage of each finger joint, simplifying the mechanical structure. Furthermore, the force sensing system monitors the force exerted by the finger joints on the grasped object in real time, enabling precise adjustment of the force magnitude. This application relates to the field of robotic arm technology.

Description

Technical Field

[0001] This application relates to the field of robotic arm technology, and in particular to a gripping robotic arm for flexible objects. Background Technology

[0002] For flexible objects, flexible robotic arms are typically used for gripping and moving them. These arms are equipped with flexible joints at their ends, allowing them to conform as closely as possible to the surface of the object, thus increasing the contact area and reducing the likelihood of the object slipping out of the gripper. Currently, flexible robotic arms generally employ multi-joint structures and are driven by ropes or motors.

[0003] However, some flexible objects are not only elastic but also prone to deformation under pressure, leading to damage. For example, when gripping paper pulp tableware, if the gripping force applied by the robotic arm is too great, the tableware will deform and contract inward, thus detaching from the robotic arm. Moreover, the weight of the paper pulp tableware gradually increases during the loading of food, requiring a corresponding increase in the gripping force of the robotic arm to maintain the grip, placing high demands on the force control of the robotic arm. Currently, it is difficult for flexible robotic arms to achieve precise force control. Summary of the Invention

[0004] The purpose of this application is to at least solve one of the technical problems existing in the prior art, and to provide a gripping robot for flexible objects that can precisely control the gripping force, thereby maintaining the clamping state of the flexible object.

[0005] According to an embodiment of this application, a manipulator for grasping flexible objects is provided, comprising:

[0006] A base that transitions from a first surface to a second surface along its thickness direction;

[0007] A drive assembly, comprising a motor, a cylindrical cam, and a pusher, wherein the pusher is slidably connected to the base, the cylindrical cam is connected to the output end of the motor, one end of the pusher extends outward and abuts against a protruding edge on the cylindrical cam, and the pusher is provided with at least two racks parallel to the sliding direction of the pusher.

[0008] A transmission gear set, comprising a driving gear, a first transmission pulley, a driven gear, and a second transmission pulley, wherein the driving gear and the first transmission pulley are fixed to the same rotating shaft, the driven gear and the second transmission pulley are fixed to the same rotating shaft, and the driving gear meshes with both the rack and the driven gear.

[0009] The finger assembly includes a root mechanism and a joint mechanism:

[0010] The finger root mechanism includes a finger root body, a finger root rotating shaft, a finger root driving pulley, and a finger root driven pulley. The finger root body is rotatably connected to the finger root rotating shaft. The finger root driving pulley is rotatably connected to the finger root rotating shaft and fixedly connected to the finger root body. The finger root driven pulley is fixedly connected to the finger root rotating shaft.

[0011] The finger joint mechanism includes a finger joint body, a finger joint pivot, and a finger joint drive pulley. The finger joint pivot is fixedly installed on the finger root body. The finger joint body is rotatably connected to the finger joint pivot. The finger joint drive pulley is rotatably connected to the finger joint pivot and fixedly connected to the finger joint body. The finger joint drive pulley is linked to the finger root driven pulley via a belt.

[0012] The number of finger assemblies is at least two, and they are divided into a first finger assembly and a second finger assembly; the finger root shaft of the first finger assembly is fixedly installed on the first surface of the base, and the finger root drive pulley of the first finger assembly is linked to the first transmission pulley via a belt; the finger root shaft of the second finger assembly is fixedly installed on the second surface of the base, and the finger root drive pulley of the second finger assembly is linked to the second transmission pulley via a belt;

[0013] A force sensing system includes a controller and multiple pressure sensors. The pressure sensors are respectively installed on each of the finger root bodies and the finger joint bodies and are able to contact the object being clamped. The motor and each of the pressure sensors are electrically connected to the controller.

[0014] According to an embodiment of this application, the base is provided with a sliding groove, and the bottom of the push base is provided with a slider, which slides in the sliding groove.

[0015] According to an embodiment of this application, the slide groove is further provided with limiting strips on both sides that move towards the center, and the slider is restricted by the limiting strips and is difficult to disengage when sliding in the slide groove.

[0016] According to an embodiment of this application, the end of the pusher is provided with a ball bearing, and the pusher abuts against the protruding edge of the cylindrical cam through the ball bearing.

[0017] According to an embodiment of this application, a housing is further mounted on the base, and the housing covers the drive assembly to protect it.

[0018] According to an embodiment of this application, the number of the first finger components is four and arranged side by side, and the number of the second finger components is two and arranged side by side.

[0019] According to an embodiment of this application, the end of the finger joint body is provided with a rounded chamfer.

[0020] According to an embodiment of this application, the number of the finger joint mechanisms can be one or two. For a finger assembly containing two finger joint mechanisms, the finger joint mechanism away from the base is a fingertip joint mechanism, and the finger joint mechanism closer to the base is a finger pad joint mechanism. The finger pad joint mechanism also includes a finger joint driven pulley. The finger joint driven pulley is fixedly connected to the finger joint shaft. The finger joint driving pulley of the fingertip joint mechanism is linked to the finger joint driven pulley of the finger pad joint mechanism through a belt.

[0021] According to an embodiment of this application, the finger root mechanism further includes a finger root return mechanism, which includes a first finger root return gear, a second finger root return gear, and a finger root torsion spring. The first finger root return gear is fixedly connected to the finger root shaft, the second finger root return gear meshes with the first finger root return gear and is rotatably connected to the finger root body, and the two ends of the finger root torsion spring are respectively connected to the second finger root return gear and the finger root body. The finger root torsion spring drives the finger root body away from the clamped object.

[0022] According to an embodiment of this application, the knuckle mechanism further includes a knuckle return mechanism, which includes a first knuckle return gear, a second knuckle return gear, and a knuckle torsion spring. The first knuckle return gear is fixedly connected to the knuckle shaft, the second knuckle return gear meshes with the first knuckle return gear and is rotatably connected to the knuckle body, and the two ends of the knuckle torsion spring are respectively connected to the second knuckle return gear and the knuckle body. The knuckle torsion spring drives the knuckle body away from the clamped object.

[0023] The beneficial effects of the embodiments of this application include at least the following: This application converts the rotational force of the motor into a linear force through a cylindrical cam, and drives each finger component individually, and drives the linkage of each finger joint through belt transmission, thus simplifying the mechanical structure; moreover, the force sensor system monitors the force exerted by the finger joints on the clamped object in real time, and can accurately adjust the magnitude of the force. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly explained below. Obviously, the described drawings are only a part of the embodiments of this application, and not all of them. Those skilled in the art can obtain other design schemes and drawings based on these drawings without creative effort.

[0025] Figure 1This is a three-dimensional view of the manipulator for grasping flexible materials according to an embodiment of this application;

[0026] Figure 2 This is a three-dimensional view of the flexible material grasping robot of this application after removing the shell 140;

[0027] Figure 3 yes Figure 2 A magnified view of a section at point A in the middle;

[0028] Figure 4 This is a schematic diagram of the operation of the transmission gear set 300 in the gripping manipulator of flexible materials according to an embodiment of this application;

[0029] Figure 5 This is a side sectional view of the base 100 of the gripping robot hand of the flexible object according to an embodiment of this application;

[0030] Figure 6 This is a schematic diagram of the slider 232 in the gripper of the flexible material in the embodiment of this application;

[0031] Figure 7 This is a schematic diagram showing the connection between the finger root mechanism 500 and a finger joint mechanism 600 in a flexible material grasping robot according to an embodiment of this application.

[0032] Figure 8 This is a schematic diagram showing the connection between the finger root mechanism 500 and the two finger joint mechanisms 600 in the gripping robot for flexible objects according to an embodiment of this application.

[0033] Reference numerals: 100-base, 110-first surface, 120-second surface, 130-slide groove, 131-limiting strip, 140-housing, 200-drive assembly, 210-motor, 220-cylindrical cam, 221-protruding edge, 230-push seat, 231-rack, 232-slider, 300-transmission gear set, 310-drive gear, 320-first transmission pulley, 330-driven gear, 340-second transmission pulley, 400-finger assembly, 410-first finger assembly, 420-second finger assembly, 500-finger root mechanism, 510-finger root body, 520- 530 - Finger root pivot, 540 - Finger root driven pulley, 550 - Finger root return mechanism, 551 - First finger root return gear, 552 - Second finger root return gear, 553 - Finger root torsion spring, 600 - Finger joint mechanism, 610 - Finger tip joint mechanism, 620 - Finger pad joint mechanism, 630 - Finger joint body, 640 - Finger joint pivot, 650 - Finger joint driven pulley, 660 - Finger joint driven pulley, 670 - Finger joint return mechanism, 671 - First finger joint return gear, 672 - Second finger joint return gear, 673 - Finger joint torsion spring, 710 - Pressure sensor. Detailed Implementation

[0034] This section will describe in detail the specific embodiments of this application. Preferred embodiments of this application are shown in the accompanying drawings. The purpose of the drawings is to supplement the textual description with graphics, so that people can intuitively and vividly understand each technical feature and the overall technical solution of this application, but they should not be construed as limiting the scope of protection of this application.

[0035] In the description of this application, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0036] In the description of this application, "several" means one or more, "more than" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0037] In the description of this application, unless otherwise expressly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0038] For flexible objects, flexible robotic arms are typically used for gripping and moving them. These arms are equipped with flexible joints at their ends, allowing them to conform as closely as possible to the surface of the object, thus increasing the contact area and reducing the likelihood of the object slipping out of the gripper. Currently, flexible robotic arms generally employ multi-joint structures and are driven by ropes or motors.

[0039] However, some flexible objects are not only elastic but also prone to deformation under pressure, leading to damage. For example, when gripping paper pulp tableware, if the gripping force applied by the robotic arm is too great, the tableware will deform and contract inward, thus detaching from the robotic arm. Moreover, the weight of the paper pulp tableware gradually increases during the loading of food, requiring a corresponding increase in the gripping force of the robotic arm to maintain the grip, placing high demands on the force control of the robotic arm. Currently, it is difficult for flexible robotic arms to achieve precise force control.

[0040] In response, this application proposes a flexible object grasping robot that converts the rotational force of the motor 210 into a linear force through a cylindrical cam 220, and drives each finger component 400 individually. The linkage of each finger joint is driven by belt transmission, simplifying the mechanical structure. Moreover, the force sensing system monitors the force exerted by the finger joints on the grasped object in real time, and can precisely adjust the magnitude of the force.

[0041] The flexible object grasping robot in this embodiment includes a base 100, a drive assembly 200, a transmission gear set 300, a finger assembly 400, and a force sensing system. Referring to... Figure 1 The base 100 is the main structure of the gripping robot of this flexible object, used to support other components and to connect with an external robotic arm. A housing 140 is mounted on the base 100, which covers and protects the drive assembly 200 mounted on the base 100.

[0042] Reference Figure 2 The drive assembly 200 includes a motor 210, a cylindrical cam 220, and a pusher 230. The pusher 230 is slidably connected to the base 100, and the cylindrical cam 220 is connected to the output end of the motor 210. One end of the pusher 230 extends outward and abuts against the protrusion 221 on the cylindrical cam 220. Thus, when the cylindrical cam 220 rotates under the drive of the motor 210, the pusher 230 is translated by the force of the protrusion 221, converting the rotational force of the motor 210 into a linear force. The pusher 230 is provided with at least two racks 231 parallel to the sliding direction of the pusher 230.

[0043] Furthermore, the end of the pusher 230 is provided with a ball bearing, and the pusher 230 abuts against the protruding edge 221 of the cylindrical cam 220 through the ball bearing, thereby reducing the frictional resistance between the pusher 230 and the cylindrical cam 220.

[0044] Reference Figure 3 The transmission gear set 300 includes a driving gear 310, a first transmission pulley 320, a driven gear 330, and a second transmission pulley 340. The driving gear 310 and the first transmission pulley 320 are fixed to the same rotating shaft, and the driven gear 330 and the second transmission pulley 340 are fixed to the same rotating shaft. The driving gear 310 meshes with both the rack 231 and the driven gear 330. Thus, when the pusher 230 moves, the rack 231 on it drives the driving gear 310 to rotate, which in turn causes the driven gear 330 to rotate as well. Since the driving gear 310 and the driven gear 330 are meshed, they have the same angular velocity but opposite rotation directions, causing the first transmission pulley 320 and the second transmission pulley 340 to rotate at the same angular velocity but in different rotation directions, thereby driving their respective finger assemblies 400 to move closer or further apart.

[0045] refer to Figure 4 The base 100 transitions from a first surface 110 to a second surface 120 along its thickness direction. The number of finger assemblies 400 is at least two, divided into a first finger assembly 410 and a second finger assembly 420. In this embodiment, there are four first finger assemblies 410 arranged side-by-side, and two second finger assemblies 420 arranged side-by-side. The first finger assemblies 410 are disposed on the first surface 110, and the second finger assemblies 420 are disposed on the second surface 120. When the two are close to each other, they can clamp a flexible object.

[0046] Furthermore, referring to Figure 5 and Figure 6 The base 100 has a groove 130, and the bottom of the pusher 230 has a slider 232. The cross-sectional shape of the slider 232 is adapted to the cross-sectional shape of the groove 130. The slider 232 slides in the groove 130, thereby limiting the sliding direction of the pusher 230 through the groove 130.

[0047] Furthermore, limiting strips 131 that move toward the center are provided on both sides of the slide groove 130. When the slider 232 slides in the slide groove 130, it is restricted by the limiting strips 131 and is difficult to get out.

[0048] Specifically, each finger component 400 includes a finger root mechanism 500 and a finger joint mechanism 600.

[0049] Reference Figure 7 The finger root mechanism 500 includes a finger root body 510, a finger root rotating shaft 520, a finger root driving pulley 530, and a finger root driven pulley 540. The finger root rotating shaft 520 is fixedly connected to the base 100, the finger root body 510 is rotatably connected to the finger root rotating shaft 520, the finger root driving pulley 530 is rotatably connected to the finger root rotating shaft 520 and fixedly connected to the finger root body 510, and the finger root driven pulley 540 is fixedly connected to the finger root rotating shaft 520.

[0050] In the first finger assembly 410, the finger root shaft 520 is fixedly installed on the first surface 110 of the base 100, and the finger root drive pulley 530 of the first finger assembly 410 is linked to the first transmission pulley 320 via a belt. In the second finger assembly 420, the finger root shaft 520 is fixedly installed on the second surface 120 of the base 100, and the finger root drive pulley 530 of the second finger assembly 420 is linked to the second transmission pulley 340 via a belt.

[0051] Taking the finger root mechanism 500 in the first finger assembly 410 as an example, when the first transmission pulley 320 drives the finger root drive pulley 530, since the finger root drive pulley 530 is fixedly connected to the finger root body 510, the rotating finger root drive pulley 530 can drive the finger root body 510 to rotate, and the finger root body 510 rotates relative to the fixed finger root rotating shaft 520. At the same time, since the finger root driven pulley 540 is fixedly connected to the finger root rotating shaft 520, the finger root driven pulley 540 rotates relative to the finger root body 510, which is used to link the subsequent finger joint mechanism 600.

[0052] The knuckle mechanism 600 includes a knuckle body 630, a knuckle pivot 640, and a knuckle drive pulley 650. The knuckle pivot 640 is fixedly mounted on the finger root body 510. The knuckle body 630 is rotatably connected to the knuckle pivot 640. The knuckle drive pulley 650 is rotatably connected to the knuckle pivot 640 and fixedly connected to the knuckle body 630. The knuckle drive pulley 650 is linked to the finger root driven pulley 540 via a belt. Furthermore, the end of the knuckle body 630 is provided with a rounded chamfer, making it easier for flexible objects to slide into the clamping range during clamping.

[0053] Taking the finger joint mechanism 600 in the first finger assembly 410 as an example, when the finger root driven pulley 540 drives the finger joint active pulley 650 to rotate through the belt, since the finger joint active pulley 650 is fixedly connected to the finger joint body 630, the rotating finger joint active pulley 650 can drive the finger joint body 630 to flip.

[0054] Furthermore, the number of knuckle mechanisms 600 can be one or two. (See reference...) Figure 8 For a finger assembly 400 containing two finger joint mechanisms 600, the finger joint mechanism 600 farther from the base 100 is the fingertip joint mechanism 610, and the finger joint mechanism 600 closer to the base 100 is the finger pad joint mechanism 620. The finger pad joint mechanism 620 also includes a finger joint driven pulley 660, which is fixedly connected to the finger joint shaft 640. The finger joint driving pulley 650 of the fingertip joint mechanism 610 is linked to the finger joint driven pulley 660 of the finger pad joint mechanism 620 via a belt. Therefore, when the finger joint body 630 rotates, because the finger joint driven pulley 660 is fixedly connected to the finger joint shaft 640, the finger joint driven pulley 660 rotates relative to the finger joint body 630, enabling the subsequent fingertip joint mechanism 610 to be linked, thus achieving the linkage of more joints.

[0055] The force sensing system includes a controller and multiple pressure sensors 710. The pressure sensors 710 are respectively mounted on the base of the finger 510 and the joint 630 and are in contact with the object being clamped. Thus, during the clamping of a flexible object, the pressure sensors 710 can detect the applied force. The motor 210 and each pressure sensor 710 are electrically connected to the controller. After acquiring the detection values ​​from each pressure sensor 710, the controller performs closed-loop control of the motor 210 to achieve precise control of the clamping force.

[0056] Furthermore, the finger root mechanism 500 also includes a finger root return mechanism 550, which includes a first finger root return gear 551, a second finger root return gear 552, and a finger root torsion spring 553. The first finger root return gear 551 is fixedly connected to the finger root rotating shaft 520, the second finger root return gear 552 meshes with the first finger root return gear 551 and is rotatably connected to the finger root body 510, and the two ends of the finger root torsion spring 553 are respectively connected to the second finger root return gear 552 and the finger root body 510. Thus, when the motor 210 rotates and has a tendency to release the flexible object, the compressed finger root torsion spring 553 can drive the finger root body 510 away from the clamped object, achieving the effect of releasing the grip.

[0057] Furthermore, the knuckle mechanism 600 also includes a knuckle return mechanism 670, which includes a first knuckle return gear 671, a second knuckle return gear 672, and a knuckle torsion spring 673. The first knuckle return gear 671 is fixedly connected to the knuckle shaft 640, the second knuckle return gear 672 meshes with the first knuckle return gear 671 and is rotatably connected to the knuckle body 630, and the two ends of the knuckle torsion spring 673 are respectively connected to the second knuckle return gear 672 and the knuckle body 630. Thus, when the motor 210 rotates and has a tendency to release the flexible object, the compressed knuckle torsion spring 673 can drive the knuckle body 630 away from the clamped object, achieving the effect of releasing the hand.

[0058] The above is a detailed description of the preferred embodiments of this application. However, the present invention is not limited to the embodiments described. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of this application. All such equivalent modifications or substitutions are included within the scope defined by the claims of this application.

Claims

1. A gripper for grasping flexible objects, characterized in that, include: A base (100) that transitions from a first surface (110) to a second surface (120) along its thickness direction; A drive assembly (200) includes a motor (210), a cylindrical cam (220), and a pusher (230). The pusher (230) is slidably connected to the base (100). The cylindrical cam (220) is connected to the output end of the motor (210). One end of the pusher (230) extends outward and abuts against the protrusion (221) on the cylindrical cam (220). The pusher (230) is provided with at least two racks (231) parallel to the sliding direction of the pusher (230). A transmission gear set (300) includes a driving gear (310), a first transmission pulley (320), a driven gear (330), and a second transmission pulley (340). The driving gear (310) and the first transmission pulley (320) are fixed on the same rotating shaft, and the driven gear (330) and the second transmission pulley (340) are fixed on the same rotating shaft. The driving gear (310) meshes with both the rack (231) and the driven gear (330). A finger assembly (400) comprising a root mechanism (500) and a joint mechanism (600): The finger root mechanism (500) includes a finger root body (510), a finger root rotating shaft (520), a finger root driving pulley (530), and a finger root driven pulley (540). The finger root body (510) is rotatably connected to the finger root rotating shaft (520). The finger root driving pulley (530) is rotatably connected to the finger root rotating shaft (520) and fixedly connected to the finger root body (510). The finger root driven pulley (540) is fixedly connected to the finger root rotating shaft (520). The knuckle mechanism (600) includes a knuckle body (630), a knuckle pivot (640), and a knuckle drive pulley (650). The knuckle pivot (640) is fixedly installed on the finger root body (510). The knuckle body (630) is rotatably connected to the knuckle pivot (640). The knuckle drive pulley (650) is rotatably connected to the knuckle pivot (640) and fixedly connected to the knuckle body (630). The knuckle drive pulley (650) is linked to the finger root driven pulley (540) via a belt. The finger assembly (400) comprises at least two components, namely a first finger assembly (410) and a second finger assembly (420). The root shaft (520) of the first finger assembly (410) is fixedly mounted on the first surface (110) of the base (100), and the root drive pulley (530) of the first finger assembly (410) is linked to the first transmission pulley (320) via a belt. The root shaft (520) of the second finger assembly (420) is fixedly mounted on the second surface (120) of the base (100), and the root drive pulley (530) of the second finger assembly (420) is linked to the second transmission pulley (340) via a belt. The force sensing system includes a controller and multiple pressure sensors (710). The pressure sensors (710) are respectively mounted on each of the finger root bodies (510) and the finger joint bodies (630) and are capable of contacting the object being clamped. The motor (210) and each of the pressure sensors (710) are electrically connected to the controller.

2. The flexible object grasping robot according to claim 1, characterized in that: The base (100) has a groove (130), and the bottom of the push base (230) is provided with a slider (232), which slides in the groove (130).

3. The flexible object grasping robot according to claim 2, characterized in that: The slide groove (130) is provided with limiting strips (131) on both sides that move towards the middle. When the slider (232) slides in the slide groove (130), it is restricted by the limiting strips (131) and is difficult to get out.

4. The flexible object grasping robot according to claim 1, characterized in that: The end of the pusher (230) is provided with a ball, and the pusher (230) abuts against the protruding edge (221) of the cylindrical cam (220) through the ball.

5. The flexible object grasping robot according to claim 1, characterized in that: A housing (140) is mounted on the base (100), and the housing (140) covers the drive assembly (200) to protect it.

6. The flexible object grasping robot according to claim 1, characterized in that: The number of the first finger components (410) is four and arranged side by side, and the number of the second finger components (420) is two and arranged side by side.

7. The flexible object grasping robot according to claim 1, characterized in that: The end of the finger joint body (630) is provided with a rounded chamfer.

8. The flexible object grasping robot according to claim 1, characterized in that: The number of the knuckle mechanisms (600) can be one or two. For a finger assembly (400) containing two knuckle mechanisms (600), the knuckle mechanism (600) farther from the base (100) is the fingertip joint mechanism (610), and the knuckle mechanism (600) closer to the base (100) is the finger pad joint mechanism (620). The finger pad joint mechanism (620) also includes a knuckle driven pulley (660). The knuckle driven pulley (660) is fixedly connected to the knuckle shaft (640). The knuckle driving pulley (650) of the fingertip joint mechanism (610) is linked to the knuckle driven pulley (660) of the finger pad joint mechanism (620) through a belt.

9. The flexible object grasping robot according to claim 1, characterized in that: The finger root mechanism (500) further includes a finger root return mechanism (550), which includes a first finger root return gear (551), a second finger root return gear (552), and a finger root torsion spring (553). The first finger root return gear (551) is fixedly connected to the finger root rotating shaft (520). The second finger root return gear (552) meshes with the first finger root return gear (551) and is rotatably connected to the finger root body (510). The two ends of the finger root torsion spring (553) are respectively connected to the second finger root return gear (552) and the finger root body (510). The finger root torsion spring (553) drives the finger root body (510) away from the clamped object.

10. The flexible object grasping robot according to claim 1, characterized in that: The knuckle mechanism (600) further includes a knuckle return mechanism (670), which includes a first knuckle return gear (671), a second knuckle return gear (672), and a knuckle torsion spring (673). The first knuckle return gear (671) is fixedly connected to the knuckle shaft (640). The second knuckle return gear (672) meshes with the first knuckle return gear (671) and is rotatably connected to the knuckle body (630). The two ends of the knuckle torsion spring (673) are respectively connected to the second knuckle return gear (672) and the knuckle body (630). The knuckle torsion spring (673) drives the knuckle body (630) away from the clamped object.

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