Reconfigurable rigid-flexible conversion manipulator based on belt transmission and deformation method of reconfigurable rigid-flexible conversion manipulator

Abstract

The invention discloses a reconfigurable rigid-flexible conversion manipulator based on belt transmission and a deformation method thereof. The reconfigurable rigid-flexible conversion manipulator comprises a base, at least three rigid-flexible conversion fingers and a finger grabbing driving mechanism. Each rigid-flexible conversion finger comprises a finger body, a rigid-flexible conversion mechanism and a belt transmission mechanism; a fingertip of the finger body comprises two connecting rod mechanisms which are symmetrically arranged up and down; each connecting rod mechanism comprises a supporting connecting rod and a pulling connecting rod which are hinged to each other; the rigid-flexible conversion mechanism is arranged on the symmetry axis of the two connecting rod mechanisms, is connected with the two retracting and pulling connecting rods and can retract and pull the two retracting and pulling connecting rods inwards or expand the two retracting and pulling connecting rods outwards to be in a straight state; the belt transmission mechanism comprises a belt wrapping the periphery of the fingertip. The finger grabbing driving mechanism can drive all finger roots to be unfolded or folded. The mechanical arm can combine the advantages of a rigid mechanical arm and a flexible mechanical arm, can achieve the pose change of a grabbed object, and has the advantages of being low in manufacturing cost and high in task adaptability.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, in particular to a reconfigurable rigid-flexible transformation manipulator based on belt transmission and a deformation method thereof. Background Art

[0002] With the continuous development of robot technology, the demand for operating robots continues to increase, and efficient manipulators are the key to completing their tasks. Traditional manipulators are mostly rigid manipulators, which have high operating accuracy and large load capacity, but require additional sensors and have the risk of collision. Emerging flexible manipulators are highly safe and can grasp objects with rugged surfaces, but their accuracy and load capacity are lower.

[0003] In the existing light bulb installation process, on the one hand, a rigid manipulator is needed to grab the light bulb head and place it in the lamp holder; then a flexible manipulator is used to grab the light bulb and rotate it to tighten it with the lamp holder. Therefore, in the light bulb installation process, both a rigid manipulator and a flexible manipulator are needed. If two sets of manipulators are equipped, on the one hand, the cost is high, and on the other hand, there are problems such as large space occupation, unchanged switching operation, and low efficiency caused by repeated positioning and grasping actions. Summary of the invention

[0004] The technical problem to be solved by the present invention is to address the deficiencies of the above-mentioned prior art and to provide a reconfigurable rigid-flexible transformation manipulator based on belt drive and its deformation method. The reconfigurable rigid-flexible transformation manipulator based on belt drive and its deformation method can combine the advantages of rigid manipulators and flexible manipulators, can realize the posture change of grasped objects, and has the characteristics of low manufacturing cost and strong task adaptability.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0006] A reconfigurable rigid-flexible transformation manipulator based on belt drive comprises a base, at least three rigid-flexible transformation fingers and a finger grasping drive mechanism.

[0007] All the rigid-flexible transformation fingers are evenly distributed along the circumference of the base.

[0008] Each rigid-flexible transformation finger comprises a finger body, a rigid-flexible transformation mechanism and a belt transmission mechanism.

[0009] The finger body comprises a finger base, a finger middle and a finger tip which are hinged to each other in sequence from bottom to top.

[0010] The fingertip includes two connecting rod mechanisms which are symmetrically arranged up and down; each connecting rod mechanism includes a support connecting rod and a retracting connecting rod which are hinged to each other; wherein the other end of each support connecting rod is hinged to the middle of the finger.

[0011] The rigid-flexible conversion mechanism is arranged on the symmetric axis of the two connecting rod mechanisms and is connected to the two retracting and pulling connecting rods, and can retract the two retracting and pulling connecting rods inward or unfold them outward to a straight state.

[0012] The belt drive mechanism includes a belt wrapped around the outer circumference of the fingertip.

[0013] The finger gripping drive mechanism can drive all the finger roots to expand or contract.

[0014] The finger base includes a first swing link and a second swing link arranged in parallel; the bottom end of the first swing link is hinged on the base, and the top end of the first swing link is hinged to the bottom end of the finger; the bottom end of the second swing link is hinged to the finger gripping drive mechanism, and the top end of the second swing link is hinged to the finger.

[0015] The finger gripping driving mechanism comprises a steering gear which is arranged at the center of the base and has the same number as the rigid-flexible conversion fingers.

[0016] The bottom of the finger is integrally provided with a triangular connecting plate, which has a bottom end point and a side end point; wherein the bottom end point is hinged to the top end of the first swing link; and the side end point is hinged to the top end of the second swing link.

[0017] The rigid-flexible conversion mechanism includes a rigid-flexible conversion motor and a threaded rod; the rigid-flexible conversion motor is arranged at the ends of two retracting and pulling connecting rods, the threaded rod is arranged horizontally, one end of the threaded rod is connected to the rigid-flexible conversion motor, and the other end of the threaded rod is connected to the finger thread; the rigid-flexible conversion motor can drive the threaded rod to rotate forward or reverse.

[0018] The belt transmission mechanism also includes a belt drive motor, a driving wheel and a driven wheel; the belt drive motor is arranged in the middle of the finger to drive the driving wheel to rotate; a driven wheel is respectively sleeved on the hinge shaft at both ends of each supporting connecting rod; the belt is sleeved on the outer periphery of the driving wheel and all driven wheels.

[0019] It also includes a workpiece support plate, which is arranged on the top of the finger grasping drive mechanism, and is provided with finger root avoidance grooves with the same number as the rigid-flexible transformation fingers.

[0020] A deformation method of a reconfigurable rigid-flexible transformation manipulator based on belt drive, through a rigid-flexible transformation mechanism, each rigid-flexible transformation finger can have a rigid state and a flexible state; through a finger grasping drive mechanism, all rigid-flexible transformation fingers can realize rigid grasping or flexible grasping of a workpiece; through a belt transmission mechanism, the axial grasping position of the grasped workpiece can be adjusted.

[0021] The deformation method of a reconfigurable rigid-flexible transformation manipulator based on belt transmission includes the following steps.

[0022] Step 1, determine the grasping state: according to the rigidity or surface accuracy requirements of the grasping part of the workpiece to be grasped, select the grasping state of each rigid-flexible transformation finger; the grasping state includes a rigid state and a flexible state; when the grasping state is determined to be a rigid state, go to step 2; when the grasping state is determined to be a flexible state, jump to step 3.

[0023] Step 2, rigid state switching, specifically: the rigid-flexible transformation mechanism of each rigid-flexible transformation finger will expand the corresponding two retractable connecting rods outward to a coaxial straight state. At this time, the two retractable connecting rods are tightly fitted with the outer belt, and the belt will not deform when subjected to force, so that each rigid-flexible transformation finger is in a rigid state.

[0024] Step 3, flexible state switching, specifically: the rigid-flexible transformation mechanism of each rigid-flexible transformation finger will retract and fold the corresponding two retracting connecting rods inward. At this time, the belt will deform when subjected to force, so that each rigid-flexible transformation finger is in a flexible state; by controlling the inward retraction angle of the two retracting connecting rods, the stiffness of the corresponding rigid-flexible transformation finger can be controlled.

[0025] Step 4: Workpiece grasping: According to the size of the workpiece to be grasped, adjust the finger grasping drive mechanism so that the belt inside each rigid-flexible transforming finger contacts the wall surface of the workpiece to be grasped.

[0026] Step 5, adjust the axial grasping position of the workpiece: when the workpiece is grasped, the belt drive mechanisms in all rigid-flexible transformation fingers rotate at the same speed and in the same direction, so that the grasped workpiece moves axially toward or away from the workpiece support plate, thereby achieving grasping of the set axial position of the workpiece.

[0027] Step 6. Adjust the circumferential grasping position of the workpiece: After the workpiece is grasped, the belt transmission mechanism in the rigid-flexible transformation finger on one side rotates forward, and the belt transmission mechanism in the rigid-flexible transformation finger on the other side rotates in the opposite direction at the same speed, thereby achieving grasping of the set circumferential position of the workpiece.

[0028] In step 1, there are three rigid-flexible transformation fingers, the workpiece is a light bulb, the light bulb grasping part is the light bulb head, and the rigid state of step 2 is adopted; in step 5, the light bulb is moved up to the middle of the fingertips of the rigid-flexible transformation fingers by adjusting the axial grasping position; in step 6, the light bulb is in a horizontal state by adjusting the circumferential grasping position; and the following steps are also included:

[0029] Step 7, bulb alignment: the reconfigurable rigid-flexible transformation robot rotates 90° to align the electrical interface of the bulb head with the bulb base; then, the reconfigurable rigid-flexible transformation robot descends 90° in height to allow the electrical interface of the bulb head to fall into the bulb base.

[0030] Step 8: Switch the gripping state: Each hard-soft switching finger is switched to the flexible state according to the method in step 3.

[0031] Step 9, hold the bulb tightly: adjust the finger grip drive mechanism so that the belt inside each rigid-flexible finger is in tight contact with the wall of the workpiece to be grasped.

[0032] Step 10, tighten the bulb: the belt in the rigid-flexible conversion finger above the bulb does not rotate, providing downward pressure; the belt in a rigid-flexible conversion finger below the bulb rotates forward, and the belt in another rigid-flexible conversion finger below the bulb rotates reversely, thereby tightening the bulb and the bulb base.

[0033] The present invention has the following beneficial effects: through the rigid-flexible conversion mechanism, each rigid-flexible conversion finger can have a rigid state and a flexible state; through the finger grasping drive mechanism, all rigid-flexible conversion fingers can realize rigid grasping or flexible grasping of the workpiece; through the belt transmission mechanism, the axial grasping position of the grasped workpiece can be adjusted. The manipulator of the present invention combines the advantages of rigid manipulators and flexible manipulators, and can realize the posture change of the grasped object at the same time, and has the characteristics of low manufacturing cost and strong task adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a structural schematic diagram of the reconfigurable rigid-flexible transformation manipulator based on belt drive of the present invention when it is in a rigid state.

[0035] Figure 2 It is a schematic structural diagram of the reconfigurable rigid-flexible transformation manipulator based on belt drive in the present invention when it is in a flexible state.

[0036] Figure 3 It is a schematic diagram of the structure of a single rigid-flexible finger in the present invention when it is in a rigid state.

[0037] Figure 4 It is a schematic diagram of the structure of a single rigid-flexible finger in the present invention when it is in a flexible state.

[0038] Figure 5 It is a schematic diagram of the structure of the finger in the present invention.

[0039] Figure 6 It is a structural schematic diagram of the motor mounting block of the rigid-flexible conversion motor in the present invention.

[0040] Figure 7 It is a structural schematic diagram of the driving wheel in the present invention.

[0041] Figure 8 A schematic diagram showing the case where the workpiece is a light bulb in the present invention.

[0042] Fig. 9A schematic diagram showing the light bulb grabbing in the present invention is shown.

[0043] Fig.10 A schematic diagram showing the axial position adjustment of the light bulb in the present invention.

[0044] Fig.11 A schematic diagram showing the circumferential position adjustment of the light bulb in the present invention.

[0045] Fig.12 A schematic diagram showing the interface of a captured light bulb aligned with the base of the light bulb in the present invention.

[0046] Fig.13 A schematic diagram showing a grasped light bulb according to the present invention being screwed in a flexible state.

[0047] Among them are:

[0048] 1. Support connecting rod; 2. Retracting connecting rod; 3. Belt; 4. Driven wheel; 5. Belt drive motor;

[0049] 6. Driving wheel; 601. Anti-skid groove;

[0050] 7. Finger center; 701. Support link mounting hole; 702. Threaded hole; 703. Belt drive motor mounting position; 704. Driving wheel mounting frame; 705. Swing link mounting hole;

[0051] 8. Swing connecting rod; 9. Servo;

[0052] 10. Motor mounting block; 1001. Retracting connecting rod mounting hole; 1002. Belt support plate;

[0053] 11. Rigid-flexible conversion motor; 12. Base. DETAILED DESCRIPTION

[0054] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific preferred embodiments.

[0055] In the description of the present invention, it should be understood that the terms "left side", "right side", "upper part", "lower part" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. "First", "second" and the like do not indicate the importance of the components, and therefore cannot be understood as limiting the present invention. The specific dimensions used in this embodiment are only for illustrating the technical solution, and do not limit the scope of protection of the present invention.

[0056] like Figure 1 and Figure 2As shown, a reconfigurable rigid-flexible transformation manipulator based on belt drive includes a base 12, at least three rigid-flexible transformation fingers, a finger grasping drive mechanism and a workpiece support plate.

[0057] In this embodiment, the number of rigidity-flexibility transformation fingers is preferably three, and they are evenly distributed along the circumference of the base.

[0058] Each rigid-flexible transformation finger comprises a finger body, a rigid-flexible transformation mechanism and a belt transmission mechanism.

[0059] The finger body comprises a finger root, a finger middle 7 and a finger tip which are hinged to each other in sequence from bottom to top.

[0060] like Figure 5 As shown, a triangular connecting plate is integrally provided at the bottom of the finger, and the triangular connecting plate has a bottom end and a side end; further, the triangular connecting plate is hollow, which can achieve a weight reduction effect. Among them, swing link mounting holes 705 are provided at the bottom end and the side end.

[0061] A belt drive motor mounting position 703 is provided in the middle upper part of the finger for mounting a subsequent belt drive motor.

[0062] A driving wheel mounting frame 704 is also provided on the finger center above the motor mounting position 703 for mounting the subsequent driving wheel.

[0063] A threaded hole 702 is provided on the finger above the driving wheel mounting frame for connecting the subsequent rigid-flexible conversion motor.

[0064] Support connecting rod mounting holes 701 are provided on the top of the finger and the finger at or below the belt drive motor mounting position.

[0065] The finger base includes two swing links 8 arranged in parallel, which are the first swing link and the second swing link from bottom to top; the bottom end of the first swing link is preferably hinged on the base, and the top end of the first swing link is hinged to the bottom end of the finger (preferably hinged in the swing link mounting hole corresponding to the bottom end point); the bottom end of the second swing link is hinged to the finger gripping drive mechanism, and the top end of the second swing link is hinged to the finger (preferably hinged in the swing link mounting hole corresponding to the side end point).

[0066] The fingertip includes two link mechanisms arranged symmetrically up and down, namely the first link mechanism and the second link mechanism from top to bottom; each link mechanism includes a support link 1 and a retracting link 2 which are hinged to each other; wherein the other end of each support link is hinged to the support link mounting hole 701 in the finger. In this embodiment, each support link includes two support connecting plates arranged in parallel; a hinge shaft is provided at each end of the two support connecting plates, and a driven wheel 4 is sleeved in the middle of each hinge shaft.

[0067] The ends of the two retracting connecting rods are provided with motor mounting blocks 10; Figure 6 The motor mounting block 10 shown has two retracting link mounting holes 1001 connected to the two retracting link rods; it also has a belt support plate 1002, which can be used to support the belt in a rigid state to prevent deformation after being subjected to force.

[0068] The rigid-flexible conversion mechanism is arranged on the symmetric axis of the two connecting rod mechanisms and is connected to the two retracting and pulling connecting rods, and can retract the two retracting and pulling connecting rods inward or unfold them outward to a straight state.

[0069] In this embodiment, the rigid-flexible conversion mechanism preferably includes a rigid-flexible conversion motor 11 and a threaded rod; the rigid-flexible conversion motor is arranged in the motor mounting block 10 at the ends of the two retracting and pulling connecting rods, the threaded rod is arranged horizontally, one end of the threaded rod is connected to the rigid-flexible conversion motor, and the other end of the threaded rod is threadedly connected to the threaded hole 792 in the finger; the rigid-flexible conversion motor can drive the threaded rod to rotate forward or reverse, and can make the threaded rod extend or shorten, thereby realizing the folding or unfolding of the two retracting and pulling connecting rods.

[0070] The belt transmission mechanism includes a belt wrapped around the outer circumference of the fingertip, preferably including a belt drive motor 5, a driving wheel 6 and a driven wheel 4; the belt drive motor is arranged in the middle of the finger, for driving the driving wheel to rotate; a driven wheel is respectively mounted on the hinge shaft at both ends of each supporting connecting rod; the belt is mounted on the outer circumference of the driving wheel and all the driven wheels.

[0071] Furthermore, the outer wall surfaces of the driving wheel and all the driven wheels are preferably provided with Figure 7 The anti-skid groove 601 shown is used to prevent the belt from slipping.

[0072] The finger gripping drive mechanism can drive all the finger roots to expand or collapse. Further, the finger gripping drive mechanism includes a steering engine 9 which is arranged at the center of the base and has the same number as the rigid-flexible conversion fingers.

[0073] The workpiece support plate is arranged on the top of the finger grasping driving mechanism, and the workpiece support plate is provided with finger root avoidance grooves having the same number as the number of rigid-flexible transformation fingers.

[0074] Furthermore, the base is equipped with a built-in control module, which can control the operation of the servo, rigid-flexible conversion motor and belt drive motor. The control module 12 is connected to a 6V DC power supply, preferably powered by two 3.7V micro lithium batteries connected in series.

[0075] A deformation method of a reconfigurable rigid-flexible transformation manipulator based on belt drive, through a rigid-flexible transformation mechanism, each rigid-flexible transformation finger can have a rigid state and a flexible state; through a finger grasping drive mechanism, all rigid-flexible transformation fingers can realize rigid grasping or flexible grasping of a workpiece; through a belt transmission mechanism, the axial grasping position of the grasped workpiece can be adjusted.

[0076] The present invention is to Figure 8 Taking the light bulb in the embodiment of the present invention as an example and installing it into the light socket, the deformation method of the present invention is described in detail.

[0077] Furthermore, the deformation method of the reconfigurable rigid-flexible transformation manipulator based on belt drive preferably includes the following steps.

[0078] Step 1, determine the grasping state: according to the rigidity or surface accuracy requirements of the grasping part of the workpiece to be grasped, select the grasping state of each rigid-flexible transformation finger; the grasping state includes a rigid state and a flexible state; when the grasping state is determined to be a rigid state, go to step 2; when the grasping state is determined to be a flexible state, jump to step 3.

[0079] For example, when grabbing a dumbbell or other rigid object, rigidity can ensure a larger load; however, when grabbing a banana, flexibility can ensure safety. In addition, it also depends on the task requirements. For example, when installing a light bulb, rigidity is used when installation accuracy is required, such as grabbing and alignment; flexibility is used when safety and greater friction are required, such as tightening.

[0080] Step 2: rigid state switching, specifically: the threaded rod in the rigid-flexible conversion mechanism of each rigid-flexible conversion finger is extended, so that the corresponding two retracting and pulling rods are expanded outward to a coaxial straight state. At this time, the two retracting and pulling rods are tightly fitted with the outer belt, and the belt will not deform when subjected to force, so that each rigid-flexible conversion finger is in a state like Figure 1 and Figure 3 The rigid state shown.

[0081] When grabbing the light bulb installation in this embodiment, each rigid-flexible switching finger is in the following position: Fig. 9 The rigid state shown.

[0082] Step 3: Switching the flexible state, specifically: the threaded rod in the rigid-flexible transformation mechanism of each rigid-flexible transformation finger contracts, thereby folding the corresponding two retracting connecting rods inward. At this time, the belt will deform when subjected to force, so that each rigid-flexible transformation finger is in a state as follows: Figure 2 and Figure 4 The flexible state shown; by controlling the inward contraction angle of the two retracting links, the stiffness of the corresponding rigid-flexible transformation finger can be controlled.

[0083] When the bulb of this embodiment is installed and tightened, each rigid-flexible switching finger is in the following position: Fig.13 The flexible state shown.

[0084] Step 4: Workpiece grasping: According to the size of the workpiece to be grasped, adjust the finger grasping drive mechanism so that the belt inside each rigid-flexible transforming finger contacts the wall surface of the workpiece to be grasped.

[0085] In the present invention, the working space can be changed, the smaller the opening, the greater the deformation of the belt, and the larger the diameter of the object that can be grasped. And the smaller the opening, the greater the deformation of the belt, and the greater the friction provided.

[0086] When grabbing the light bulb installation in this embodiment, specifically as follows Fig. 9 shown.

[0087] Step 5, adjust the axial grasping position of the workpiece: when the workpiece is grasped, the belt drive mechanisms in all rigid-flexible transformation fingers rotate at the same speed and in the same direction, so that the grasped workpiece moves axially toward or away from the workpiece support plate, thereby achieving grasping of the set axial position of the workpiece.

[0088] When the bulb of this embodiment is installed, the axial position is adjusted so that the bulb is located at the center of the rigid-flexible transformation finger. Fig.10 shown.

[0089] Step 6, adjust the circumferential grasping position of the workpiece: after the workpiece is grasped, the belt transmission mechanism in the rigid-flexible transformation finger on one side (preferably one) rotates forward, and the belt transmission mechanism in the rigid-flexible transformation finger on the other side (preferably the other two) rotates in the opposite direction at the same speed, thereby achieving grasping of the set circumferential position of the workpiece.

[0090] exist Fig. 9 When the bulb is held horizontally, the bulb interface is heavy and the bulb is not held horizontally. Fig.10 After the axial position is adjusted, the bulb is still in a non-horizontal state. In order to align the bulb with the bulb base later, the bulb needs to be in a horizontal state.

[0091] Therefore Fig.10 In the process, the belt drive mechanism in the right finger rotates forward, and the belt drive mechanisms in the two rigid-flexible switching fingers on the left rotate in the opposite direction at the same speed, so that the light bulb is adjusted to Fig.11 The horizontal state shown.

[0092] Step 7: Align the bulb: Fig.12 As shown, the reconfigurable rigid-flexible transformation manipulator rotates 90° to align the electrical interface of the bulb head with the bulb base; then, the reconfigurable rigid-flexible transformation manipulator descends 90° in height to allow the electrical interface of the bulb head to fall into the bulb base.

[0093] Step 8: Switch the grip state: Fig.13 As shown, each rigid-flexible transformation finger is switched to a flexible state according to the method of step 3.

[0094] Step 9, hold the bulb tightly: adjust the finger grip drive mechanism so that the belt inside each rigid-flexible finger is in tight contact with the wall of the workpiece to be grasped.

[0095] Step 10, tighten the bulb: the belt in the rigid-flexible conversion finger above the bulb does not rotate, providing downward pressure; the belt in a rigid-flexible conversion finger below the bulb rotates forward, and the belt in another rigid-flexible conversion finger below the bulb rotates reversely, thereby tightening the bulb and the bulb base.

[0096] The preferred embodiments of the present invention are described in detail above; however, the present invention is not limited to the specific details in the above embodiments. Within the technical concept of the present invention, various equivalent transformations can be made to the technical solutions of the present invention, and these equivalent transformations all belong to the protection scope of the present invention.

Claims

1. A reconfigurable rigid-flexible transformation manipulator based on belt drive, characterized in that: It includes a base, at least three rigid-flexible transforming fingers and a finger grasping drive mechanism; All rigid-flexible transformation fingers are evenly distributed along the circumference of the base; Each rigid-flexible transformation finger includes a finger body, a rigid-flexible transformation mechanism and a belt transmission mechanism; The finger body includes the base, middle and tip of the finger which are hinged to each other from bottom to top; The fingertip includes two connecting rod mechanisms arranged symmetrically up and down; each connecting rod mechanism includes a support connecting rod and a retracting connecting rod hinged to each other; wherein the other end of each supporting connecting rod is hinged to the middle of the finger; The rigid-flexible conversion mechanism is arranged on the symmetrical axis of the two connecting rod mechanisms and is connected to the two retracting connecting rods, and can retract the two retracting connecting rods inward or unfold them outward to a straight state; The belt drive mechanism includes a belt wrapped around the periphery of the fingertip; The finger gripping drive mechanism can drive all the finger roots to expand or contract.

2. The belt-driven reconfigurable rigid-flexible manipulator according to claim 1 is characterized in that: The finger base includes a first swing link and a second swing link arranged in parallel; the bottom end of the first swing link is hinged on the base, and the top end of the first swing link is hinged to the bottom end of the finger; the bottom end of the second swing link is hinged to the finger gripping drive mechanism, and the top end of the second swing link is hinged to the finger.

3. The reconfigurable rigid-flexible transformation manipulator based on belt drive according to claim 1 or 2, characterized in that: The finger gripping driving mechanism comprises a steering gear which is arranged at the center of the base and has the same number as the rigid-flexible conversion fingers.

4. The belt-driven reconfigurable rigid-flexible transformation manipulator according to claim 2 is characterized in that: The bottom of the finger is integrally provided with a triangular connecting plate, which has a bottom end point and a side end point; wherein the bottom end point is hinged to the top end of the first swing link; and the side end point is hinged to the top end of the second swing link.

5. The belt-driven reconfigurable rigid-flexible transformation manipulator according to claim 1 is characterized in that: The rigid-flexible conversion mechanism includes a rigid-flexible conversion motor and a threaded rod; the rigid-flexible conversion motor is arranged at the ends of two retracting and pulling connecting rods, the threaded rod is arranged horizontally, one end of the threaded rod is connected to the rigid-flexible conversion motor, and the other end of the threaded rod is connected to the finger thread; the rigid-flexible conversion motor can drive the threaded rod to rotate forward or reverse.

6. The belt-driven reconfigurable rigid-flexible transformation manipulator according to claim 1 is characterized in that: The belt transmission mechanism also includes a belt drive motor, a driving wheel and a driven wheel; the belt drive motor is arranged in the middle of the finger to drive the driving wheel to rotate; a driven wheel is respectively sleeved on the hinge shaft at both ends of each supporting connecting rod; the belt is sleeved on the outer periphery of the driving wheel and all driven wheels.

7. The belt-driven reconfigurable rigid-flexible transformation manipulator according to claim 1 is characterized in that: It also includes a workpiece support plate, which is arranged on the top of the finger grasping drive mechanism, and is provided with finger root avoidance grooves with the same number as the rigid-flexible transformation fingers.

8. A deformation method of a reconfigurable rigid-flexible transformation manipulator based on belt drive, characterized in that: Through the rigid-flexible conversion mechanism, each rigid-flexible conversion finger can have a rigid state and a flexible state; through the finger grasping drive mechanism, all rigid-flexible conversion fingers can achieve rigid grasping or flexible grasping of the workpiece; through the belt transmission mechanism, the axial grasping position of the grasped workpiece can be adjusted.

9. The deformation method of the belt-driven reconfigurable rigid-flexible transformation manipulator according to claim 8 is characterized in that: The steps include: Step 1, determine the grasping state: according to the rigidity or surface accuracy requirements of the grasping part of the workpiece to be grasped, select the grasping state of each rigid-flexible transforming finger; the grasping state includes a rigid state and a flexible state; when the grasping state is determined to be a rigid state, go to step 2; when the grasping state is determined to be a flexible state, jump to step 3; Step 2, rigid state switching, specifically: the rigid-flexible conversion mechanism of each rigid-flexible conversion finger expands the corresponding two retracting connecting rods outward to a coaxial straight state. At this time, the two retracting connecting rods are tightly fitted with the outer belt, and the belt will not deform when subjected to force, so that each rigid-flexible conversion finger is in a rigid state; Step 3, flexible state switching, specifically: the rigid-flexible conversion mechanism of each rigid-flexible conversion finger will fold the corresponding two retracting connecting rods inward, at this time, the belt will deform when subjected to force, so that each rigid-flexible conversion finger is in a flexible state; by controlling the inward folding angle of the two retracting connecting rods, the rigidity of the corresponding rigid-flexible conversion finger can be controlled; Step 4, workpiece grasping: according to the size of the workpiece to be grasped, adjust the finger grasping drive mechanism so that the belt inside each rigid-flexible transforming finger contacts the wall surface of the workpiece to be grasped; Step 5, adjusting the axial grasping position of the workpiece: after the workpiece is grasped, the belt transmission mechanisms in all rigid-flexible transformation fingers rotate at the same speed and in the same direction, so that the grasped workpiece moves axially toward or away from the workpiece support plate, thereby achieving grasping of the set axial position of the workpiece; Step 6. Adjust the circumferential grasping position of the workpiece: After the workpiece is grasped, the belt transmission mechanism in the rigid-flexible transformation finger on one side rotates forward, and the belt transmission mechanism in the rigid-flexible transformation finger on the other side rotates in the opposite direction at the same speed, thereby achieving grasping of the set circumferential position of the workpiece.

10. The deformation method of the belt-driven reconfigurable rigid-flexible transformation manipulator according to claim 9 is characterized in that: In step 1, there are three rigid-flexible transformation fingers, the workpiece is a light bulb, the grasping part of the light bulb is the head of the light bulb, and the grasping is performed in the rigid state of step 2; in step 5, the light bulb is moved up to the middle of the fingertips of the rigid-flexible transformation fingers by adjusting the axial grasping position; in step 6, the light bulb is in a horizontal state by adjusting the circumferential grasping position; and the following steps are also included: Step 7, bulb alignment: the reconfigurable rigid-flexible transformation manipulator rotates 90° to align the electrical interface of the bulb head with the bulb base; then, the reconfigurable rigid-flexible transformation manipulator drops 90° in height to allow the electrical interface of the bulb head to fall into the bulb base; Step 8: Switch the gripping state: Each rigid-flexible switching finger is switched to a flexible state according to the method in step 3; Step 9, hold the bulb tightly: adjust the finger gripping drive mechanism so that the belt inside each rigid-flexible switching finger is in tight contact with the wall of the workpiece to be grasped; Step 10, tighten the bulb: the belt in the rigid-flexible conversion finger above the bulb does not rotate, providing downward pressure; the belt in a rigid-flexible conversion finger below the bulb rotates forward, and the belt in another rigid-flexible conversion finger below the bulb rotates reversely, thereby tightening the bulb and the bulb base.

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