Reconfigurable rigid-flexible manipulator based on belt drive and its deformation method

Abstract

The present invention discloses a reconfigurable rigid-flexible transformation manipulator based on belt drive and its deformation method, comprising a base, at least three rigid-flexible transformation fingers, and a finger grasping drive mechanism; each rigid-flexible transformation finger comprises a finger body, a rigid-flexible transformation mechanism, and a belt transmission mechanism; the fingertip of the finger body comprises two connecting rod mechanisms arranged symmetrically in the upper and lower parts; each connecting rod mechanism comprises a support connecting rod and a retracting connecting rod that are hinged to each other; the rigid-flexible transformation mechanism is arranged on the symmetry 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 transmission mechanism comprises a belt wrapped around the outer periphery of the fingertip; and the finger grasping drive mechanism can drive the expansion or contraction of all finger bases. The present invention can combine the advantages of rigid manipulators and flexible manipulators, can realize the position change of the grasped object, and has the characteristics of low manufacturing cost and strong task adaptability.

Description

Technical Field

[0001] The present 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 robotics technology, the demand for operational robots continues to increase. Efficient manipulators are crucial for completing these tasks. Traditional manipulators are mostly rigid. Rigid manipulators offer high precision and large load capacity, but they require additional sensors and pose a risk of collision. Emerging flexible manipulators offer increased safety and can grasp objects with rough surfaces, but they also have lower precision and load capacity.

[0003] The existing light bulb installation process requires a rigid robot arm to first grasp the bulb head and place it in the socket; then, a flexible robot arm grasps the bulb and rotates it to tighten it into the socket. Therefore, the bulb installation process requires both a rigid and a flexible robot arm. Using two sets of robots is not only costly but also inefficient due to the large space required, the constant switching operation, and the repetitive positioning and grasping movements. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to address the deficiencies of the above-mentioned existing technologies 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 the grasped object, 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 includes 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 link mechanisms symmetrically arranged in an upper and lower direction; each link mechanism includes a support link and a retracting link that are hinged to each other; wherein, the other end of each support link is hinged to the middle of the finger.

[0011] The rigid-flexible conversion mechanism is arranged on the symmetrical axis of the two connecting rod mechanisms and is connected to the two retractable connecting rods. It can retract the two retractable 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 grip drive mechanism can drive all 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 grasping drive mechanism, and the top end of the second swing link is hinged to the finger.

[0015] The finger grasping drive mechanism includes a servo arranged at the center of the base and having 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 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 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-driven motor, a driving pulley and a driven pulley; the belt-driven motor is arranged in the middle of the finger, used to drive the driving pulley to rotate; a driven pulley 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 pulley and all driven pulleys.

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

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

[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: Select the grasping state of each rigid-flexible switching finger according to the rigidity or surface accuracy requirements of the grasping part of the workpiece to be grasped; the grasping state includes rigid state and flexible state; when the grasping state is determined to be rigid state, go to step 2; when the grasping state is determined to be flexible state, jump to step 3.

[0023] Step 2: Switch the rigid state. 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 conversion mechanism of each rigid-flexible conversion finger will retract and fold the corresponding two retracting links 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 retraction angle of the two retracting links, the stiffness of the corresponding rigid-flexible conversion 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 finger contacts the wall surface of the workpiece to be grasped.

[0026] Step 5. Adjust the axial grasping position of the workpiece: After 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 conversion finger on one side rotates forward, and the belt transmission mechanism in the rigid-flexible conversion 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 switching fingers, the workpiece is a light bulb, the bulb gripping part is the bulb head, and the rigid state of step 2 is adopted; in step 5, the bulb is moved up to the middle of the fingertips of the rigid-flexible switching fingers by adjusting the axial gripping position; in step 6, the bulb is placed in a horizontal state by adjusting the circumferential gripping position; the following steps are also included:

[0029] Step 7: Align the bulb: 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° to allow the electrical interface of the bulb head to fall into the bulb base.

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

[0031] Step 9. Grip the bulb tightly: Adjust the finger grip drive mechanism so that the belt inside each rigid-flexible finger is in close 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 a rigid-flexible switching mechanism, each rigid-flexible switching finger can have both a rigid and flexible state; through a finger gripping drive mechanism, all rigid-flexible switching fingers can achieve rigid or flexible gripping of a workpiece; and through a belt drive mechanism, the axial gripping position of a grasped workpiece can be adjusted. The present invention combines the advantages of both rigid and flexible manipulators, enabling the positional changes of the grasped object. It has the advantages of low manufacturing cost and strong task adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

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

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

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

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

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

[0039] Figure 6 This is a schematic structural 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 a case where the workpiece is a light bulb in the present invention.

[0042] Figure 9A schematic diagram showing the light bulb being grasped in the present invention is shown.

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

[0044] Figure 11 A schematic diagram showing the circumferential position adjustment of a light bulb in the present invention is shown.

[0045] Figure 12 A schematic diagram showing the interface of a captured light bulb aligned with the base of the light bulb according to the present invention is shown.

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

[0047] Among them are:

[0048] 1. Support connecting rod; 2. Retracting connecting rod; 3. Belt; 4. Driven pulley; 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 bracket; 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 with reference to 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," "lower," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate the description of the present invention and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Terms such as "first" and "second" do not indicate the importance of components and therefore should not be construed as limitations on the present invention. The specific dimensions used in this embodiment are intended only to illustrate 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 rigid-flexible transformation fingers is preferably three, and they are evenly distributed along the circumference of the base.

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

[0059] The finger body includes the finger base, the finger middle 7 and the finger tip which are hinged to each other 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. Furthermore, the triangular connecting plate is hollow, which can achieve a weight reduction effect. Among them, the bottom end and the side end are both provided with a swing link mounting hole 705.

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

[0062] A driving wheel mounting bracket 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 link mounting holes 701 are provided on the top of the finger and on the finger 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 grasping 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 symmetrically arranged linkages: the first linkage and the second linkage, from top to bottom. Each linkage comprises a hinged support link 1 and a retraction link 2. The other end of each support link is hinged to a support link mounting hole 701 in the fingertip. In this embodiment, each support link comprises two parallel support plates. A hinge shaft is provided at each end of each support plate, and a driven wheel 4 is mounted in the middle of each hinge shaft.

[0067] The ends of the two retracting and pulling 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 symmetrical axis of the two connecting rod mechanisms and is connected to the two retractable connecting rods. It can retract the two retractable 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 end of the two retracting and pulling 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 rods.

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

[0071] Furthermore, the outer wall surfaces of the driving wheel and all 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 finger roots to expand or contract. Furthermore, the finger gripping drive mechanism includes a servo 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 drive mechanism, and the workpiece support plate is provided with finger root avoidance grooves whose number is equal to the number of rigid-flexible transformation fingers.

[0074] Furthermore, the base is equipped with a built-in control module that 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 for a reconfigurable rigid-flexible transformation manipulator based on belt drive can enable each rigid-flexible transformation finger to have both a rigid state and a flexible state through a rigid-flexible transformation mechanism; all rigid-flexible transformation fingers can achieve rigid or flexible grasping of a workpiece through a finger grasping drive mechanism; and the axial grasping position of a grasped workpiece can be adjusted through a belt transmission mechanism.

[0076] The present invention is to Figure 8 Taking the light bulb in FIG. 1 and installing it into the lamp holder as an example, 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: Select the grasping state of each rigid-flexible switching finger according to the rigidity or surface accuracy requirements of the grasping part of the workpiece to be grasped; the grasping state includes rigid state and flexible state; when the grasping state is determined to be rigid state, go to step 2; when the grasping state is determined to be flexible state, jump to step 3.

[0079] For example, when grasping a rigid object like a dumbbell, rigidity is used to ensure a large load, while when grasping a banana, flexibility is used to ensure safety. Furthermore, the task requirements should be considered. For example, when installing a lightbulb, rigidity is used when precision is required, such as grasping 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, thereby expanding the corresponding two retracting and pulling rods 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 the same state. Figure 1 and Figure 3 The rigid state shown.

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

[0082] Step 3: Flexible state switching, specifically: the threaded rod in the rigid-flexible conversion mechanism of each rigid-flexible conversion 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 conversion finger is in the following state: 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: Figure 13 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 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. Moreover, the smaller the opening, the greater the deformation of the belt, and the greater the friction force provided.

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

[0087] Step 5. Adjust the axial grasping position of the workpiece: After 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. Figure 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 Figure 9 When the bulb is in the middle, due to the heavy bulb interface, the bulb is not grasped horizontally. Figure 10 After the axial position of the bulb 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 Figure 10 In the middle, the belt drive mechanism in the right finger rotates forward, and the belt drive mechanisms in the two rigid-flexible transformation fingers on the left rotate in the opposite direction at the same speed, so that the light bulb is adjusted to Figure 11 The horizontal state shown.

[0092] Step 7: Align the bulb: Figure 12 As shown, the reconfigurable rigid-flexible transformation manipulator rotates 90° so that the electrical interface of the bulb head is aligned with the bulb base; then, the reconfigurable rigid-flexible transformation manipulator drops 90° in height so that the electrical interface of the bulb head falls into the bulb base.

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

[0094] Step 9. Grip the bulb tightly: Adjust the finger grip drive mechanism so that the belt inside each rigid-flexible finger is in close 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 fall within the scope of protection of the present invention.

Claims

1. A belt-driven reconfigurable rigid-flexible manipulator, characterized by: 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 in sequence from bottom to top; The fingertip includes two connecting rod mechanisms arranged symmetrically in an upper and lower direction; each connecting rod mechanism includes a support connecting rod and a retracting connecting rod that are 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 link mechanisms and is connected to the two retractable links. It can retract the two retractable links 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 grip drive mechanism can drive all finger roots to expand or contract; 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 on the bottom end of the finger; the bottom end of the second swing link is hinged to the finger grip drive mechanism, and the top end of the second swing link is hinged to the finger; 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; The rigid-flexible conversion mechanism includes a rigid-flexible conversion motor and a threaded rod. The rigid-flexible conversion motor is set 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 connected to the finger thread. The rigid-flexible conversion motor can drive the threaded rod to rotate forward or reverse. The belt transmission mechanism also includes a belt-driven motor, a driving pulley and a driven pulley; the belt-driven motor is arranged in the middle of the finger, used to drive the driving pulley to rotate; a driven pulley 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 pulley and all driven pulleys.

2. The belt-driven reconfigurable rigid-flexible manipulator according to claim 1 is characterized in that: The finger grasping drive mechanism includes a servo arranged at the center of the base and having the same number as the rigid-flexible conversion fingers.

3. The belt-driven reconfigurable rigid-flexible 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. The workpiece support plate is provided with finger root avoidance grooves with the same number as the number of rigid-flexible transformation fingers.

4. A deformation method of a belt-driven reconfigurable rigid-flexible manipulator according to any one of claims 1 to 3, 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 or flexible grasping of the workpiece; through the belt transmission mechanism, the axial grasping position of the grasped workpiece can be adjusted.

5. The deformation method of the belt-driven reconfigurable rigid-flexible manipulator according to claim 4 is characterized in that: The steps include: Step 1. Determine the gripping state: Select the gripping state of each rigid-flexible finger based on the rigidity or surface accuracy requirements of the gripping part of the workpiece to be gripped. The gripping state includes a rigid state and a flexible state. When the gripping state is determined to be a rigid state, proceed to step 2; when the gripping state is determined to be a flexible state, jump to step 3. Step 2: Switching the rigid state: Specifically, the rigid-flexible conversion mechanism of each rigid-flexible conversion finger expands the corresponding two retracting and pulling rods 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 rigid state; Step 3: Switching the flexible state. Specifically, the rigid-flexible conversion mechanism of each rigid-flexible conversion finger folds the corresponding two retracting links inward. At this time, the belt will deform under force, so that each rigid-flexible conversion finger is in a flexible state. By controlling the inward folding angle of the two retracting links, the stiffness 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 finger contacts the wall surface of the workpiece to be grasped; Step 5: Adjust the axial grasping position of the workpiece: After the workpiece is grasped, the belt drive mechanisms in all the rigid-flexible 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 workpiece at the set axial position; Step 6. Adjust the circumferential grasping position of the workpiece: After the workpiece is grasped, the belt transmission mechanism in the rigid-flexible conversion finger on one side rotates forward, and the belt transmission mechanism in the rigid-flexible conversion 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.

6. The deformation method of the belt-driven reconfigurable rigid-flexible manipulator according to claim 5 is characterized in that: In step 1, there are three rigid-flexible switching fingers, the workpiece is a light bulb, the grasping part of the light bulb is the bulb head, and the rigid state of step 2 is used for grasping; in step 5, the axial grasping position is adjusted to move the light bulb up to the middle of the fingertips of the rigid-flexible switching fingers; in step 6, the circumferential grasping position is adjusted to make the light bulb in a horizontal state; the following steps are also included: Step 7: Light bulb alignment: The reconfigurable rigid-flexible manipulator rotates 90° to align the electrical interface of the bulb head with the bulb base. Then, the reconfigurable rigid-flexible manipulator descends 90° to allow the electrical interface of the bulb head to fall into the bulb base. Step 8: Switch the grip state: Each rigid-flexible finger is switched to the flexible state according to the method in step 3; Step 9: Grip the bulb tightly: Adjust the finger grip drive mechanism so that the belt inside each rigid-flexible finger is in close 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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