Chameleon-imitated tongue self-correcting flexible grabber

Abstract

The invention discloses a chameleon-imitated tongue self-correcting flexible grabber, and belongs to the field of bionic soft robots, a self-correcting device comprises an excitation device and an annular bag, and the annular bag is filled with magnetorheological gel; the cup-shaped supporting structure internally comprises a plurality of elastic gradual change rods embedded with wire rings, and the cup-shaped supporting structure is externally wrapped with a flexible material; the driving device comprises a motor telescopic rod, a wire bundling disc and tendon ropes, the tendon ropes penetrate through the wire rings, one ends of the tendon ropes are fixed to the lowest wire ring, the other ends of the tendon ropes penetrate into the wire bundling disc, the tendon ropes are bundled into one strand through the wire bundling disc, the motor telescopic rod drives one strand of tendon ropes to stretch out and draw back, wrapping grabbing of objects by the flexible grabbing device is achieved, and then the annular bag is controlled by the excitation device to deviate. And the self-correction function of the grabber on the object when the grabber grabs and coats the object is realized. By referring to a tongue bag cup-shaped structure formed during preying of a chameleon tongue and a preying mechanism, the self-correction function of the flexible grabber on an object is achieved, and the flexible grabber is easy and controllable to operate, considerable in grabbing force and high in adaptability.

Description

Technical Field

[0001] The invention relates to the field of bionic soft robots, in particular to a chameleon tongue-imitation self-correcting flexible gripper. Background Art

[0002] With the continuous development of science and technology, robotics technology is increasingly used in the fields of industry, medical treatment, services, etc. In robotics technology, the gripper, as the end effector of the robot, directly affects the robot's grasping and operating capabilities.

[0003] In the research of grippers, traditional rigid manipulators usually require multiple sensors and complex control algorithms to adapt to objects of different shapes and sizes during the grasping process. Therefore, the design cost is high and it is difficult to safely grasp fragile and soft objects. In recent years, the progress of research in related disciplines such as soft robotics and smart materials has led to the rapid development of flexible grippers. Smart materials have their inherent advantages, such as excellent compliance, versatility and dexterity, which have triggered extensive research on flexible grippers. Flexible grippers do not have complex controllable joints and feedback sensors. Compared with rigid grippers with the same configuration, flexible grippers have stronger adaptability to objects of different shapes and sizes, and can interact with different working environments more efficiently and friendly. However, the simple structural composition of flexible grippers makes it difficult for them to perfectly cover or grasp objects, especially when there is no manual or precise algorithm assistance, the effective grasping part of the object at the end of the grasping is often small. This makes it easy for the gripper to fall off when it lacks self-correction ability and is disturbed by the external environment. Therefore, in the current practical application of flexible grippers, the assistance of sensors and precise algorithms is still needed.

[0004] As current flexible grippers lack the ability to self-correct when grasping, designing a flexible gripper with self-correction capability is of great value in the application field of flexible grippers. Summary of the invention

[0005] The purpose of the present invention is to solve the problem raised in the background technology, and a self-correcting flexible gripper imitating a chameleon tongue is designed.

[0006] The technical solution of the present invention to achieve the above-mentioned purpose is a chameleon tongue-like self-correcting flexible gripper, comprising a self-correcting device, a cup-shaped support structure, and a driving device, wherein the self-correcting device is located inside the cup-shaped support structure and is fixedly connected to the cup-shaped support structure, and the driving device is located above the self-correcting device and the cup-shaped support structure and is fixedly connected to the cup-shaped support structure;

[0007] The self-correction device comprises an excitation device and an annular bladder, wherein the excitation device is fixedly connected to a cup-shaped support structure, the annular bladder is composed of a rubber skin filled with magnetorheological glue, the inner film of the upper rubber skin of the annular bladder is fixedly connected to the lower inner wall of the excitation device, the outer film of the upper rubber skin of the annular bladder is fixedly connected to the lower outer wall of the excitation device, and the outer film of the annular bladder is fixedly connected to the inner side of the cup-shaped support structure;

[0008] The cup-shaped support structure comprises an elastic gradient rod, a flexible substrate, a wire loop, and a top cover. The flexible substrate is cup-shaped and wrapped around the outside of a plurality of elastic gradient rods and is fixedly connected to the elastic gradient rods. The inner side of the flexible substrate is fixedly connected to the outer film of the annular bag. A plurality of wire loops are evenly inlaid on the inner side of each elastic gradient rod. The inner side of the upper end of each elastic gradient rod is connected to the outer wall of the excitation device. The top end of each elastic gradient rod is fixedly connected to the top cover, and the top cover is fixedly connected to the driving device.

[0009] The driving device includes a motor telescopic rod, a cable tie drum, and tendon ropes. The number of the tendon ropes corresponds to the number of elastic gradient rods, and each tendon rope is located in a wire loop on the corresponding elastic gradient rod and one end is fixedly connected to the lowest wire loop of the corresponding elastic gradient rod. The other end of the tendon rope is inserted into the cable tie drum and multiple tendon ropes are bundled into one and fixedly connected to the output end of the motor telescopic rod. The cable tie drum is fixedly connected to the top cover.

[0010] Furthermore, the excitation device includes an iron core, a coil, and a magnetic shell. The coil is located in the magnetic shell and is wound around the iron core. The iron core has an upper cover and the upper cover of the iron core is fixedly connected to the magnetic shell. The inner and outer walls of the lower part of the magnetic shell are respectively fixedly connected to the inner and outer films of the upper rubber skin of the annular bladder.

[0011] Furthermore, the magnetorheological glue inside the annular bag is composed of oily fluid, magnetic particles, and non-magnetic spherical particles.

[0012] Furthermore, the flexible substrate is provided with a U-shaped annular recessed groove, and the U-shaped annular recessed groove is evenly opened on the inner and outer walls of the flexible substrate.

[0013] Furthermore, the elastic gradient rod is made of a carbon fiber rod whose diameter gradually decreases from top to bottom.

[0014] Furthermore, the annular bladder is composed of a rubber skin filled with magnetorheological gel (MRG). The preparation method of the annular bladder is as follows: after removing moisture from castor oil (CO), 4,4'-diphenylmethane diisocyanate (MDI) is added to CO and stirred, and then carbonyl iron powder (CIP) is put into a beaker and mixed and stirred evenly. After that, it is heated and placed in a room temperature environment for a few days for deep vulcanization to obtain magnetorheological gel (MRG). Finally, carbon microspheres are added to MRG, stirred and poured into the rubber skin to fill it up, and the annular bladder is prepared. The wrinkles at the annular depressions of the inner film of the rubber skin are made by heating the rubber skin.

[0015] Furthermore, the preparation method of the flexible substrate is: mixing and stirring the A (polydimethylsiloxane prepolymer) and B (curing agent) components in the PDMS rubber in a mass fraction ratio of 10:1, then vacuuming and pouring into a mold and drying until solidified to obtain a flexible substrate.

[0016] Beneficial effects:

[0017] The present invention provides a chameleon tongue-like self-correcting flexible gripper, which has the following beneficial effects:

[0018] The present invention refers to the cup-shaped tongue bag formed at the front end of the tongue of a chameleon when it catches prey, which is more conducive to wrapping prey and helps to improve the grasping ability. Therefore, the present invention is designed to be cup-shaped, which increases the contact area between the present invention and the grasped object, thereby increasing the friction force and increasing the wrapping ability of the grasped object, so that the present invention is more firm and stable when grasping the object, and reduces the possibility of sliding;

[0019] The cup-shaped support structure of the present invention uses an elastic gradient rod as the main support trunk, and is wrapped with a flexible matrix on the outside; the elastic gradient rod is similar to the finger bones, which supports the present invention and improves the gripping force, based on the finger structure of primates. The external flexible matrix is ​​similar to the skin and muscles of human hands, which provides flexibility, assists bending and resists impact for the present invention;

[0020] The present invention refers to the mechanism of chameleon's tongue catching prey, uses a cup-shaped support structure driven by a tendon rope driven by a motor telescopic rod as the main body to imitate the cup-shaped tongue bag structure of the chameleon when catching and wrapping prey, and uses the magnetically controllable fluidity of magnetorheological glue to imitate the muscle peristalsis of the tongue bag contraction muscle of the chameleon when catching insects. Through the muscle-like peristalsis of the annular bag filled with magnetorheological glue under the action of the magnetic field, the grasped object is further contracted and deflected into the present invention, the covering area is increased, and the self-correction function of the grasped object is realized;

[0021] The magnetorheological glue used in the annular bag of the present invention has good fluidity and magnetically controlled variable stiffness characteristics. When grasping an object and not applying a magnetic field, the annular bag has excellent adaptive object capabilities and protects the grasped object. After applying a magnetic field, the magnetic particles in the annular bag are offset to the stronger magnetic field strength to form aggregation to achieve a self-correction effect on the grasped object. At the same time, the stiffness of the magnetorheological glue increases accordingly. The magnetic particles inside will form a chain structure due to the magnetization effect, and the non-magnetic particles in the magnetorheological glue can further effectively enhance the overall stiffness and improve the grasping adaptability and grasping stability of the grasped object. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural schematic diagram of a chameleon tongue-imitation self-correcting flexible gripper according to the present invention;

[0023] Figure 2 It is a front structural schematic diagram of a chameleon tongue-imitation self-correcting flexible gripper according to the present invention;

[0024] Figure 3 is a cross-sectional view of a chameleon tongue-mimicking self-correcting flexible gripper according to the present invention;

[0025] Figure 4 It is a schematic diagram of the structure of a chameleon tongue-imitation self-correcting flexible gripper as viewed from above according to the present invention;

[0026] Figure 5 It is a schematic diagram of the three-dimensional exploded structure of a chameleon tongue-imitation self-correcting flexible gripper according to the present invention;

[0027] Figure 6 The present invention Figure 3 The internal structure diagram at A is shown;

[0028] Figure 7 It is a schematic diagram of the operation of the excitation device in the self-correction device of the present invention after being energized;

[0029] Figure 8 is a flow chart of the preparation of the annular capsule of the present invention;

[0030] Fig. 9 It is a flow chart of the preparation of the flexible substrate of the present invention.

[0031] In the figure, 1. self-correction device; 11. excitation device; 12. annular bag; 2. cup-shaped support structure; 21. elastic gradient rod; 22. flexible matrix; 23. wire loop; 24. top cover; 3. drive device; 31. motor telescopic rod; 32. cable drum; 33. tendon rope; 4. oily fluid; 5. magnetic particles; 6. non-magnetic spherical particles; 7. U-shaped annular recessed groove; 111. iron core; 112. coil; 113. magnetic conductive shell. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] In the description of the present invention, it should be noted that the terms "upper / lower end", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0034] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "setting / sleeving", "sleeve connection", "connection", etc. should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0035] See also Figure 1-7 The present invention provides a technical solution: a chameleon tongue-like self-correcting flexible gripper, comprising a self-correcting device 1, a cup-shaped support structure 2, and a driving device 3, wherein the self-correcting device 1 is located inside the cup-shaped support structure 2 and is fixedly connected to the cup-shaped support structure 2, and the driving device 3 is located above the self-correcting device 1 and the cup-shaped support structure 2 and is fixedly connected to the cup-shaped support structure 2;

[0036] The self-correcting device 1 comprises an excitation device 11 and an annular bag 12. The excitation device 11 is fixedly connected to the cup-shaped support structure 2. The annular bag 12 is composed of a rubber skin filled with magnetorheological glue. The inner film of the rubber skin has an annular groove. The groove is made by heating the rubber skin. In order to prevent the magnetorheological glue in the annular bag 12 from being completely or mostly concentrated in the lower part of the annular bag 12 due to gravity in the initial state, so that the magnetorheological glue is not affected by the magnetic field or is weakly affected by the magnetic field, the magnetorheological glue characteristics are The self-correction effect of the gripper is lost. The magnetorheological glue in the annular bag 12 can be distributed relatively evenly up and down through the annular groove design to prevent the failure of the self-correction function caused by the absence of magnetorheological glue in the upper part. The inner film of the upper rubber skin of the annular bag 12 is fixedly connected to the lower inner wall of the excitation device 11, the outer film of the upper rubber skin of the annular bag 12 is fixedly connected to the lower outer wall of the excitation device 11, and the outer film of the annular bag 12 is fixedly connected to the inner side of the cup-shaped support structure 2;

[0037] The cup-shaped support structure 2 includes an elastic gradient rod 21, a flexible substrate 22, a wire loop 23, and a top cover 24. The flexible substrate 22 is cup-shaped and wrapped around the outside of a plurality of elastic gradient rods 21 and is fixedly connected to the elastic gradient rods 21. The inner side of the flexible substrate 22 is fixedly connected to the outer film of the annular bag 12. A plurality of wire loops 23 are evenly inlaid on the inner side of each elastic gradient rod 21. The inner side of the upper end of each elastic gradient rod 21 is connected to the outer wall of the excitation device 11. The top end of each elastic gradient rod 21 is fixedly connected to the top cover 24, and the top cover 24 is fixedly connected to the driving device 3.

[0038] The driving device 3 includes a motor telescopic rod 31, a cable drum 32, and tendon ropes 33. The number of tendon ropes 33 corresponds to the number of elastic gradient rods 21, and each tendon rope 33 is located in the wire loop 23 on the corresponding elastic gradient rod 21, and one end is fixedly connected to the wire loop 23 at the bottom of the corresponding elastic gradient rod 21. The other end of the tendon rope 33 is inserted into the cable drum 32, and multiple tendon ropes 33 are bundled into one and fixedly connected to the output end of the motor telescopic rod 31. The cable drum 32 is fixedly connected to the top cover 24.

[0039] In the present invention, the excitation device 11 includes an iron core 111, a coil 112, and a magnetic shell 113. The coil 112 is located in the magnetic shell 113 and is wound around the iron core 111. The iron core 111 has an upper cover and the upper cover of the iron core 111 is fixedly connected to the magnetic shell 113. The inner and outer walls of the lower part of the magnetic shell 113 are respectively fixedly connected to the inner and outer films of the upper rubber skin of the annular sac 12.

[0040] In the present invention, the magnetorheological glue inside the annular bag 12 is composed of an oily fluid 4 , magnetic particles 5 , and non-magnetic spherical particles 6 .

[0041] In the present invention, a U-shaped annular recessed groove 7 is provided on the flexible substrate 22, and the U-shaped annular recessed groove 7 is evenly opened on the inner and outer walls of the flexible substrate 22, thereby increasing the bending deformation ability of the flexible substrate 22 when grasping an object, so that the entire structure can be deformed within a larger range without causing permanent deformation or damage, thereby improving the durability of the flexible substrate 22, reducing wear and tear, and thus extending the service life; and the existence of this pleated-like structure can disperse local stress to a larger area, thereby reducing stress concentration at a single point, and improving the strength of the overall structure and grasping stability.

[0042] In the present invention, the elastic gradient rod 21 is made of a carbon fiber rod whose diameter gradually decreases from top to bottom.

[0043] In the present invention, if Figure 8 As shown, the annular bag 12 is composed of a rubber skin filled with magnetorheological gel (MRG). The preparation method of the annular bag 12 is as follows: first, a certain amount of castor oil (CO) is prepared and placed in a vacuum drying oven for 1 hour for dehydration treatment to fully remove moisture to prevent the subsequently added MDI from reacting with water to affect the formation of the prepolymer.

[0044] Then, a certain amount of 4,4'-diphenylmethane diisocyanate (MDI) is added dropwise to a beaker with dehydrated CO to form a prepolymer, and stirred while adding, the stirring speed is 1200r / min, and the stirring time is 10min. After that, the above liquid mixture material is placed in a constant temperature device at 80°C, and a certain amount of carbonyl iron powder (CIP) is placed in a beaker. At the same time, an appropriate amount of catalyst, chain extender, and plasticizer can be added to enhance the rheological properties of MRG. After the above materials are mixed, they are continuously stirred evenly, and the stirring speed is 1200r / min, and the duration is 1 hour. After that, it is placed in a vacuum drying oven at a temperature of 80°C and heated for 1.5 hours and then taken out. To ensure that the reaction is complete, it is placed in a room temperature environment for 4-5 days for deep vulcanization to obtain a magnetorheological gel (MRG). A certain amount of carbon microspheres are added to MRG, and stirred while adding, the stirring speed is 300r / min, and the duration is 1 hour. After completion, the magnetorheological gel used in the present invention is obtained. Finally, the magnetorheological glue is poured into the processed rubber skin. After filling, the annular bag 12 is prepared. The wrinkles at the annular depression of the inner film of the rubber skin are made by heating the rubber skin. The annular depression prevents the magnetorheological glue from sinking too much due to gravity, resulting in the deterioration of its magnetic control effect, affecting the self-correction effect, and can increase the grasping stability.

[0045] In the present invention, if Fig. 9As shown, the preparation method of the flexible substrate 22 is as follows: first, prepare molds a and b, and insert mold a into mold b; then prepare PDMS rubber, mix the A (polydimethylsiloxane prepolymer) and B (curing agent) components in the PDMS rubber according to a mass fraction ratio of 10:1, and stir and mix them evenly using a stirrer to obtain a PDMS polymer; then put it into a vacuum drying oven and evacuate it to 0.8Mpa; then pour the PDMS polymer into the assembled mold and put it into a blast drying oven at 40°C to dry it until it solidifies. Finally, demolding is performed to obtain the flexible substrate 22 required by the present invention.

[0046] Through the personnel in this field, all the electrical components in this case are connected to their corresponding power supplies through wires, and a suitable controller should be selected according to the actual situation to meet the control requirements. The specific connection and control sequence should refer to the following working principle, and the electrical connection between the electrical components is completed in the order of working in sequence. The detailed connection means are well-known technologies in this field. The following mainly introduces the working principle and process, and no longer explains the electrical control.

[0047] In this embodiment: when grabbing an object, the drive device 3 is started, and when the motor telescopic rod 31 in the drive device 3 moves upward, the tendon rope 33 in the cable tray 22 located above the top cover 24 is driven to move. Since the diameter of the elastic gradient rod 21 in the cup-shaped support structure 2 decreases from top to bottom, its lower part is easier to bend, so the tendon rope 33 will drive the wire loop 23 at the lower part of the elastic gradient rod 21 to move, so that the lower part of the elastic gradient rod 21 shrinks and bends inward, so that the external flexible substrate 22 and the annular bag 12 in the self-correction device 1 close to the flexible substrate 22 shrink inward at the same time to wrap the object. The magnetorheological glue in the annular bag 12 has good fluidity. When wrapping an object, the magnetorheological glue in the annular bag 12 is squeezed and starts to move and adapts to the shape of the object so that the annular bag 12 tightly wraps the object. At this time, the present invention has a certain object grasping ability. When the bending degree of the elastic gradient rod 21 reaches the predetermined requirement and the grasped object is in close contact with the annular bag 12, the power supply port on the magnetic conductive shell 113 in the excitation device 11 is energized. When energized, the iron core 111 and the coil 112 wound on the iron core 111 generate a magnetic field. At this time, the current is adjusted to change the size of the magnetic field. Since the magnetic particles 5 in the magnetorheological glue will be magnetized under the magnetic field, the magnetized magnetic particles 5 will attract each other and will be re-arranged in a chain or columnar shape in the oily fluid 4 according to the distribution of magnetic flux lines. At the same time, the non-magnetic spherical particles 6 are squeezed against each other to change the overall modulus of the magnetorheological glue, thereby realizing the variable stiffness characteristics of the annular bag 12, thereby increasing the adaptability and grasping stability when grasping the object, and at the same time, the magnetic particles 5 in the magnetorheological glue will produce more aggregation phenomena toward the place with a larger magnetic field. Since the magnetic field is stronger the closer to the excitation device 11, this will cause the magnetic particles 5 in the magnetorheological glue in the annular bag 12 to gather close to the excitation device 11 (when no magnetic field is generated, the ferromagnetic particles 5 in the magnetorheological glue are due to the magnetorheological glue). Gravity factors will cause downward gathering), so while the annular sac 12 is close to the object to produce an adaptive grasping effect, the annular sac 12 will also drive the wrapped object to achieve a certain displacement to the inside of the present invention (at the excitation device 11), which is similar to the tongue cup structure formed at the front end of the tongue of a chameleon when it grasps prey. While the tongue contraction muscles inside the tongue contraction muscles wrap the prey, the inner muscles of the tongue produce further peristaltic contraction to achieve a self-correction effect on the prey. The present invention has a similar effect, thereby achieving wrapping, grasping and self-correction effects on the grasped object. The inner and outer walls of the flexible substrate 22 are evenly provided with U-shaped annular recessed grooves 7, which increase the bending deformation ability of the flexible substrate 22 when grasping the object, so that the entire structure can be deformed within a larger range without causing permanent deformation or damage, thereby improving the durability of the flexible substrate 22, reducing wear and tear, and thus extending the service life; and the existence of this pleated structure can disperse local stress to a larger area, thereby reducing stress concentration at a single point, and improving the strength of the overall structure and grasping stability.

[0048] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions. The sentence "includes an element defined by ... does not exclude the existence of other identical elements in the process, method, article or device including the element".

[0049] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A chameleon tongue-like self-correcting flexible gripper, comprising a self-correcting device (1), a cup-shaped support structure (2), and a driving device (3), characterized in that: The self-correcting device (1) is located inside the cup-shaped support structure (2) and is fixedly connected to the cup-shaped support structure (2); the driving device (3) is located above the self-correcting device (1) and the cup-shaped support structure (2) and is fixedly connected to the cup-shaped support structure (2); The self-correcting device (1) comprises an excitation device (11) and an annular bladder (12); the excitation device (11) is fixedly connected to a cup-shaped support structure (2); the annular bladder (12) is composed of a rubber skin filled with magnetorheological glue; the inner film of the upper rubber skin of the annular bladder (12) is fixedly connected to the lower inner wall of the excitation device (11); the outer film of the upper rubber skin of the annular bladder (12) is fixedly connected to the lower outer wall of the excitation device (11); and the outer film of the annular bladder (12) is fixedly connected to the inner side of the cup-shaped support structure (2); The cup-shaped support structure (2) comprises an elastic gradient rod (21), a flexible substrate (22), a wire loop (23), and a top cover (24); the flexible substrate (22) is cup-shaped and wrapped around the outside of a plurality of elastic gradient rods (21) and is fixedly connected to the elastic gradient rods (21); the inner side of the flexible substrate (22) is fixedly connected to the outer film of the annular bag (12); the inner side of each elastic gradient rod (21) is evenly inlaid with a plurality of wire loops (23); the inner side of the upper end of each elastic gradient rod (21) is connected to the outer wall of the excitation device (11); the top end of each elastic gradient rod (21) is fixedly connected to the top cover (24); and the top cover (24) is fixedly connected to the driving device (3); The driving device (3) comprises a motor telescopic rod (31), a cable tie drum (32), and tendon ropes (33); the number of the tendon ropes (33) corresponds to the number of the elastic gradient rods (21), and each tendon rope (33) is located in a wire loop (23) on the corresponding elastic gradient rod (21), and one end of the tendon rope (33) is fixedly connected to the wire loop (23) at the bottom of the corresponding elastic gradient rod (21); the other end of the tendon rope (33) is inserted into the cable tie drum (32), and a plurality of tendon ropes (33) are bundled into a strand and fixedly connected to the output end of the motor telescopic rod (31); the cable tie drum (32) is fixedly connected to the top cover (24).

2. The chameleon tongue self-correcting flexible gripper according to claim 1, characterized in that: The excitation device (11) comprises an iron core (111), a coil (112), and a magnetically conductive shell (113); the coil (112) is located in the magnetically conductive shell (113) and is wound around the iron core (111); the iron core (111) is provided with an upper cover, and the upper cover of the iron core (111) is fixedly connected to the magnetically conductive shell (113); the inner and outer walls of the lower portion of the magnetically conductive shell (113) are respectively fixedly connected to the inner and outer films of the upper rubber skin of the annular bladder (12).

3. The chameleon tongue self-correcting flexible gripper according to claim 1, characterized in that: The magnetorheological glue inside the annular bag (12) is composed of an oily fluid (4), magnetic particles (5) and non-magnetic spherical particles (6).

4. The chameleon tongue self-correcting flexible gripper according to claim 1, characterized in that: The flexible base (22) is provided with a U-shaped annular recessed groove (7), and the U-shaped annular recessed groove (7) is evenly opened on the inner and outer walls of the flexible base (22).

5. The chameleon tongue self-correcting flexible gripper according to claim 1, characterized in that: The elastic gradient rod (21) is made of a carbon fiber rod whose diameter gradually decreases from top to bottom.

6. The chameleon tongue self-correcting flexible gripper according to claim 1, characterized in that: The annular bladder (12) is composed of a rubber skin filled with magnetorheological gel (MRG). The preparation method of the annular bladder (12) is as follows: after removing water from castor oil (CO), 4,4'-diphenylmethane diisocyanate (MDI) is added to CO and stirred, and then carbonyl iron powder (CIP) is put into a beaker and mixed and stirred evenly. After that, it is heated and placed in a room temperature environment for a few days for deep vulcanization to obtain magnetorheological gel (MRG). Finally, carbon microspheres are added to MRG, stirred and poured into the rubber skin to fill it up, and the annular bladder (12) is prepared. The wrinkles at the annular depression of the inner film of the rubber skin are made by heating the rubber skin.

7. The chameleon tongue self-correcting flexible gripper according to claim 1, characterized in that: The preparation method of the flexible substrate (22) is as follows: A (polydimethylsiloxane prepolymer) and B (curing agent) components in the PDMS rubber are mixed and stirred at a mass fraction ratio of 10:1, and then vacuumed and poured into a mold and dried until solidified, thereby obtaining the flexible substrate (22).

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