Robot flexible clamping jaw mechanism passively adapting to shape and using method

Abstract

The invention discloses a robot flexible clamping jaw mechanism passively adapting to the shape and a using method, and relates to the technical field of industrial robot assemblies. The clamping device comprises a base, a grabbing assembly and a connecting rod assembly, an air cylinder is installed on the base, an output shaft of the air cylinder is connected with the connecting rod assembly, the grabbing assembly can be conveniently driven to stretch and retract, and workpiece clamping operation is achieved; two mounting base plates are oppositely mounted at the movable end of the clamping jaw mounting cover, a first V-shaped flexible tensioning wheel and a second V-shaped flexible tensioning wheel are mounted between every two adjacent mounting base plates, and a plurality of L-shaped mounting supports are fixed to one sides of the mounting base plates. And reset springs are connected between the L-shaped mounting bracket and the first V-shaped flexible tensioning wheel and between the L-shaped mounting bracket and the second V-shaped flexible tensioning wheel, so that the first V-shaped flexible tensioning wheel and the second V-shaped flexible tensioning wheel are passively clamped into surface features such as a groove, a curved surface and a ridge block of a workpiece to adapt to different workpieces.

Description

Technical Field

[0001] The present invention belongs to the technical field of industrial robot components, and particularly relates to a robot flexible gripper mechanism that can passively adapt to shapes and its usage method. Background Art

[0002] The gripper mechanism is one of the important components installed on the robotic arm of an industrial robot. Its function is to enable the robotic arm of the robot to autonomously grip workpieces of corresponding specifications like a human, thereby realizing the automated gripping and conveying operations of the workpieces.

[0003] Most of the current gripper mechanisms can only achieve single-to-single gripping operations. When performing automated gripping and conveying operations of workpieces, it is necessary to select a gripper mechanism of corresponding specifications according to the shape of the workpiece for gripping. The versatility is not strong, and it is difficult to achieve single-to-multiple gripping operations of the gripper mechanism, which not only increases the workload of the operator in replacing the gripper mechanism but also reduces the applicability of the gripper mechanism.

[0004] In view of this, it is particularly important to design a gripper that can passively adjust the multi-degree-of-freedom operation of the gripping posture according to the actual shape of the workpiece, so that the gripper mechanism can grip workpieces with surface shapes such as grooves, curved surfaces, and prism blocks.

[0005] For this reason, we design a robot flexible gripper mechanism that can passively adapt to shapes and its usage method to solve the above problems. Summary of the Invention

[0006] To solve the above technical problems, the present invention is realized through the following technical solutions:

[0007] The present invention relates to a robot flexible gripper mechanism that can passively adapt to shapes and its usage method, including a base. A grasping component and a connecting rod component are arranged on the base. A plurality of first mounting holes are formed on the side surface of the base. A second mounting hole is formed on the base. A cylinder is mounted on the base. The telescopic end of the cylinder is movably matched with the second mounting hole. The grasping component includes:

[0008] A gripper mounting cover and a grasping belt component. The two gripper mounting covers are oppositely mounted on the base. A support shaft is arranged on the gripper mounting cover. The support shaft is mutually matched with the first mounting hole. Two mounting substrates are relatively fixedly mounted at the movable end of the gripper mounting cover. A first V-shaped flexible tension pulley and a second V-shaped flexible tension pulley are mounted between adjacent two mounting substrates. V-groove pulleys are rotatably mounted at the movable ends of the first V-shaped flexible tension pulley and the second V-shaped flexible tension pulley. A plurality of L-shaped mounting brackets are fixed on one side of the two mounting substrates close to each other. A return spring is connected between the L-shaped mounting bracket and the first V-shaped flexible tension pulley and the second V-shaped flexible tension pulley respectively. The grasping belt component is arranged between adjacent two mounting substrates.

[0009] The grasping belt assembly includes a conveyor belt, belt pulleys, a driving belt, and a driving motor. On one side of the mounting base plate close to the jaw mounting cover, there are four-corner sprockets. Between two adjacent mounting base plates, there is a transverse mounting pin. The conveyor belt is installed in a chain-like manner between the first V-shaped flexible tension pulley, the second V-shaped flexible tension pulley, the transverse mounting pin, and the four-corner sprockets.

[0010] The driving motor is installed on one of the mounting base plates. The two belt pulleys are respectively connected to the output end of the driving motor and the four-corner sprocket. The driving belt is arranged in a transmission manner between the two belt pulleys. One end of the two belt pulleys away from the driving motor and the four-corner sprocket is rotatably connected to the mounting base plate on the other side.

[0011] V-groove pulleys are rotatably installed at the movable ends of the first V-shaped flexible tension pulley and the second V-shaped flexible tension pulley. A number of mounting holes are provided on the mounting base plate, and the number of mounting holes are respectively used for the installation of the first V-shaped flexible tension pulley, the second V-shaped flexible tension pulley, the V-groove pulley, and the four-corner sprocket.

[0012] The mounting base plate is of a rhombus structure. The mounting holes of the four-corner sprocket and the V-groove pulley are opened on the angular bisector of the tip angle of the mounting base plate. The mounting holes of the first V-shaped flexible tension pulley and the second V-shaped flexible tension pulley are on a straight line with the center of the tip of the mounting base plate.

[0013] The length of the second V-shaped flexible tension pulley is greater than that of the first V-shaped flexible tension pulley. A number of reset springs are symmetrically installed outside the first V-shaped flexible tension pulley and the second V-shaped flexible tension pulley.

[0014] The connecting rod assembly includes a first connecting rod, a second connecting rod, and a transverse connecting rod. The transverse connecting rod is arranged inside the base, and the output end of the air cylinder is fixedly connected to the transverse connecting rod. The first connecting rod and the second connecting rod are respectively arranged at both ends of the transverse connecting rod, and the first connecting rod and the second connecting rod are both hinged to the transverse connecting rod. One end of the first connecting rod and the second connecting rod away from the transverse connecting rod is hinged to the end head of the adjacent jaw mounting cover.

[0015] There are two first connecting rods and two second connecting rods respectively. The two first connecting rods and the two second connecting rods are symmetrically arranged on both sides of the transverse connecting rod.

[0016] A method for using a robot flexible jaw mechanism that can passively adapt to shapes includes the following steps:

[0017] Step 1: Extend the driving air cylinder to drive the transverse connecting rod to move towards the outside of the base. Under the action of the first connecting rod and the second connecting rod, drive the jaw mounting cover to open, and then drive the grasping assembly to open, and place the workpiece to be clamped inside the opened grasping assembly.

[0018] Step 2: The driving cylinder contracts, driving the cross-link to move towards the inside of the base. Combining with the first link and the second link, the gripper mounting cover is driven to close, and then the gripping assembly is driven to contract. After touching the workpiece, it continues to contract. At this time, the conveyor belt covered on the outer sides of the first V-shaped flexible tension pulley and the second V-shaped flexible tension pulley, under the action of the return spring, adheres to the workpiece. At the same time, the other ends of the first V-shaped flexible tension pulley and the second V-shaped flexible tension pulley extend outwards to tension the conveyor belt, so that the conveyor belt is always covered between the first V-shaped flexible tension pulley, the second V-shaped flexible tension pulley and the four-corner sprocket. The first V-shaped flexible tension pulley and the second V-shaped flexible tension pulley are passively clamped onto the surface features such as the grooves, curved surfaces, and edge blocks of the workpiece under the action of the return spring to ensure the gripping effect;

[0019] Step 3: Start the driving motor. The driving motor drives the corresponding pulley to rotate. Combining with the driving belt and another pulley, the four-corner sprocket is driven to rotate, and then the conveyor belt is driven to rotate at a constant speed to move the workpiece or rotate at a differential speed to rotate the workpiece, realizing a small-range change in the geometric position of the workpiece;

[0020] Step 4: After moving to a suitable position, the cylinder extends to drive the cross-link to move outwards. Combining with the first link and the second link, the gripper mounting covers on both sides are driven to open. The first V-shaped flexible tension pulley and the second V-shaped flexible tension pulley slowly leave the surface of the workpiece under the action of the return spring and the cylinder, and the gripping process ends.

[0021] The present invention has the following beneficial effects:

[0022] Through the driving motor, combining with the pulley and the driving belt, the present invention facilitates driving the four-corner sprocket to rotate, and then drives the conveyor belt to rotate while being covered between the first V-shaped flexible tension pulley, the second V-shaped flexible tension pulley and the four-corner sprocket. Under the elastic action of the return spring, the first V-shaped flexible tension pulley and the second V-shaped flexible tension pulley are passively clamped onto the surface features such as the grooves, curved surfaces, and edge blocks of the workpiece to ensure the gripping effect, achieving the purpose of passively adjusting the gripping posture of the gripper mechanism with multiple degrees of freedom according to the actual shape of the workpiece, enabling the gripper mechanism to grip workpieces with surface shapes such as grooves, curved surfaces, and edge blocks, realizing the general and stable gripping operation of the gripper mechanism, thereby improving the applicability and stability of the gripper mechanism, and solving the drawbacks that most current gripper mechanisms can only achieve single-to-single gripping operations. When performing automated gripping and conveying operations of workpieces, it is necessary to select corresponding specifications of gripper mechanisms for gripping according to the shape of the workpiece, with poor versatility, and it is difficult to achieve single-to-multiple gripping operations of the gripper mechanism, which not only increases the workload of operators in replacing the gripper mechanism, but also reduces the applicability of the gripper mechanism;

[0023] Among them, the driving motor and the four-corner sprockets drive the conveyor belt to rotate at a constant speed to move the workpiece or rotate at a differential speed to rotate the workpiece, which can achieve a small-range change in the geometric position of the workpiece and further improve the use effect of the gripper.

[0024] Of course, it is not necessary for any product implementing the present invention to simultaneously achieve all the above-mentioned advantages. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for describing the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0026] Figure 1 It is a schematic diagram of the overall structure of a robot flexible gripper mechanism with passive shape adaptation according to the present invention;

[0027] Figure 2 It is a schematic diagram of the internal sectional structure of a robot flexible gripper mechanism with passive shape adaptation according to the present invention in a contracted state;

[0028] Figure 3 It is a schematic diagram of the internal sectional structure of a robot flexible gripper mechanism with passive shape adaptation according to the present invention in an open state;

[0029] Figure 4 It is a schematic diagram of the exploded structure of a robot flexible gripper mechanism with passive shape adaptation according to the present invention;

[0030] Figure 5 It is a schematic diagram of the internal structure of the grasping component in a robot flexible gripper mechanism with passive shape adaptation according to the present invention;

[0031] Figure 6 It is a specific implementation flowchart of the usage method of a robot flexible gripper mechanism with passive shape adaptation.

[0032] In the drawings, the list of components represented by each reference numeral is as follows:

[0033] 1. Base; 101. First mounting hole; 102. Second mounting hole; 103. Cylinder; 2. Grasping component; 201. Gripper mounting cover; 202. Mounting substrate; 204. First V-shaped flexible tension pulley; 205. Second V-shaped flexible tension pulley; 206. Return spring; 207. Mounting cross pin; 208. Four-corner sprocket; 209. L-shaped mounting bracket; 210. V-groove pulley; 301. First connecting rod; 302. Second connecting rod; 303. Cross connecting rod; 4. Grasping belt component; 401. Conveyor belt; 402. Belt pulley; 403. Driving belt; 404. Driving motor. Specific embodiments

[0034] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without making creative efforts fall within the protection scope of the present invention.

[0035] In the description of the present invention, it should be understood that the terms "upper", "middle", "outer", "inner", etc. indicating orientation or positional relationships are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the components or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention.

[0036] Please refer to Figures 1 - 6 As shown, the present invention is a robot flexible gripper mechanism that passively adapts to shapes, including a base 1. A grasping component 2 and a connecting rod component are arranged on the base 1. A plurality of first mounting holes 101 are formed on the side surface of the base 1, a second mounting hole 102 is formed on the base 1, and a cylinder 103 is mounted on the base 1. The telescopic end of the cylinder 103 is movably matched with the second mounting hole 102. The grasping component 2 includes:

[0037] A gripper mounting cover 201 and a grasping belt assembly 4. Two gripper mounting covers 201 are oppositely mounted on the base 1. A support shaft is arranged on the gripper mounting cover 201, and the support shaft is mutually matched with the first mounting hole 101. Two mounting substrates 202 are relatively fixedly mounted at the movable end of the gripper mounting cover 201. A first V-shaped flexible tension pulley 204 and a second V-shaped flexible tension pulley 205 are mounted between adjacent two mounting substrates 202. V-groove pulleys 210 are rotatably mounted at the movable ends of the first V-shaped flexible tension pulley 204 and the second V-shaped flexible tension pulley 205. A plurality of L-shaped mounting brackets 209 are fixed on one side of the two mounting substrates 202 close to each other. A return spring 206 is connected between the L-shaped mounting bracket 209 and the first V-shaped flexible tension pulley 204 and the second V-shaped flexible tension pulley 205 respectively. The grasping belt assembly 4 is arranged between adjacent two mounting substrates 202.

[0038] The grasping belt assembly 4 includes a conveyor belt 401, belt pulleys 402, a driving belt 403, and a driving motor 404. On one side of the mounting substrate 202 close to the jaw mounting cover 201, a four-corner sprocket 208 is provided. An installation cross pin 207 is provided between two adjacent mounting substrates 202. The conveyor belt 401 is chain-mounted between a first V-shaped flexible tension pulley 204, a second V-shaped flexible tension pulley 205, the installation cross pin 207, and the four-corner sprocket 208. The driving motor 404 is mounted on one of the mounting substrates 202. The two belt pulleys 402 are respectively connected to the output end of the driving motor 404 and the four-corner sprocket 208. The driving belt 403 is transmission-mounted between the two belt pulleys 402. One ends of the two belt pulleys 402 away from the driving motor 404 and the four-corner sprocket 208 are rotatably connected to the mounting substrate 202 on the other side.

[0039] In the above structure, through the driving motor 404, in combination with the belt pulleys 402 and the driving belt 403, it is convenient to drive the four-corner sprocket 208 to rotate, and then drive the conveyor belt 401 to rotate between the first V-shaped flexible tension pulley 204, the second V-shaped flexible tension pulley 205, and the four-corner sprocket 208. Under the elastic action of the return spring 206, the first V-shaped flexible tension pulley 204 and the second V-shaped flexible tension pulley 205 are passively clamped onto the surface features such as the grooves, curved surfaces, and edge blocks of the workpiece, ensuring the grasping effect, achieving the purpose of passively adjusting the clamping posture of the jaw mechanism with multiple degrees of freedom according to the actual shape of the workpiece, enabling the jaw mechanism to clamp workpieces with surface shapes such as grooves, curved surfaces, and edge blocks, realizing the general and stable clamping operation of the jaw mechanism, thereby improving the applicability and stability of the jaw mechanism.

[0040] V-groove pulleys 210 are rotatably mounted at the movable ends of the first V-shaped flexible tension pulley 204 and the second V-shaped flexible tension pulley 205. A number of mounting holes are provided on the mounting substrate 202, and the number of mounting holes are respectively used for the installation of the first V-shaped flexible tension pulley 204, the second V-shaped flexible tension pulley 205, the V-groove pulley 210, and the four-corner sprocket 208. The mounting substrate 202 is a rhombus structure. The mounting holes of the four-corner sprocket 208 and the V-groove pulley 210 are both provided on the angular bisectors of the tip angles of the mounting substrate 202. The mounting holes of the first V-shaped flexible tension pulley 204 and the second V-shaped flexible tension pulley 205 are both on a straight line with the center of the tip of the mounting substrate 202. The length of the second V-shaped flexible tension pulley 205 is greater than that of the first V-shaped flexible tension pulley 204. A number of return springs 206 are symmetrically mounted outside the first V-shaped flexible tension pulley 204 and the second V-shaped flexible tension pulley 205.

[0041] The connecting rod assembly includes a first connecting rod 301, a second connecting rod 302, and a cross connecting rod 303. The cross connecting rod 303 is arranged inside the base 1, and the output end of the air cylinder 103 is fixedly connected to the cross connecting rod 303. The first connecting rod 301 and the second connecting rod 302 are respectively arranged at both ends of the cross connecting rod 303, and both the first connecting rod 301 and the second connecting rod 302 are hinged to the cross connecting rod 303. The ends of the first connecting rod 301 and the second connecting rod 302 far from the cross connecting rod 303 are hinged to the end heads of the adjacent jaw mounting covers 201. There are two first connecting rods 301 and two second connecting rods 302, and the two first connecting rods 301 and the two second connecting rods 302 are symmetrically arranged on both sides of the cross connecting rod 303.

[0042] A method of using a robot flexible jaw mechanism that passively adapts to shapes includes the following steps:

[0043] Step 1: By driving the air cylinder 103 to extend, drive the cross connecting rod 303 to move towards the outside of the base 1. Under the action of the first connecting rod 301 and the second connecting rod 302, drive the jaw mounting cover 201 to open, and then drive the grasping assembly 2 to open, and place the workpiece to be grasped inside the opened grasping assembly 2;

[0044] Step 2: Drive the air cylinder 103 to contract, drive the cross connecting rod 303 to move towards the inside of the base 1, and drive the jaw mounting cover 201 to close in combination with the first connecting rod 301 and the second connecting rod 302, and then drive the grasping assembly 2 to contract. After touching the workpiece, continue to contract. At this time, the conveyor belt 401 covered on the outer sides of the first V-shaped flexible tensioning wheel 204 and the second V-shaped flexible tensioning wheel 205, under the action of the return spring 206, adheres to the workpiece. At the same time, the other ends of the first V-shaped flexible tensioning wheel 204 and the second V-shaped flexible tensioning wheel 205 extend outwards to tension the conveyor belt 401, so that the conveyor belt 401 is always covered between the first V-shaped flexible tensioning wheel 204, the second V-shaped flexible tensioning wheel 205, and the four-corner sprocket 208. The first V-shaped flexible tensioning wheel 204 and the second V-shaped flexible tensioning wheel 205 are passively stuck into the surface features such as grooves, curved surfaces, and edge blocks of the workpiece under the action of the return spring 206 to ensure the grasping effect;

[0045] Step 3: Start the driving motor 404, drive the corresponding pulley 402 to rotate through the driving motor 404, and drive the four-corner sprocket 208 to rotate in combination with the driving belt 403 and another pulley 402, and then drive the conveyor belt 401 to rotate at a constant speed to move the workpiece or rotate at a differential speed to rotate the workpiece, so as to achieve a small-range change in the geometric position of the workpiece;

[0046] Step 4: After moving to the appropriate position, the cylinder 103 extends to drive the cross-link 303 to move outward. In combination with the first link 301 and the second link 302, the gripper mounting covers 201 on both sides are driven to open. The first V-shaped flexible tension pulley 204 and the second V-shaped flexible tension pulley 205 slowly leave the surface of the workpiece under the action of the return spring 206 and the cylinder 103, and the grasping process ends.

[0047] Embodiment:

[0048] When clamping the workpiece, first start the cylinder 103. The cylinder 103 extends to drive the cross-link 303 to move in the direction outside the base 1. Under the hinged action of the first link 301 and the second link 302, the gripper mounting covers 201 on both sides are driven to open, and then the conveyor belts 401 on both sides are driven to open, so that the workpiece to be clamped is placed between the conveyor belts 401 on both sides;

[0049] Secondly, drive the cylinder 103 to contract, drive the cross-link 303 to move in the direction inside the base 1, combine the first link 301 and the second link 302, and then drive the two gripper mounting covers 201 to approach each other. After the conveyor belt 401 touches the workpiece, continue to contract;

[0050] At this time, under the action of the return spring 206, the conveyor belt 401 is attached to the workpiece. At the same time, the other ends of the first V-shaped flexible tension pulley 204 and the second V-shaped flexible tension pulley 205 extend outward to tension the conveyor belt 401;

[0051] Among them, under the action of the return spring 206, the first V-shaped flexible tension pulley 204 and the second V-shaped flexible tension pulley 205 can extend out of the mounting substrate 202 to form a platform extending outward, which can cooperate with the grooves, curved surfaces, edge blocks and other structures of the workpiece to passively engage with the grooves, curved surfaces, edge blocks and other surface features of the workpiece, ensuring the purpose of the grasping effect. It can perform passive multi-degree-of-freedom adjustment operations on the clamping posture of the gripper mechanism according to the actual shape of the workpiece, enabling the gripper mechanism to clamp workpieces with surface shapes such as grooves, curved surfaces, and edge blocks, realizing the general and stable clamping operation of the gripper mechanism, thereby improving the applicability and stability of the gripper mechanism;

[0052] Among them, under the mutual cooperation of the drive motor 404, the belt pulley 402, and the drive belt 403, the four-corner sprocket 208 can be driven to rotate, and then the conveyor belt 401 is driven to rotate. After the conveyor belts 401 on both sides clamp the workpiece, the relative position of the workpiece and the gripper can be moved through transmission, and the workpiece can be linearly moved within the range of the gripper. At the same time, after the two conveyor belts 401 clamp the workpiece, the workpiece can be rotated by differential rotation, achieving the purpose of changing the geometric position of the workpiece within a small range;

[0053] After moving to the appropriate position, the cylinder 103 extends to drive the cross-link rod 303 to move outwards, and drives the gripper mounting covers 201 on both sides to open in combination with the first link rod 301 and the second link rod 302. The first V-shaped flexible tension pulley 204 and the second V-shaped flexible tension pulley 205 slowly leave the surface of the workpiece under the action of the return spring 206, and the grasping process ends, waiting for the next grasping action.

[0054] It should be further noted that the installation structures, connection methods or setting methods of the components in the present invention are all common mechanical methods, and any implementation that can achieve its beneficial effects can be carried out. At the same time, the cylinder 103 and the drive motor 404 in the present invention are both purchased on the market, and those skilled in the art can install and use them according to the requirements;

[0055] When the output shaft of the cylinder 103 is at the end of the stroke, as Figure 2 shown, both the first link rod 301 and the second link rod 302 are perpendicular to the gripper mounting cover 201, thereby forming a self-locking state.

[0056] In the description of this specification, the descriptions referring to terms such as "one embodiment", "example", "specific example", etc. mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0057] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific embodiments described. Obviously, many modifications and changes can be made according to the content of this specification. These embodiments are selected and specifically described in this specification in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and utilize the present invention well. The present invention is only limited by the claims and their full scope and equivalents.

Claims

1. A passive shape-adaptive robot flexible gripper mechanism, comprising a base (1), characterized in that: The base (1) is provided with a gripping assembly (2) and a connecting rod assembly. A plurality of first mounting holes (101) are provided on the side of the base (1). A second mounting hole (102) is provided on the base (1). A cylinder (103) is installed on the base (1). The telescopic end of the cylinder (103) is movably matched with the second mounting hole (102). The gripping assembly (2) comprises: A clamping jaw mounting cover (201) and a grabbing belt assembly (4), wherein two clamping jaw mounting covers (201) are relatively mounted on a base (1), a support shaft is provided on the clamping jaw mounting cover (201), and the support shaft cooperates with a first mounting hole (101), two mounting base plates (202) are relatively fixedly mounted on the movable end of the clamping jaw mounting cover (201), a first V-shaped flexible tensioning wheel (204) and a second V-shaped flexible tensioning wheel (205) are mounted between two adjacent mounting base plates (202), and the The movable ends of the first V-shaped flexible tension wheel (204) and the second V-shaped flexible tension wheel (205) are both rotatably mounted with V-groove pulleys (210); a plurality of L-shaped mounting brackets (209) are fixed on the sides of the two mounting substrates (202) close to each other; a return spring (206) is connected between the L-shaped mounting brackets (209) and the first V-shaped flexible tension wheel (204) and the second V-shaped flexible tension wheel (205); and the grabbing belt assembly (4) is arranged between two adjacent mounting substrates (202).

2. A passive shape-adaptive robot flexible gripper mechanism according to claim 1, characterized in that: The grab belt assembly (4) comprises a transmission belt (401), a pulley (402), a driving belt (403) and a driving motor (404); a four-corner sprocket (208) is arranged on the side of the mounting base (202) close to the clamping jaw mounting cover (201); a mounting cross pin (207) is arranged between two adjacent mounting bases (202); and the transmission belt (401) is chain-mounted between a first V-shaped flexible tensioning wheel (204), a second V-shaped flexible tensioning wheel (205), the mounting cross pin (207) and the four-corner sprocket (208).

3. A passive shape-adaptive robot flexible gripper mechanism according to claim 2, characterized in that: The driving motor (404) is mounted on one of the mounting bases (202); the two pulleys (402) are respectively connected to the output end of the driving motor (404) and the four-corner sprocket (208); the driving belt (403) is arranged between the two pulleys (402); and the ends of the two pulleys (402) away from the driving motor (404) and the four-corner sprocket (208) are both rotationally connected to the mounting base (202) on the other side.

4. A passive shape-adaptive robot flexible gripper mechanism according to claim 3, characterized in that: The movable ends of the first V-shaped flexible tensioning wheel (204) and the second V-shaped flexible tensioning wheel (205) are both rotatably mounted with a V-groove pulley (210), and the mounting substrate (202) is provided with a plurality of mounting holes, which are respectively used for mounting the first V-shaped flexible tensioning wheel (204), the second V-shaped flexible tensioning wheel (205), the V-groove pulley (210) and the four-corner sprocket (208).

5. The passive shape-adaptive robot flexible gripper mechanism according to claim 4, characterized in that: The mounting base (202) is a diamond-shaped structure, the mounting holes of the four-corner sprocket (208) and the V-groove pulley (210) are both arranged on the bisector of the tip angle of the mounting base (202), and the mounting holes of the first V-shaped flexible tensioning wheel (204) and the second V-shaped flexible tensioning wheel (205) are both located in a straight line with the center of the tip of the mounting base (202).

6. The passive shape-adaptive robot flexible gripper mechanism according to claim 5, characterized in that: The second V-shaped flexible tension wheel (205) is longer than the first V-shaped flexible tension wheel (204), and a plurality of return springs (206) are symmetrically installed on the outside of the first V-shaped flexible tension wheel (204) and the second V-shaped flexible tension wheel (205).

7. The passive shape-adaptive robot flexible gripper mechanism according to claim 6, characterized in that: The connecting rod assembly comprises a first connecting rod (301), a second connecting rod (302) and a transverse connecting rod (303); the transverse connecting rod (303) is arranged on the inner side of the base (1), and the output end of the cylinder (103) is fixedly connected to the transverse connecting rod (303); the first connecting rod (301) and the second connecting rod (302) are respectively arranged at two ends of the transverse connecting rod (303), and the first connecting rod (301) and the second connecting rod (302) are both hingedly connected to the transverse connecting rod (303); the ends of the first connecting rod (301) and the second connecting rod (302) away from the transverse connecting rod (303) are hingedly connected to the end of the adjacent clamp mounting cover (201).

8. The passive shape-adaptive robot flexible gripper mechanism according to claim 7, characterized in that: Two of the first connecting rods (301) and the second connecting rods (302) are provided, and the two first connecting rods (301) and the two second connecting rods (302) are symmetrically arranged on two sides of the transverse connecting rod (303).

9. A method for using a passively adaptive shape robot flexible gripper mechanism, based on the passively adaptive shape robot flexible gripper mechanism of claim 8, characterized in that: The following steps are involved: Step 1: The driving cylinder (103) is extended to drive the horizontal connecting rod (303) to move toward the outside of the base (1), and under the action of the first connecting rod (301) and the second connecting rod (302), the clamping claw mounting cover (201) is driven to open, thereby driving the grasping assembly (2) to open, and placing the workpiece to be grasped inside the opened grasping assembly (2); Step 2: The driving cylinder (103) is contracted, driving the horizontal connecting rod (303) to move toward the inside of the base (1), and the first connecting rod (301) and the second connecting rod (302) are combined to drive the clamping jaw mounting cover (201) to retract, thereby driving the grasping assembly (2) to contract, and continue to contract after touching the workpiece. At this time, the conveyor belt (401) wrapped around the outside of the first V-shaped flexible tensioning wheel (204) and the second V-shaped flexible tensioning wheel (205) is pressed against the workpiece under the action of the reset spring (206). At the same time, the first V-shaped flexible tensioning wheel (204) and the second V-shaped flexible tensioning wheel (205) are pressed against the workpiece. The other ends of the V-shaped flexible tensioning wheel (204) and the second V-shaped flexible tensioning wheel (205) extend outward to tension the transmission belt (401), so that the transmission belt (401) is always covered between the first V-shaped flexible tensioning wheel (204), the second V-shaped flexible tensioning wheel (205) and the four-corner sprocket (208), and the first V-shaped flexible tensioning wheel (204) and the second V-shaped flexible tensioning wheel (205) are passively clamped on the surface features such as grooves, curved surfaces, and edges of the workpiece under the action of the return spring (206), thereby ensuring the grasping effect; Step 3: Start the drive motor (404), drive the corresponding pulley (402) to rotate through the drive motor (404), and drive the four-corner sprocket (208) to rotate in combination with the drive belt (403) and another pulley (402), thereby driving the transmission belt (401) to rotate the moving workpiece at a constant speed or to rotate the workpiece at a differential speed, thereby achieving a small range change in the geometric position of the workpiece; Step 4: After moving to the appropriate position, the cylinder (103) extends to drive the horizontal connecting rod (303) to move outward, and combines with the first connecting rod (301) and the second connecting rod (302) to drive the clamping jaw mounting covers (201) on both sides to open, and the first V-shaped flexible tensioning wheel (204) and the second V-shaped flexible tensioning wheel (205) slowly leave the workpiece surface under the action of the reset spring (206) and the cylinder (103), and the grasping process ends.

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