Adaptive hierarchical cooperative control flexible manipulator with array type contacts

Abstract

The invention relates to the technical field of robot end executors, in particular to a self-adaptive hierarchical cooperative control flexible manipulator with array type contacts, which is characterized in that an adhesive contact component and a non-adhesive contact component in an adhesive locking mechanism and a non-adhesive locking mechanism are in flexible contact with a curved surface of an irregular object; the first locking assembly and the second locking assembly are matched to achieve high-adaptability grabbing of irregular objects; the adhesion locking mechanism is independently driven by the desorption mechanism, so that the adhesion contact assembly is separated from the irregular object, and the object is released. The mechanical arm is conveniently expanded to the tail end of an existing mechanical arm through the adapter flange to be loaded and used, the adhesion locking mechanism and the non-adhesion locking mechanism are matched with the graded synergistic effect of the desorption mechanism to achieve high-adaptability flexible grabbing and lossless releasing of irregular objects, and the high-adaptability grabbing capacity of plane and complex curved surface objects is achieved; and the device can be widely applied to logistics sorting, precise instrument carrying, circuit board transfer and operation in an unstructured environment.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic end effectors, and particularly to a flexible manipulator with adaptive hierarchical collaborative control of an array of contacts. Background Art

[0002] As an important end effector mechanism of a robot, a manipulator plays an important role in multiple fields such as industrial production, medical treatment, and logistics. Although traditional rigid manipulators have advantages such as large grasping force and stable grasping, they have poor self - adaptability to the shape of objects and are difficult to achieve shape - adaptive grasping. In contrast, flexible manipulators can be adaptively adjusted according to the shape of an object and perform well in grasping irregularly shaped objects. They have better self - adaptability and flexibility. Currently, the research on flexible manipulators mainly focuses on improving their grasping performance and adaptability, enabling the manipulator to grasp irregularly shaped and easily deformable objects.

[0003] However, currently existing flexible manipulators mainly include two solutions: pneumatic soft manipulators and shape - memory alloy drives. The method relying on pneumatic soft manipulators requires the use of a vacuum pump or an air - inflating pump, resulting in a relatively large overall volume, high noise, and complex air - path control. In addition, this solution also limits its application in vacuum environments and space environments. At the same time, the solution using shape - memory alloy drives has obvious problems with response speed and cannot quickly respond to grasping and releasing actions.

[0004] In summary, it is urgent to develop a flexible manipulator with adaptive hierarchical collaborative control of an array of contacts, which can effectively solve the problems existing in the prior art and improve the operation efficiency of the manipulator in different scenarios. Summary of the Invention

[0005] The present invention provides a flexible manipulator with adaptive hierarchical collaborative control of an array of contacts, which can effectively solve the problems in the background art.

[0006] In order to achieve the above - mentioned purpose, the technical solution adopted by the present invention is: A flexible manipulator with adaptive hierarchical collaborative control of an array of contacts, comprising: a mounting bracket and an adhesion locking mechanism, a non - adhesion locking mechanism, and a desorption mechanism provided thereon, wherein the adhesion locking mechanism is connected to the desorption mechanism; The adhesion locking mechanism includes an adhesion contact component, a first locking component, and a first driving component, and the first driving component locks and fixes the adhesion contact component through the first locking component; The non - adhesion locking mechanism includes a non - adhesion contact component, a second locking component, and a second driving component, and the second driving component locks and fixes the non - adhesion contact component through the second locking component; The mounting bracket includes an upper support plate and a lower support plate arranged in parallel, as well as a first support plate group and a second support plate group. The upper support plate is fixedly connected to the lower support plate through a first connecting rod. The second support plate group is connected to the upper support plate through a second connecting rod. The first support plate group is located between the lower support plate and the second support plate group; Both the adhesion contact assembly and the non - adhesion contact assembly are connected to the lower support plate and are arranged through the second support plate group. The first locking assembly and the second locking assembly are respectively arranged on the first support plate group and the second support plate group. The first support plate group is connected to the upper support plate through the desorption mechanism.

[0007] Further, the first support plate group includes a first support plate and a second support plate arranged in parallel. The second support plate group includes a third support plate and a fourth support plate arranged in parallel. The second support plate and the third support plate are adjacent to each other; The upper support plate is fixedly connected to the fourth support plate through the second connecting rod. The first driving component drives the first support plate and the second support plate to move relative to each other. The second driving component drives the third support plate and the fourth support plate to move relative to each other.

[0008] Further, the adhesion contact assembly includes a first optical rod, an adhesion contact point, and a first spring. The adhesion contact point is arranged at one end of the first optical rod. The first spring is sleeved on the first optical rod and abuts against the adhesion contact point; The non - adhesion contact assembly includes a second optical rod, a non - adhesion contact point, and a second spring. The non - adhesion contact point is arranged at one end of the second optical rod. The second spring is sleeved on the second optical rod and abuts against the non - adhesion contact point; A plurality of the first optical rods and the second optical rods are alternately arranged in an array, and one end of each of them is suspended on the upper support plate through a nut. The first spring and the second spring also abut against the fourth support plate.

[0009] Further, the first locking assembly includes a first clamp sleeve sleeved on the first optical rod. The second locking assembly includes a second clamp sleeve sleeved on the second optical rod; The first clamp sleeve is located between the first support plate and the second support plate. The second clamp sleeve is located between the third support plate and the fourth support plate. A first locking sleeve and a second locking sleeve are respectively arranged on the first support plate and the third support plate corresponding to the first clamp sleeve and the second clamp sleeve.

[0010] Further, both the first clamp sleeve and the second clamp sleeve are arranged as elastic wedge - shaped clamp sleeves, and their converging ends are respectively oriented towards the first support plate and the third support plate; The first lock sleeve and the second lock sleeve are respectively provided with wedge-shaped grooves corresponding to the first clamping sleeve and the second clamping sleeve, and a first limiting sleeve and a second limiting sleeve are respectively arranged on the second support plate and the fourth support plate corresponding to the first clamping sleeve and the second clamping sleeve.

[0011] Further, the first driving assembly includes a first motor, a first lead screw, and a first threaded seat. The first motor and the first threaded seat are respectively fixed on the first support plate and the second support plate. The first lead screw is screwed with the first threaded seat and is driven to rotate by the first motor. The second driving assembly includes a second motor, a second lead screw, and a second threaded seat. The second motor and the second threaded seat are respectively fixed on the lower support plate and the third support plate. The second lead screw is screwed with the second threaded seat and is driven to rotate by the second motor.

[0012] Further, the second driving assembly includes a second servo motor, a second swing arm, a second transmission plate, and a slide rail. The second servo motor is fixed on the upper support plate. The slide rail is vertically arranged and fixedly connected to the upper support plate and the fourth support plate. The second transmission plate is fixedly connected to the third support plate and is slidably connected to the slide rail. The second servo motor drives the second transmission plate to move vertically through the second swing arm. The first driving assembly includes a first servo motor, a first swing arm, and a first transmission seat. The first servo motor is fixed on the second support plate. The first transmission seat is fixed on the first support plate and is slidably connected to the second connecting rod. The first servo motor drives the first transmission seat to move vertically through the first swing arm.

[0013] Further, the first locking assembly includes a first slider and a first guide rail respectively arranged on the first support plate and the second support plate. The first slider is slidably connected to the first guide rail. The first driving assembly includes a third motor, a third lead screw, and a third threaded seat. The third motor and the third threaded seat are respectively fixed on the second support plate and the first support plate. The third motor drives the third threaded seat to move along the length direction of the first guide rail through the third lead screw. On the first support plate, a first locking hole and a first through hole are respectively formed corresponding to the first optical rod and the second optical rod. The first locking hole and the first through hole are both formed as waist-shaped holes along the length direction of the first guide rail, and the length of the first locking hole is less than the length of the first through hole.

[0014] Further, the second locking assembly includes a second slider and a second guide rail respectively arranged on the third support plate and the fourth support plate. The second slider is slidably connected to the second guide rail. The second driving assembly includes a fourth motor, a fourth screw rod and a fourth threaded seat, wherein the fourth motor and the fourth threaded seat are respectively fixed to the fourth support plate and the third support plate, and the fourth motor drives the fourth threaded seat to move along the length direction of the second guide rail through the fourth screw rod; A second through hole and a second locking hole are respectively opened on the third support plate corresponding to the first polished rod and the second polished rod. The second locking hole and the second through hole are both opened as waist-shaped holes along the length direction of the second guide rail, and the length of the second locking hole is smaller than the length of the second through hole.

[0015] Furthermore, the detachment mechanism includes a fifth motor, a fifth screw rod and a fifth threaded seat. The fifth motor and the fifth threaded seat are respectively fixed on the upper support plate and the second support plate. The fifth screw rod is threadedly connected to the fifth threaded seat and is driven to rotate by the fifth motor.

[0016] The beneficial effects of the present invention are: In the present invention, the adhesive contact component in the adhesive locking mechanism and the non-adhesive contact component in the non-adhesive locking mechanism are in flexible contact with the curved surface of the irregular object, and the first locking component and the second locking component are cooperated to realize highly adaptable grasping of the irregular object; further, the adhesive locking mechanism is driven separately by the desorption mechanism to make its adhesive contact component disengage from the irregular object, thereby releasing the irregular object in the grasping state.

[0017] By setting the adapter flange on the upper support plate, the manipulator in the scheme of the present invention can be conveniently expanded to the end of the existing manipulator arm for loading and use. The graded synergistic effect of the adhesion locking mechanism and the non-adhesion locking mechanism cooperates with the desorption mechanism to realize highly adaptable flexible grasping and lossless release of irregular objects. It has the highly adaptable grasping ability of both flat and complex curved objects, and can be widely used in logistics sorting, precision instrument handling, circuit board transfer and transportation and operations in unstructured environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 It is a schematic diagram of the structure of the adaptive hierarchical cooperative control flexible manipulator of the array contacts in the present invention; Figure 2 It is a schematic diagram of an exploded view of an adhesive locking mechanism and a non-adhesive locking mechanism of a flexible manipulator in Example 1 of the present invention; Figure 3Schematic diagram of the first support plate group in Embodiment 1 of the present invention; Figure 4 Schematic diagram of the second support plate group in Embodiment 1 of the present invention; Figure 5 Schematic diagram of the flexible manipulator in Embodiment 2 of the present invention; Figure 6 Exploded view of the first driving component and the second driving component in Embodiment 2 of the present invention; Figure 7 Schematic diagram of the non - adhesion locking mechanism in Embodiment 2 of the present invention; Figure 8 Schematic diagram of the adhesion locking mechanism in Embodiment 2 of the present invention; Figure 9 Schematic diagram of the flexible manipulator in Embodiment 3 of the present invention; Figure 10 Exploded view of the first driving component and the second driving component in Embodiment 3 of the present invention; Figure 11 Schematic diagram of the non - adhesion locking mechanism in Embodiment 3 of the present invention; Figure 12 Schematic diagram of the adhesion locking mechanism in Embodiment 3 of the present invention.

[0020] Reference numerals: 1, mounting bracket; 11, upper support plate; 12, lower support plate; 13, first support plate group; 131, first support plate; 132, second support plate; 14, second support plate group; 141, third support plate; 142, fourth support plate; 15, first connecting rod; 16, second connecting rod; 2, adhesion locking mechanism; 21, adhesion contact assembly; 211, first optical rod; 212, adhesion contact point; 213, first spring; 22, first locking assembly; 221, first jacket; 222, first locking sleeve; 223, first limiting sleeve; 224, first slider; 225, first guide rail; 226, first locking hole; 227, first through hole; 23, first driving assembly; 231, first motor; 232, first lead screw; 233, first threaded seat; 241, first servo; 242, first swing arm; 243, first transmission seat; 251, third motor; 252, third lead screw; 253, third threaded seat; 3, non - adhesion locking mechanism; 31, non - adhesion contact assembly; 311, second optical rod; 312, non - adhesion contact point; 313, second spring; 32, second locking assembly; 321, second jacket; 322, second locking sleeve; 323, second limiting sleeve; 324, second slider; 325, second guide rail; 326, second through hole; 327, second locking hole; 33, second driving assembly; 331, second motor; 332, second lead screw; 333, second threaded seat; 341, second servo; 342, second swing arm; 343, second transmission plate; 344, slide rail; 351, fourth motor; 352, fourth lead screw; 353, fourth threaded seat; 4, desorption mechanism; 41, fifth motor; 42, fifth lead screw; 43, fifth threaded seat. Detailed implementation manners

[0021] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with 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.

[0022] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly on the other element or there can also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are only for the purpose of illustration and do not represent the only implementation manner.

[0023] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0024] like Figures 1 to 12 An adaptive hierarchical collaborative control flexible manipulator with an array of contacts is shown, comprising a mounting bracket 1 and an adhesion locking mechanism 2, a non-adhesion locking mechanism 3 and a desorption mechanism 4 arranged thereon, wherein the adhesion locking mechanism 2 is connected to the desorption mechanism 4; wherein the adhesion locking mechanism 2 comprises an adhesion contact component 21, a first locking component 22 and a first drive component 23, and the first drive component 23 locks and fixes the adhesion contact component 21 through the first locking component 22; the non-adhesion locking mechanism 3 comprises a non-adhesion contact component 31, a second locking component 32 and a second drive component 33, and the second drive component 33 locks and fixes the non-adhesion contact component 31 through the second locking component 32.

[0025] In the present invention, the adhesive contact component 21 and the non-adhesive contact component 31 in the adhesive locking mechanism 2 and the non-adhesive locking mechanism 3 are in flexible contact with the curved surface of the irregular object, and cooperate with the first locking component and the second locking component 32 to achieve highly adaptable grasping of the irregular object; further, the adhesive locking mechanism 2 is driven alone by the desorption mechanism 4 to make its adhesive contact component 21 disengage from the irregular object, thereby releasing the irregular object in the grasping state.

[0026] Furthermore, the mounting bracket 1 includes an upper support plate 11 and a lower support plate 12 arranged in parallel, and a first support plate group 13 and a second support plate group 14. The upper support plate 11 is fixedly connected to the lower support plate 12 through a first connecting rod 15, and the second support plate group 14 is connected to the upper support plate 11 through a second connecting rod 16. The first support plate group 13 is located between the lower support plate 12 and the second support plate group 14; the adhesion contact component 21 and the non-adhesion contact component 31 are both connected to the lower support plate 12 and are arranged through the second support plate group 14. The first locking component 22 and the second locking component 32 are respectively arranged on the first support plate group 13 and the second support plate group 14. The first support plate group 13 is connected to the upper support plate 11 through a desorption mechanism 4.

[0027] The manipulator in the solution of the present invention can be conveniently extended to the end of the existing robotic arm for loading through the adapter flange provided on the upper support plate 11. The adhesion locking mechanism 2 and the non-adhesion locking mechanism 3 cooperate with the hierarchical synergistic effect of the desorption mechanism 4 to achieve highly adaptable flexible grasping and non-destructive release of irregular objects, and have the highly adaptable grasping ability for both planar and complex curved surface objects, and can be widely applied to logistics sorting, precision instrument handling, circuit board transfer and operation in unstructured environments.

[0028] In this embodiment, the adhesion locking mechanism 2, the non-adhesion locking mechanism 3 and the desorption mechanism 4 are all installed on the mounting bracket 1. Among them, the first support plate group 13 includes a first support plate 131 and a second support plate 132 arranged in parallel, and the second support plate group 14 includes a third support plate 141 and a fourth support plate 142 arranged in parallel. The second support plate 132 and the third support plate 141 are adjacent to each other; the upper support plate 11 is fixedly connected to the fourth support plate 142 through the second connecting rod 16, and the first driving component 23 drives the first support plate 131 and the second support plate 132 to move relative to each other, and the second driving component 33 drives the third support plate 141 and the fourth support plate 142 to move relative to each other.

[0029] In the process of grasping an object by the adhesion locking mechanism 2 and the non-adhesion locking mechanism 3, after the adhesion contact assembly 21 and the non-adhesion contact assembly 31 come into contact with the object surface, the first driving component 23 is controlled to drive the first support plate 131 to move relative to the second support plate 132, driving the first locking assembly 22 thereon to lock and fix the adhesion contact assembly 21; at the same time, the second driving component 33 is synchronously controlled to drive the third support plate 141 to move relative to the fourth support plate 142, driving the second locking assembly 32 thereon to lock and fix the non-adhesion contact assembly 31, and completing the grasping operation of the object.

[0030] Among them, the adhesion contact assembly 21 includes a first optical rod 211, an adhesion contact point 212 and a first spring 213. The adhesion contact point 212 is arranged at one end of the first optical rod 211, and the first spring 213 is sleeved on the first optical rod 211 and abuts against the adhesion contact point 212; the non-adhesion contact assembly 31 includes a second optical rod 311, a non-adhesion contact point 312 and a second spring 313. The non-adhesion contact point 312 is arranged at one end of the second optical rod 311, and the second spring 313 is sleeved on the second optical rod 311 and abuts against the non-adhesion contact point 312; a plurality of the first optical rods 211 and the second optical rods 311 are arranged in an array and alternately, and one end of each of them is suspended on the upper support plate 11 through a nut, and the first spring 213 and the second spring 313 also abut against the fourth support plate 142.

[0031] In the specific implementation process, the first polished rod 211 and the second polished rod 311 are both suspended on the upper support plate 11 by nuts. Their axial degrees of freedom can adapt to the grasping of irregular objects. When the adhesion contacts 212 or non - adhesion contacts 312 on them are disengaged from the surface of the irregular object, through the movement of the first polished rod 211 and the second polished rod 311 in their axial directions, it is ensured that a number of adhesion contacts 212 and non - adhesion contacts 312 arranged alternately in an array can all achieve adaptive flexible contact with the surface of the irregular object.

[0032] Furthermore, the first spring 213 and the second spring 313 sleeved on the first polished rod 211 and the second polished rod 311 ensure the axial degrees of freedom of each adhesion contact 212 and non - adhesion contact 312, realizing the flexible contact between the manipulator and the object, and being able to fully conform to the surface of the irregular object, ensuring the grasping stability of the manipulator for the irregular object.

[0033] Preferably, the adhesion contacts 212 and the non - adhesion contacts 312 are arranged in an alternating array, which can realize the flexible grasping of objects of different sizes and different shapes. The arrangement quantity of the array - type adhesion contacts and non - adhesion contacts 312 is set to 4*4 or more.

[0034] The contact surfaces of the adhesion contacts 212 and the non - adhesion contacts 312 are spherical or planar, and the adhesion contacts 212 can be set as any one of a bionic micro - structure film, a polyurethane film, a PDMS film, and a viscous silica gel film. The non - adhesion contacts 312 can be set as one of non - sticky silica gel, non - sticky polyurethane, and textile fabric; the non - adhesion contacts 312 are evenly distributed around the adhesion contacts 212. The array - type distribution of the non - sticky contacts also realizes the flexible support with a uniformly distributed load effect on the object during the desorption process of the manipulator for the object, and can realize the non - destructive release of the object.

[0035] Furthermore, the desorption mechanism 4 includes a fifth motor 41, a fifth lead screw 42, and a fifth threaded seat 43. The fifth motor 41 and the fifth threaded seat 43 are respectively fixed on the upper support plate 11 and the second support plate 132. The fifth lead screw 42 is screwed with the fifth threaded seat 43 and is driven to rotate by the fifth motor 41.

[0036] Among them, the lead screw and the motor are made into an integral body to save space. When it is necessary to release the grasped object without damage, the second support plate 132 is driven by the fifth motor 41 to move towards the upper support plate 11. At this time, it will drive the entire first support plate group 13 to move upward, and at the same time drive the entire locked adhesion contact assembly 21 to move upward, so that the adhesion contact assembly 21 is disengaged from the object surface, realizing the release of the object.

[0037] In this Embodiment 1, as Figures 2 to 4 shown: The first locking assembly 22 and the second locking assembly 32 restrict the axial degree of freedom of the optical rod through friction. Specifically, the first locking assembly 22 includes a first jacket 221 sleeved on the first optical rod 211, and the second locking assembly 32 includes a second jacket 321 sleeved on the second optical rod 311. The first jacket 221 is located between the first support plate 131 and the second support plate 132, and the second jacket 321 is located between the third support plate 141 and the fourth support plate 142. A first locking sleeve 222 and a second locking sleeve 322 are respectively arranged on the first support plate 131 and the third support plate 141 corresponding to the first jacket 221 and the second jacket 321.

[0038] Furthermore, both the first jacket 221 and the second jacket 321 are set as elastic wedge-shaped jackets, and their closed ends are respectively oriented towards the first support plate 131 and the third support plate 141. The first locking sleeve 222 and the second locking sleeve 322 are respectively provided with wedge-shaped grooves corresponding to the first jacket 221 and the second jacket 321. A first limiting sleeve 223 and a second limiting sleeve 323 are respectively arranged on the second support plate 132 and the fourth support plate 142 corresponding to the first jacket 221 and the second jacket 321.

[0039] The first driving assembly 23 includes a first motor 231, a first lead screw 232, and a first threaded seat 233. The first motor 231 and the first threaded seat 233 are respectively fixed on the first support plate 131 and the second support plate 132. The first lead screw 232 is screwed with the first threaded seat 233 and is driven to rotate by the first motor 231. The second driving assembly 33 includes a second motor 331, a second lead screw 332, and a second threaded seat 333. The second motor 331 and the second threaded seat 333 are respectively fixed on the lower support plate 12 and the third support plate 141. The second lead screw 332 is screwed with the second threaded seat 333 and is driven to rotate by the second motor 331.

[0040] In the specific implementation process, the second support plate 132 is fixedly connected to the upper support plate 11 under the action of the desorption mechanism 4. The first driving assembly 23 drives the first support plate 131 to move towards the second support plate 132, so that the first locking sleeve 222 arranged on the first support plate 131 gradually clamps the first jacket 221 from the closed end thereof, and gradually increases the friction between the first jacket 221 and the first optical rod 211, realizing the locking and fixing of the first optical rod 211.

[0041] Similarly, the fourth support plate 142 is fixedly connected to the upper support plate 11 through the second connecting rod 16. The second driving assembly 33 drives the third support plate 141 to move towards the fourth support plate 142, so that the second locking sleeve 322 arranged on the third support plate 141 clamps the second jacket 321 from the closed end thereof, increasing the friction between the second jacket 321 and the second optical rod 311, realizing the locking and fixing of the second optical rod 311.

[0042] In the second embodiment, as Figures 5 to 8 shown: Both the first locking assembly 22 and the second locking assembly 32 lock and fix the first optical rod 211 and the second optical rod 311 through friction. Specifically, the second driving assembly 33 includes a second servo 341, a second swing arm 342, a second transmission plate 343, and a slide rail 344. The second servo 341 is fixed on the upper support plate 11. The slide rail 344 is vertically arranged and fixedly connected to the upper support plate 11 and the fourth support plate 142. The second transmission plate 343 is fixedly connected to the third support plate 141 and is slidably connected to the slide rail 344. The second servo 341 drives the second transmission plate 343 to move vertically through the second swing arm 342. The first driving assembly 23 includes a first servo 241, a first swing arm 242, and a first transmission seat 243. The first servo 241 is fixed on the second support plate 132. The first transmission seat 243 is fixed on the first support plate 131 and is slidably connected to the second connecting rod 16. The first servo 241 drives the first transmission seat 243 to move vertically through the first swing arm 242.

[0043] In the specific implementation process, the second servo 341 drives the second transmission plate 343 through the second swing arm 342, and drives the first support plate 131 to move towards the second support plate 132 through the second transmission plate 343, so that the second lock sleeve 322 arranged on the second support plate 132 gradually clamps the second clamping sleeve 321 from the closed end, enhancing the friction between the second clamping sleeve 321 and the second optical rod 311, and realizing the locking and fixing of the second optical rod 311. The slide rail 344 can limit the moving direction of the second transmission plate 343 to ensure the stability of the locking process.

[0044] Similarly, the first servo 241 drives the first transmission seat 243 through the first swing arm 242 and drives the first support plate 131 to move towards the second support plate 132, so that the first lock sleeve 222 arranged on the first support plate 131 gradually tightens the first clamping sleeve 221, enhancing the friction between the first clamping sleeve 221 and the first optical rod 211, and realizing the locking and fixing of the first optical rod 211. The moving direction of the first transmission seat 243 is limited by the second connecting rod 16 to ensure the stability of the locking process.

[0045] In the third embodiment, as Figures 9 to 12 shown: The first locking assembly 22 includes a first slider 224 and a first guide rail 225 respectively arranged on the first support plate 131 and the second support plate 132, and the first slider 224 is slidably connected to the first guide rail 225; the first driving assembly 23 includes a third motor 251, a third lead screw 252 and a third threaded seat 253. The third motor 251 and the third threaded seat 253 are respectively fixed on the second support plate 132 and the first support plate 131, and the third motor 251 drives the third threaded seat 253 to move along the length direction of the first guide rail 225 through the third lead screw 252; corresponding to the first optical rod 211 and the second optical rod 311 on the first support plate 131, a first locking hole 226 and a first through hole 227 are respectively formed. Both the first locking hole 226 and the first through hole 227 are formed as waist-shaped holes along the length direction of the first guide rail 225, and the length of the first locking hole 226 is less than the length of the first through hole 227; The second locking assembly 32 includes a second slider 324 and a second guide rail 325 respectively arranged on the third support plate 141 and the fourth support plate 142, and the second slider 324 is slidably connected to the second guide rail 325; the second driving assembly 33 includes a fourth motor 351, a fourth lead screw 352 and a fourth threaded seat 353. The fourth motor 351 and the fourth threaded seat 353 are respectively fixed on the fourth support plate 142 and the third support plate 141, and the fourth motor 351 drives the fourth threaded seat 353 to move along the length direction of the second guide rail 325 through the fourth lead screw 352; corresponding to the first optical rod 211 and the second optical rod 311 on the third support plate 141, a second through hole 326 and a second locking hole 327 are respectively formed. Both the second locking hole 327 and the second through hole 326 are formed as waist-shaped holes along the length direction of the second guide rail 325, and the length of the second locking hole 327 is less than the length of the second through hole 326.

[0046] In the specific implementation process, the first driving assembly 23 drives the first support plate 131 to move horizontally relative to the second support plate 132, so that the inner wall of the first locking hole 226 on the first support plate 131 fits with the first optical rod 211, and the first optical rod 211 is locked and fixed through the friction force between the two; the length of the first through hole 227 is greater than the length of the first locking hole 226. After the first optical rod 211 fits and presses against the inner wall of the first locking hole 226, the second optical rod 311 will not contact the inner wall of the first through hole 227, and still has axial freedom.

[0047] Similarly, the second driving component 33 drives the third support plate 141 to move horizontally relative to the fourth support plate 142, so that the inner wall of the second locking hole 327 on the third support plate 141 fits against the second optical rod 311, and the second optical rod 311 is locked and fixed through the frictional force between the two; the length of the second through hole 326 is greater than the length of the second locking hole 327. After the second optical rod 311 fits and presses against the inner wall of the second locking hole 327, the first optical rod 211 will not contact the inner wall of the second through hole 326 and still has axial freedom.

[0048] In the above embodiments, the first motor, the second motor, the third motor, and the fourth motor can be stepper motors, DC reduction motors, brushless motors, servo motors, and steering gears, all of which are applicable to the vacuum environment. The motor has a torque control mode, and the optical rod can be effectively locked by controlling the applied force. Specifically, the following formula can be referred to: M 电机 = M f + F * L ; Among them, M 电机 is the maximum torque output by the motor during the locking process, M f is the torque output by the motor itself under no-load conditions during the locking process, F is the locking force applied to the adhesion contact unit and the non-adhesion contact unit during the locking process, L is the equivalent arm of force. If the motor does not have a torque control mode, a pressure sensor can be added between the layers to control the locking force threshold.

[0049] Those skilled in the art of this industry should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification only illustrates the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. An adaptive hierarchical cooperative control flexible manipulator with array contacts, characterized in that: include: A mounting bracket (1) and an adhesive locking mechanism (2), a non-adhesive locking mechanism (3) and a desorption mechanism (4) arranged thereon, wherein the adhesive locking mechanism (2) is connected to the desorption mechanism (4); The adhesion locking mechanism (2) comprises an adhesion contact component (21), a first locking component (22) and a first driving component (23), wherein the first driving component (23) locks and fixes the adhesion contact component (21) through the first locking component (22); The non-adhesive locking mechanism (3) comprises a non-adhesive contact component (31), a second locking component (32) and a second driving component (33), wherein the second driving component (33) locks and fixes the non-adhesive contact component (31) through the second locking component (32); The mounting bracket (1) comprises an upper support plate (11) and a lower support plate (12) arranged in parallel, and a first support plate group (13) and a second support plate group (14); the upper support plate (11) is fixedly connected to the lower support plate (12) via a first connecting rod (15); the second support plate group (14) is connected to the upper support plate (11) via a second connecting rod (16); the first support plate group (13) is located between the lower support plate (12) and the second support plate group (14); The adhesive contact component (21) and the non-adhesive contact component (31) are both connected to the lower support plate (12) and are arranged through the second support plate group (14); the first locking component (22) and the second locking component (32) are respectively arranged on the first support plate group (13) and the second support plate group (14); the first support plate group (13) is connected to the upper support plate (11) via the desorption mechanism (4).

2. The adaptive hierarchical cooperative control flexible manipulator of array contacts according to claim 1 is characterized in that: The first support plate group (13) comprises a first support plate (131) and a second support plate (132) arranged in parallel, the second support plate group (14) comprises a third support plate (141) and a fourth support plate (142) arranged in parallel, and the second support plate (132) is arranged adjacent to the third support plate (141); The upper support plate (11) is fixedly connected to the fourth support plate (142) via the second connecting rod (16); the first driving assembly (23) drives the first support plate (131) and the second support plate (132) to move relative to each other; and the second driving assembly (33) drives the third support plate (141) and the fourth support plate (142) to move relative to each other.

3. The adaptive hierarchical cooperative control flexible manipulator of array contacts according to claim 2 is characterized in that: The adhesive contact assembly (21) comprises a first light rod (211), an adhesive contact point (212) and a first spring (213); the adhesive contact point (212) is arranged at one end of the first light rod (211); the first spring (213) is sleeved on the first light rod (211) and abuts against the adhesive contact point (212); The non-adhesive contact component (31) comprises a second polished rod (311), a non-adhesive contact point (312) and a second spring (313); the non-adhesive contact point (312) is arranged at one end of the second polished rod (311); the second spring (313) is sleeved on the second polished rod (311) and abuts against the non-adhesive contact point (312); The first light rod (211) and the second light rod (311) are arranged in a plurality in an array and alternately arranged, and one end of each of the first light rods (211) is suspended on the upper support plate (11) through a nut, and the first spring (213) and the second spring (313) are also in contact with the fourth support plate (142).

4. The adaptive hierarchical cooperative control flexible manipulator of array contacts according to claim 3 is characterized in that: The first locking assembly (22) comprises a first sleeve (221) sleeved on the first polished rod (211), and the second locking assembly (32) comprises a second sleeve (321) sleeved on the second polished rod (311); The first jacket (221) is located between the first support plate (131) and the second support plate (132), the second jacket (321) is located between the third support plate (141) and the fourth support plate (142), and a first locking sleeve (222) and a second locking sleeve (322) are respectively provided on the first support plate (131) and the third support plate (141) corresponding to the first jacket (221) and the second jacket (321).

5. The adaptive hierarchical cooperative control flexible manipulator with array contacts according to claim 4 is characterized in that: The first jacket (221) and the second jacket (321) are both configured as elastic wedge-shaped jackets, and the retracted ends thereof are respectively disposed toward the first support plate (131) and the third support plate (141); The first locking sleeve (222) and the second locking sleeve (322) are respectively provided with wedge-shaped grooves corresponding to the first clamping sleeve (221) and the second clamping sleeve (321), and the first limiting sleeve (223) and the second limiting sleeve (323) are respectively provided on the second supporting plate (132) and the fourth supporting plate (142) corresponding to the first clamping sleeve (221) and the second clamping sleeve (321).

6. The adaptive hierarchical cooperative control flexible manipulator with array contacts according to claim 4 is characterized in that: The first driving assembly (23) comprises a first motor (231), a first screw rod (232) and a first threaded seat (233); the first motor (231) and the first threaded seat (233) are respectively fixed on the first support plate (131) and the second support plate (132); the first screw rod (232) is screwed to the first threaded seat (233) and driven to rotate by the first motor (231); The second driving assembly (33) comprises a second motor (331), a second screw rod (332) and a second threaded seat (333); the second motor (331) and the second threaded seat (333) are respectively fixed on the lower support plate (12) and the third support plate (141); the second screw rod (332) is threadedly connected to the second threaded seat (333) and driven to rotate by the second motor (331).

7. The adaptive hierarchical cooperative control flexible manipulator with array contacts according to claim 4, characterized in that: The second driving assembly (33) comprises a second steering gear (341), a second swing arm (342), a second transmission plate (343) and a slide rail (344); the second steering gear (341) is fixed on the upper support plate (11); the slide rail (344) is vertically arranged and fixedly connected to the upper support plate (11) and the fourth support plate (142); the second transmission plate (343) is fixedly connected to the third support plate (141) and is slidably connected to the slide rail (344); the second steering gear (341) drives the second transmission plate (343) to move vertically through the second swing arm (342); The first driving assembly (23) comprises a first steering gear (241), a first swing arm (242) and a first transmission seat (243); the first steering gear (241) is fixed on the second support plate (132); the first transmission seat (243) is fixed on the first support plate (131) and is slidably connected to the second connecting rod (16); the first steering gear (241) drives the first transmission seat (243) to move vertically via the first swing arm (242).

8. The adaptive hierarchical cooperative control flexible manipulator with array contacts according to claim 3 is characterized in that: The first locking assembly (22) comprises a first slider (224) and a first guide rail (225) respectively arranged on the first support plate (131) and the second support plate (132), and the first slider (224) is slidably connected to the first guide rail (225); The first driving assembly (23) comprises a third motor (251), a third screw rod (252) and a third threaded seat (253); the third motor (251) and the third threaded seat (253) are respectively fixed on the second support plate (132) and the first support plate (131); the third motor (251) drives the third threaded seat (253) to move along the length direction of the first guide rail (225) through the third screw rod (252); A first locking hole (226) and a first through hole (227) are respectively provided on the first support plate (131) corresponding to the first polished rod (211) and the second polished rod (311); the first locking hole (226) and the first through hole (227) are both provided as waist-shaped holes along the length direction of the first guide rail (225); and the length of the first locking hole (226) is smaller than the length of the first through hole (227).

9. The adaptive hierarchical cooperative control flexible manipulator of array contacts according to claim 3, characterized in that: The second locking assembly (32) comprises a second slider (324) and a second guide rail (325) respectively arranged on the third support plate (141) and the fourth support plate (142), and the second slider (324) is slidably connected to the second guide rail (325); The second driving assembly (33) comprises a fourth motor (351), a fourth screw rod (352) and a fourth threaded seat (353); the fourth motor (351) and the fourth threaded seat (353) are respectively fixed on the fourth support plate (142) and the third support plate (141); the fourth motor (351) drives the fourth threaded seat (353) to move along the length direction of the second guide rail (325) via the fourth screw rod (352); A second through hole (326) and a second locking hole (327) are respectively provided on the third support plate (141) corresponding to the first polished rod (211) and the second polished rod (311); the second locking hole (327) and the second through hole (326) are both provided as waist-shaped holes along the length direction of the second guide rail (325); and the length of the second locking hole (327) is smaller than the length of the second through hole (326).

10. The adaptive hierarchical cooperative control flexible manipulator of array contacts according to claim 3, characterized in that: The detaching mechanism (4) comprises a fifth motor (41), a fifth screw rod (42) and a fifth threaded seat (43); the fifth motor (41) and the fifth threaded seat (43) are respectively fixed on the upper support plate (11) and the second support plate (132); the fifth screw rod (42) is threadedly connected to the fifth threaded seat (43) and is driven to rotate by the fifth motor (41).

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