Self-adapting hierarchical cooperative control flexible manipulator with arrayed contacts

Abstract

The present application relates to the technical field of robot end effector, and especially relates to a flexible manipulator with adaptive hierarchical cooperative control of arrayed contact points, which realizes high adaptability grasping of irregular objects through flexible contact of adhesion contact components and non-adhesion contact components in the adhesion locking mechanism and the non-adhesion locking mechanism with irregular object surfaces, and cooperation of first locking and second locking components; the adhesion contact components of the adhesion locking mechanism are driven by the detachment mechanism to be separated from the irregular objects, and the objects are released. The manipulator is conveniently expanded to the existing mechanical arm end through the adapter flange for loading and use, the hierarchical cooperation of the adhesion locking mechanism and the non-adhesion locking mechanism with the detachment mechanism realizes high adaptability flexible grasping and non-damage release of irregular objects, and has high adaptability grasping ability of planar and complex curved surface objects, and can be widely applied to logistics sorting, precise instrument carrying, circuit board transfer and operation in unstructured environment.

Description

Technical Field

[0001] This invention relates to the field of robot end effector technology, and in particular to an adaptive hierarchical collaborative control flexible manipulator with arrayed contacts. Background Technology

[0002] As a crucial end effector in robots, robotic arms play a vital role in various fields such as industrial production, healthcare, and logistics. While traditional rigid robotic arms offer advantages like strong gripping force and stability, their adaptability to object shape is poor, making shape-adaptive gripping difficult. In contrast, flexible robotic arms can adaptively adjust to the shape of objects, excelling in grasping irregularly shaped objects. With better adaptability and flexibility, current research on flexible robotic arms primarily focuses on improving their gripping performance and adaptability, enabling them to grasp irregularly shaped and easily deformable objects.

[0003] However, the existing flexible manipulators mainly include two solutions: pneumatic soft manipulators and shape memory alloy driven manipulators. The pneumatic soft manipulator method requires the use of vacuum pumps or air pumps, which results in a large overall size, high noise, and complex air circuit control. In addition, this solution also limits its application in vacuum and space environments. At the same time, the solution using shape memory alloy driven manipulators has obvious response speed problems and cannot react quickly to grasping and releasing actions.

[0004] In summary, there is an urgent need to develop an adaptive hierarchical collaborative control flexible manipulator with arrayed contacts, which can effectively solve the problems existing in the current technology and improve the working efficiency of the manipulator in different scenarios. Summary of the Invention

[0005] This invention provides an adaptive hierarchical collaborative control flexible manipulator with arrayed contacts, which can effectively solve the problems in the background art.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: An adaptive hierarchical collaborative control flexible manipulator with arrayed contacts includes: a mounting bracket and an adhesion locking mechanism, a non-adhesion locking mechanism, and a desorption mechanism disposed thereon, wherein the adhesion locking mechanism is connected to the desorption mechanism; The adhesive locking mechanism includes an adhesive contact component, a first locking component, and a first driving component, wherein the first driving component locks and fixes the adhesive contact component through the first locking component; The non-adhesive locking mechanism includes a non-adhesive contact component, a second locking component, and a second driving component. The second driving component locks and fixes the non-adhesive 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, and 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 adhesive contact component and the non-adhesive contact component are connected to the lower support plate and pass through the second support plate group. The first locking component and the second locking component are respectively disposed 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] Furthermore, the first support plate group includes a first support plate and a second support plate arranged in parallel, and the second support plate group includes a third support plate and a fourth support plate arranged in parallel, with the second support plate being arranged adjacent to the third support plate; The upper support plate is fixedly connected to the fourth support plate via the second connecting rod. The first driving component drives the first support plate to move relative to the second support plate, and the second driving component drives the third support plate to move relative to the fourth support plate.

[0008] Furthermore, the adhesive contact assembly includes a first optical rod, an adhesive contact, and a first spring. The adhesive contact is disposed at one end of the first optical rod, and the first spring is sleeved on the first optical rod and abuts against the adhesive contact. The non-adhesive contact assembly includes a second optical rod, a non-adhesive contact, and a second spring. The non-adhesive contact is disposed at one end of the second optical rod, and the second spring is sleeved on the second optical rod and abuts against the non-adhesive contact. The first and second light rods are arranged in an alternating array, and one end of each is suspended from the upper support plate by a nut. The first spring and the second spring also abut against the fourth support plate.

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

[0010] Furthermore, both the first and second jackets are configured as elastic wedge-shaped jackets, and their converging ends are respectively positioned toward the first support plate and the third support plate; The first locking sleeve and the second locking sleeve are respectively provided with wedge-shaped grooves corresponding to the first clamping sleeve and the second clamping sleeve. The second support plate and the fourth support plate are respectively provided with a first limiting sleeve and a second limiting sleeve corresponding to the first clamping sleeve and the second clamping sleeve.

[0011] Furthermore, the first drive 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 to the first threaded seat and driven to rotate by the first motor. The second drive 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 to the lower support plate and the third support plate. The second lead screw is screwed to the second threaded seat and is driven to rotate by the second motor.

[0012] Furthermore, the second drive assembly includes a second servo motor, a second swing arm, a second transmission plate, and a slide rail. The second servo motor is fixed to 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 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 drive assembly includes a first servo motor, a first swing arm, and a first transmission seat. The first servo motor is fixed to the second support plate, and the first transmission seat is fixed to the first support plate and 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] Furthermore, the first locking assembly includes a first slider and a first guide rail respectively disposed on the first support plate and the second support plate, wherein the first slider is slidably connected to the first guide rail; The first drive 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. A first locking hole and a first through hole are respectively provided on the first support plate corresponding to the first light rod and the second light rod. The first locking hole and the first through hole are both 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] Furthermore, the second locking assembly includes a second slider and a second guide rail respectively disposed on the third support plate and the fourth support plate, wherein the second slider is slidably connected to the second guide rail; The second drive assembly includes a fourth motor, a fourth lead screw, and a fourth threaded seat. The fourth motor and the fourth threaded seat are respectively fixed on the fourth support plate and the third support plate. The fourth motor drives the fourth threaded seat to move along the length direction of the second guide rail through the fourth lead screw. A second through hole and a second locking hole are respectively opened on the third support plate corresponding to the first light rod and the second light 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 less than the length of the second through hole.

[0015] Furthermore, the desorption mechanism includes a fifth motor, a fifth lead screw, 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 lead screw is screwed to the fifth threaded seat and is driven to rotate by the fifth motor.

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

[0017] The adapter flange on the upper support plate allows the robotic arm in this invention to be easily extended to the end of an existing robotic arm for loading. The graded synergistic effect of the adhesive locking mechanism and the non-adhesive locking mechanism, together with the desorption mechanism, enables highly adaptable and flexible grasping and non-destructive release of irregular objects. It has a high adaptability to grasping both planar 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. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the adaptive hierarchical collaborative control flexible manipulator with arrayed contacts in this invention; Figure 2 This is an exploded view of the adhesive locking mechanism and the non-adhesive locking mechanism of the flexible manipulator in Embodiment 1 of the present invention; Figure 3This is a schematic diagram of the structure of the first support plate assembly in Embodiment 1 of the present invention; Figure 4 This is a schematic diagram of the structure of the second support plate assembly in Embodiment 1 of the present invention; Figure 5 This is a schematic diagram of the flexible robotic arm in Embodiment 2 of the present invention; Figure 6 This is an exploded view of the first driving component and the second driving component in Embodiment 2 of the present invention; Figure 7 This is a schematic diagram of the non-adhesive locking mechanism in Embodiment 2 of the present invention; Figure 8 This is a schematic diagram of the adhesion locking mechanism in Embodiment 2 of the present invention; Figure 9 This is a schematic diagram of the flexible robotic arm in Embodiment 3 of the present invention; Figure 10 This is an exploded view of the first driving component and the second driving component in Embodiment 3 of the present invention; Figure 11 This is a schematic diagram of the non-adhesive locking mechanism in Embodiment 3 of the present invention; Figure 12 This is a 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 assembly; 131. First support plate; 132. Second support plate; 14. Second support plate assembly; 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 smooth rod; 212. Adhesion contact point; 213. First spring; 22. First locking assembly; 221. First clamp; 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 drive assembly; 231. First motor; 232. First lead screw; 233. First threaded seat; 241. First servo motor; 242. First swing arm; 243. First transmission seat; 251. Third motor; 252. Third lead screw; 253. Third threaded seat; 3. Non-adhesive locking mechanism; 31. Non-adhesive contact assembly; 311. Second guide rod; 312. Non-adhesive contact point; 313. Second spring; 32. Second locking assembly; 321. Second clamp; 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 drive assembly; 331. Second motor; 332. Second lead screw; 333. Second threaded seat; 341. Second servo motor; 342. Second swing arm; 343. Second transmission plate; 344. Slide rail; 351. Fourth motor; 352. Fourth lead screw; 353. Fourth threaded seat; 4. De-adhesion mechanism; 41. Fifth motor; 42. Fifth lead screw; 43. Fifth threaded seat. Detailed Implementation

[0021] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0022] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly attached to the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0023] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0024] like Figures 1 to 12 An adaptive hierarchical collaborative control flexible manipulator with array-type contacts is shown, including a mounting bracket 1 and an adhesion locking mechanism 2, a non-adhesion locking mechanism 3, and a desorption mechanism 4 disposed thereon. The adhesion locking mechanism 2 is connected to the desorption mechanism 4. The adhesion locking mechanism 2 includes an adhesion contact component 21, a first locking component 22, and a first drive component 23. The first drive component 23 locks the adhesion contact component 21 in place through the first locking component 22. The non-adhesion locking mechanism 3 includes a non-adhesion contact component 31, a second locking component 32, and a second drive component 33. The second drive component 33 locks the non-adhesion contact component 31 in place through the second locking component 32.

[0025] In this 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 make flexible contact with the curved surface of the irregular object, and cooperate with the first locking and the second locking component 32 to achieve highly adaptable grasping of the irregular object; furthermore, the adhesive locking mechanism 2 is driven by the desorption mechanism 4 to disengage its adhesive contact component 21 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, as well as 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 adhesive contact component 21 and the non-adhesive contact component 31 are both connected to the lower support plate 12 and are disposed through the second support plate group 14. The first locking component 22 and the second locking component 32 are respectively disposed 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 transfer flange set on the upper support plate 11 allows the robot arm in this invention to be easily extended to the end of an existing robot arm for loading and use. The graded synergistic effect of the adhesion locking mechanism 2 and the non-adhesion locking mechanism 3, together with the desorption mechanism 4, enables highly adaptable flexible grasping and non-destructive release of irregular objects. It has a high adaptability to grasping both planar and complex curved objects and can be widely used in logistics sorting, precision instrument handling, circuit board transfer and transportation, and operation in unstructured environments.

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

[0029] During the process of grasping an object using the adhesive locking mechanism 2 and the non-adhesive locking mechanism 3, after the adhesive contact component 21 and the non-adhesive contact component 31 come into contact with the object surface, the first drive component 23 is controlled to drive the first support plate 131 to move relative to the second support plate 132, thereby causing the first locking component 22 on it to lock and fix the adhesive contact component 21; at the same time, the second drive component 33 is controlled to drive the third support plate 141 to move relative to the fourth support plate 142, thereby causing the second locking component 32 on it to lock and fix the non-adhesive contact component 31, thus completing the object grasping operation.

[0030] The adhesive contact assembly 21 includes a first optical rod 211, an adhesive contact 212, and a first spring 213. The adhesive contact 212 is disposed 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 adhesive contact 212. The non-adhesive contact assembly 31 includes a second optical rod 311, a non-adhesive contact 312, and a second spring 313. The non-adhesive contact 312 is disposed 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-adhesive contact 312. Multiple first optical rods 211 and second optical rods 311 are arranged alternately in an array, and one end of each is suspended on the upper support plate 11 by a nut. 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 light rod 211 and the second light rod 311 are both suspended on the upper support plate 11 by nuts. Their axial degree of freedom can adapt to the gripping of irregular objects. When the adhesive contact 212 or the non-adhesive contact 312 on them are released from the surface of the irregular object, the axial movement of the first light rod 211 and the second light rod 311 ensures that the several adhesive contact 212 and non-adhesive contact 312 arranged in an array can achieve adaptive flexible contact with the surface of the irregular object.

[0032] Furthermore, the first spring 213 and the second spring 313, which are sleeved on the first light rod 211 and the second light rod 311, ensure the axial degree of freedom of each adhesive contact 212 and the non-adhesive contact 312, so as to realize the flexible contact between the robot and the object and fully fit the surface of the irregular object, thus ensuring the stability of the robot's grasping of the irregular object.

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

[0034] The contact surfaces of the adhesive contact 212 and the non-adhesive contact 312 are spherical or planar. The adhesive contact 212 can be set as any one of the following: biomimetic microstructure membrane, polyurethane membrane, PDMS membrane, and adhesive silicone membrane. The non-adhesive contact 312 can be set as one of the following: non-adhesive silicone, non-adhesive polyurethane, or textile fabric. The non-adhesive contact 312 is evenly distributed around the adhesive contact 212. During the process of the robot arm detaching the object, the array distribution of the non-adhesive contact also realizes the flexible support that exerts a uniform load effect on the object, which 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 to the fifth threaded seat 43 and is driven to rotate by the fifth motor 41.

[0036] The lead screw and motor are integrated into one unit, saving space. When it is necessary to release the grasped object without damage, the fifth motor 41 drives the second support plate 132 to move towards the upper support plate 11. At this time, the first support plate group 13 moves upward as a whole, and at the same time, the already locked adhesive contact component 21 moves upward as a whole, so that the adhesive contact component 21 is separated from the object surface, thus releasing the object.

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

[0038] Furthermore, both the first sleeve 221 and the second sleeve 321 are configured as elastic wedge-shaped sleeves, and their closing ends are respectively positioned 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 sleeve 221 and the second sleeve 321, and the second support plate 132 and the fourth support plate 142 are respectively provided with the first limiting sleeve 221 and the second sleeve 321.

[0039] The first drive 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 to the first threaded seat 233 and is driven to rotate by the first motor 231. The second drive 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 to 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 support plate 131 is driven to move toward the second support plate 132 by the first drive assembly 23, so that the first locking sleeve 222 set on the first support plate 131 gradually clamps it from the closing end of the first clamp 221, and gradually increases the friction between the first clamp 221 and the first light rod 211, thereby achieving the locking and fixing of the first light rod 211.

[0041] Similarly, the fourth support plate 142 is fixedly connected to the upper support plate 11 through the second connecting rod 16, and the third support plate 141 is driven to move toward the fourth support plate 142 through the second driving assembly 33, so that the second locking sleeve 322 provided on the third support plate 141 is locked from the closing end of the second clamp 321, thereby increasing the friction between the second clamp 321 and the second light rod 311 and realizing the locking and fixing of the second light rod 311.

[0042] In this embodiment 2, as Figures 5 to 8 As shown: Both the first locking assembly 22 and the second locking assembly 32 achieve locking and fixing of the first guide rod 211 and the second guide rod 311 through friction. Specifically, the second drive assembly 33 includes a second servo motor 341, a second swing arm 342, a second transmission plate 343, and a slide rail 344. The second servo motor 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, and the second transmission plate 343 is fixedly connected to the third support plate 141. The second servo motor 341 is slidably connected to the slide rail 344 and drives the second transmission plate 343 to move vertically through the second swing arm 342. The first drive assembly 23 includes a first servo motor 241, a first swing arm 242 and a first transmission seat 243. The first servo motor 241 is fixed on the second support plate 132 and the first transmission seat 243 is fixed on the first support plate 131 and slidably connected to the second connecting rod 16. The first servo motor 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 motor 341 drives the second transmission plate 343 through the second swing arm 342, and the second transmission plate 343 drives the first support plate 131 to move toward the second support plate 132, so that the second locking sleeve 322 set on the second support plate 132 gradually clamps it from the closing end of the second clamp 321, enhancing the friction between the second clamp 321 and the second light rod 311, and realizing the locking and fixing of the second light rod 311. The slide rail 344 can limit the movement direction of the second transmission plate 343 and ensure the stability of the locking process.

[0044] Similarly, the first servo motor 241 drives the first transmission seat 243 through the first swing arm 242 and moves the first support plate 131 toward the second support plate 132, so that the first locking sleeve 222 set on the first support plate 131 gradually tightens the first clamp 221, increases the friction between the first clamp 221 and the first guide rod 211, and achieves locking and fixing of the first guide rod 211. The movement direction of the first transmission seat 243 is restricted by the second connecting rod 16 to ensure the stability of the locking process.

[0045] In this embodiment 3, as Figures 9 to 12 As shown: The first locking assembly 22 includes a first slider 224 and a first guide rail 225 respectively disposed on the first support plate 131 and the second support plate 132, the first slider 224 being 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 being fixed on the second support plate 132 and the first support plate 131 respectively, the third motor 251 driving the third threaded seat 253 to move along the length direction of the first guide rail 225 through the third lead screw 252; a first locking hole 226 and a first through hole 227 are respectively opened on the first support plate 131 corresponding to the first guide rod 211 and the second guide rod 311, the first locking hole 226 and the first through hole 227 are both opened 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 disposed on the third support plate 141 and the fourth support plate 142, with the second slider 324 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, with the fourth motor 351 and the fourth threaded seat 353 respectively fixed on the fourth support plate 142 and the third support plate 141, and the fourth motor 351 driving the fourth threaded seat 353 to move along the length direction of the second guide rail 325 through the fourth lead screw 352; a second through hole 326 and a second locking hole 327 are respectively opened on the third support plate 141 corresponding to the first guide rod 211 and the second guide rod 311, with the second locking hole 327 and the second through hole 326 both being oblong holes along the length direction of the second guide rail 325, and the length of the second locking hole 327 being less than the length of the second through hole 326.

[0046] In the specific implementation process, the first support plate 131 is driven to move horizontally relative to the second support plate 132 by the first drive component 23, so that the inner wall of the first locking hole 226 on the first support plate 131 is in contact with the first light rod 211, and the first light rod 211 is locked and fixed by the friction between the two. The length of the first through hole 227 is greater than the length of the first locking hole 226, so that after the first light rod 211 is pressed against the inner wall of the first locking hole 226, the second light rod 311 will not contact the inner wall of the first through hole 227 and still has axial freedom.

[0047] Similarly, the third support plate 141 is driven to move horizontally relative to the fourth support plate 142 by the second drive assembly 33, so that the inner wall of the second locking hole 327 on the third support plate 141 is in contact with the second light rod 311, and the second light rod 311 is locked and fixed by the friction between the two. The length of the second through hole 326 is greater than the length of the second locking hole 327, so that after the second light rod 311 is pressed against the inner wall of the second locking hole 327, the first light 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, second motor, third motor, and fourth motor are stepper motors, DC geared motors, brushless motors, servo motors, and servo motors, all of which are suitable for vacuum environments. The motors have a torque control mode, which can effectively lock the optical rod by controlling the applied force. For details, please refer to the following formula: M 电机 = M f + F * L ; in, M 电机 To control the maximum torque output by the motor during the locking process, M f This refers to the torque output by the motor itself under no-load conditions during the locking process. F This refers to the locking force applied to the adhesive contact unit and the non-adhesive contact unit during the locking process. L This serves as the equivalent force arm. 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 should understand that this invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to this invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. An adaptive hierarchical collaborative control flexible manipulator with arrayed contacts, characterized in that, include: Mounting bracket (1) and an adhesion locking mechanism (2), a non-adhesion locking mechanism (3) and a desorption mechanism (4) disposed thereon, wherein the adhesion locking mechanism (2) is connected to the desorption mechanism (4); The adhesive locking mechanism (2) includes an adhesive contact component (21), a first locking component (22) and a first driving component (23), wherein the first driving component (23) locks and fixes the adhesive contact component (21) through the first locking component (22); The non-adhesive locking mechanism (3) includes a non-adhesive contact component (31), a second locking component (32), and a second driving component (33). The second driving component (33) locks and fixes the non-adhesive contact component (31) through the second locking component (32). The mounting bracket (1) includes an upper support plate (11) and a lower support plate (12) arranged in parallel, as well as 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). Both the adhesive contact component (21) and the non-adhesive contact component (31) are connected to the lower support plate (12) and pass through the second support plate group (14). The first locking component (22) and the second locking component (32) are respectively disposed 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 the desorption mechanism (4).

2. The adaptive hierarchical collaborative control flexible manipulator with arrayed contacts according to claim 1, characterized in that, The first support plate group (13) includes a first support plate (131) and a second support plate (132) arranged in parallel. 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) is arranged adjacent to the third support plate (141). The upper support plate (11) is fixedly connected to the fourth support plate (142) through the second connecting rod (16). The first driving component (23) drives the first support plate (131) and the second support plate (132) to move relative to each other. The second driving component (33) drives the third support plate (141) and the fourth support plate (142) to move relative to each other.

3. The adaptive hierarchical collaborative control flexible manipulator with arrayed contacts according to claim 2, characterized in that, The adhesive contact assembly (21) includes a first optical rod (211), an adhesive contact (212), and a first spring (213). The adhesive contact (212) is disposed 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 adhesive contact (212). The non-adhesive contact assembly (31) includes a second optical rod (311), a non-adhesive contact (312), and a second spring (313). The non-adhesive contact (312) is disposed 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-adhesive contact (312). The first light rod (211) and the second light rod (311) are arranged in an array of multiple alternating positions, and one end of each is suspended on the upper support plate (11) by a nut. The first spring (213) and the second spring (313) also abut against the fourth support plate (142).

4. The adaptive hierarchical collaborative control flexible manipulator with arrayed contacts according to claim 3, characterized in that, The first locking assembly (22) includes a first sleeve (221) sleeved on the first light rod (211), and the second locking assembly (32) includes a second sleeve (321) sleeved on the second light rod (311); The first sleeve (221) is located between the first support plate (131) and the second support plate (132), and the second sleeve (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 provided on the first support plate (131) and the third support plate (141) corresponding to the first sleeve (221) and the second sleeve (321).

5. The adaptive hierarchical collaborative control flexible manipulator with arrayed contacts according to claim 4, characterized in that, The first sleeve (221) and the second sleeve (321) are both configured as elastic wedge-shaped sleeves, and their folding ends are respectively positioned 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). The second support plate (132) and the fourth support plate (142) are respectively provided with a first limiting sleeve (223) and a second limiting sleeve (323) corresponding to the first clamping sleeve (221) and the second clamping sleeve (321).

6. The adaptive hierarchical collaborative control flexible manipulator with arrayed contacts according to claim 4, characterized in that, The first drive 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 to the first threaded seat (233) and driven to rotate by the first motor (231). The second drive 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 to the second threaded seat (333) and driven to rotate by the second motor (331).

7. The adaptive hierarchical collaborative control flexible manipulator with arrayed contacts according to claim 4, characterized in that, The second drive assembly (33) includes a second servo motor (341), a second swing arm (342), a second transmission plate (343), and a slide rail (344). The second servo motor (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 slidably connected to the slide rail (344). The second servo motor (341) drives the second transmission plate (343) to move vertically through the second swing arm (342). The first drive assembly (23) includes a first servo motor (241), a first swing arm (242), and a first transmission seat (243). The first servo motor (241) is fixed on the second support plate (132), and the first transmission seat (243) is fixed on the first support plate (131) and slidably connected to the second connecting rod (16). The first servo motor (241) drives the first transmission seat (243) to move vertically through the first swing arm (242).

8. The adaptive hierarchical collaborative control flexible manipulator with arrayed contacts according to claim 3, characterized in that, The first locking assembly (22) includes a first slider (224) and a first guide rail (225) respectively disposed on the first support plate (131) and the second support plate (132), wherein the first slider (224) is slidably connected to the first guide rail (225); The first drive 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). 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). A first locking hole (226) and a first through hole (227) are respectively provided on the first support plate (131) corresponding to the first light rod (211) and the second light rod (311). The first locking hole (226) and the first through hole (227) are both 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).

9. The adaptive hierarchical collaborative control flexible manipulator with arrayed contacts according to claim 3, characterized in that, The second locking assembly (32) includes a second slider (324) and a second guide rail (325) respectively disposed on the third support plate (141) and the fourth support plate (142), wherein the second slider (324) is slidably connected to the second guide rail (325); The second drive 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). 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). On the third support plate (141), a second through hole (326) and a second locking hole (327) are respectively provided on the first light rod (211) and the second light rod (311). The second locking hole (327) and the second through hole (326) are both 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).

10. The adaptive hierarchical collaborative control flexible manipulator with arrayed contacts according to claim 3, characterized in that, 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 to the fifth threaded seat (43) and is driven to rotate by the fifth motor (41).

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