Self-adaptive clamping manipulator for continuously rotating and pushing strip rope object and use method of self-adaptive clamping manipulator

Abstract

The invention provides a self-adaptive clamping manipulator for continuously rotating and pushing a strip rope object and a using method, the self-adaptive clamping manipulator comprises an electrical module and a mechanical module, the electrical module comprises three driving devices, the mechanical module comprises a transition module, a rotation module and three groups of finger modules, the rotation module comprises a rotating disc and three gear rings arranged on the rotating disc in a sleeving manner, openings allowing objects to pass through are correspondingly formed in the rotating disc and the three gear rings. Three slideways are uniformly arranged on the turntable, the three groups of finger modules can move along the directions of the slideways to synchronously get close to or away from the central axis of the turntable, and the active surfaces of the three groups of finger modules are matched to clamp or release an object. The stable clamping space is formed through the active face, friction deviation is avoided, and an additional guide module is not needed; the clamping space can be opened, so that the middle part of the strip-shaped object can be easily clamped; different objects can be compatible by adjusting the clamping position of the palm; and discontinuous rotation is avoided by utilizing double transmission paths.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular, to an adaptive clamping manipulator for continuously rotating and pushing a rope-shaped object and a use method. BACKGROUND

[0002] Clamping is the basic action of human hands, and the simultaneous clamping and in-hand manipulation is complex, which is a high-level interaction between humans and the environment. Similar to human hands, a manipulator has the ability to perform complex tasks through in-hand manipulation. Rope-shaped objects are widely used, such as surgical instruments in medicine, steel wires, steel pipes, ropes, optical fibers, and cables in industry, crop stems and tree branches in agriculture, and steel bars, cables, and pipes in construction. According to the shape characteristics of rope-shaped objects, the most important operations are three: being clamped, translating along an axis, and rotating along an axis.

[0003] The existing Chinese patent with the publication number CN113696213A discloses a manipulator, which relates to the technical field of industrial automation, and is used to solve the problem that the existing manipulator can only grasp objects of a single shape and has a small application range. The manipulator includes a base, M foldable mechanical arms fixed or hinged to the base, each mechanical arm formed by N swing arm units hingedly connected in series, M and N being positive integers, M mechanical arms forming M fixed points or M hinged points on the base, N-1 hinged shafts between N swing arm units, and M driving mechanisms, each driving mechanism corresponding to a mechanical arm and including a steel belt and a driving unit.

[0004] Many in-hand manipulation studies focus on enhancing the dexterity of fingers, mainly including finger mechanisms based on links, under-actuated grippers, compliant joint grippers, soft grippers, etc. However, some manipulators are limited by the range of motion of the fingers and can only operate objects in a small range. Some rely on multi-finger coordination, external factors such as gravity, or surface features such as object edges to compensate for continuity, but lack robustness and precision. Some studies have added active surfaces to achieve robust continuous operation, including based on tracks, based on rollers, and based on balls. They can continuously operate cubes or spheres, but still cannot operate rope-shaped objects.

[0005] At present, the manipulator for operating the cord-shaped object is absent, only the customized equipment for specific scenes. Their mechanisms can be divided into direct friction operation and indirect follow-up clamping module operation. In the direct way, the cord-shaped object is moved by friction on both sides, which has the advantages of compact structure and easy installation of the cord-shaped object, but is easy to cause the cord-shaped object to deviate. The guide mechanism introduced to correct the deviation weakens the above advantages. In the indirect way, the cord-shaped object is operated by multiple modules alternately. Its positioning is accurate, but the operation is discontinuous and occupies a large space. The combination of direct friction translation and indirect follow-up rotation, indirect follow-up translation and direct friction rotation also has the above shortcomings.

[0006] Therefore, it is necessary to provide a self-adaptive clamping manipulator for continuously rotating and pushing the cord-shaped object, the clamping space is openable, can be compatible with different objects, the middle part of the cord-shaped object can be easily clamped, the trouble of threading is avoided, and the pushing and rotating operations are continuous operations, which has the ability to perform complex tasks. SUMMARY

[0007] In view of the defects in the prior art, the purpose of the present application is to provide a self-adaptive clamping manipulator for continuously rotating and pushing the cord-shaped object and a use method.

[0008] According to the self-adaptive clamping manipulator for continuously rotating and pushing the cord-shaped object provided by the present application, the electric module includes three driving devices, and the mechanical module includes a transition module, a rotating module and three groups of finger modules. The transition module includes three independent worm gear transmission mechanisms, the rotating module includes a rotating disc and three tooth rings sleeved on the rotating disc, and the rotating disc and the three tooth rings are provided with openings allowing the object to pass through. The three driving devices are respectively connected with the three tooth rings through the worm gear transmission mechanisms, and the three tooth rings can rotate independently. The tooth rings include a front tooth ring, a middle tooth ring and a rear tooth ring, and the rotating disc is tightly connected with the rear tooth ring and can rotate synchronously. The rotating disc is uniformly provided with three slides, and the three groups of finger modules are respectively installed in the three slides through slide-rack assemblies. The middle tooth ring is connected with any slide-rack assembly through gear meshing transmission, and the three groups of finger modules can move along the direction of the slide to synchronously approach or move away from the central axis of the rotating disc. The driving surface of the three groups of finger modules cooperates to clamp or release the object. The driving surface of any finger module is provided with a synchronous belt, and the front tooth ring is connected with the three synchronous belts through three planetary gears. The object can be driven to move along the central axis of the rotating disc through the synchronous belt.

[0009] Preferably, the slide is at an angle of 30° with the active surface, and the center of rotation of the robot is on the trajectory of the edge of the active surface.

[0010] Preferably, the electrical module further comprises a base plate as a mounting base, the transition module further comprises a base as a mounting base, the base plate is fastened to the base, the driving device is mounted on the side of the base plate away from the base, the worm gear transmission mechanism is mounted inside the base, any of the worm gear transmission mechanisms comprises a worm and a worm gear, the motor shaft of the driving device is in transmission connection with the worm gear through the base plate, and the worm gear is in transmission connection with the worm through a gear.

[0011] Preferably, the three worms are mounted on the base through a first shaft, the three worms can rotate independently, any of the worms is provided with two primary gears in fastening connection therewith, any of the worms is provided with two secondary gears in meshing connection with the primary gears, and the central axes of the two groups of secondary gears are arranged in parallel.

[0012] Preferably, the side of the base away from the base plate is provided with a connecting ring, the connecting ring is provided with an opening matched with the rotary module, and the turntable comprises a turntable shaft and a tail disc, the end of the shaft part of the turntable shaft is fastened to the tail disc, and the connecting ring is sleeved on the shaft part.

[0013] Preferably, the front tooth ring, the middle tooth ring and the rear tooth ring are sequentially sleeved on the shaft part, the two sides of the middle tooth ring are provided with small tooth rings sleeved on the shaft part, the middle tooth ring is fastened to the small tooth rings through the opening sliding bearings, the sliding bearing first opening edge of the opening sliding bearing is in close contact with the middle tooth ring first protrusion of the middle tooth ring and the small tooth ring first protrusion of the small tooth ring, the sliding bearing second opening edge of the opening sliding bearing is in close contact with the middle tooth ring second protrusion of the middle tooth ring and the small tooth ring second protrusion of the small tooth ring, and the middle tooth ring drives the two small tooth rings to rotate synchronously through the opening sliding bearings.

[0014] Preferably, the slider rack assembly comprises a slider and a rack in fastening connection, the turntable shaft and the tail disc are provided with three slides correspondingly, the two sides of the slider are provided with sliding grooves in sliding fit with the slides, the rack is in meshing connection with the small tooth ring, and the six slider rack assemblies move synchronously through the small tooth ring.

[0015] Preferably, the three planet wheels are mounted on the turntable shaft through planet wheel sliding bearings, planet wheel universal joints and telescopic rods, the finger module is provided with finger rod universal joints and telescopic rod females matched with the planet wheels, the planet wheels are in meshing connection with the front tooth ring, and the planet wheels are in transmission connection with the synchronous belt through the telescopic rods.

[0016] Preferably, any of the finger modules comprises a fastened finger rod and a finger buckle, the slider is in transmission connection with the finger rod, the finger rod can move along the direction of the slide, the synchronous belt is installed on the finger rod through a plurality of synchronous wheels and a tension wheel, and the synchronous belt is driven to move around the finger rod through the synchronous wheels.

[0017] According to the application, a method for using the adaptive clamping mechanical hand for continuously rotating and pushing the rope-shaped object is provided, and the method comprises the following steps: In step S1, all the driving devices are adjusted so that the openings of all the parts with the openings are oriented in the same direction. In step S2, the rope-shaped object passes through the openings and enters the inside of the mechanical hand. In step S3, the middle gear ring is driven to rotate by the driving device, so that the three finger modules are close to each other, the internal space is gradually reduced until the object is clamped, if the object needs to be rotated, it enters step S4, if the object needs to be pushed and pulled, it enters step S5, if the object needs to be rotated and pushed and pulled at the same time, it enters step S6. In step S4, the rear gear ring is driven to rotate by the driving device, so that the object is rotated around the axis together with the rotation module. In step S5, the front gear ring is driven to rotate by the driving device, so that the object is moved along the axis direction by the synchronous belt. In step S6, the rear gear ring is driven to rotate by the driving device, so that the object is rotated around the axis together with the rotation module, and the front gear ring is driven to rotate by the driving device, so that the object is moved along the axis direction by the synchronous belt. In step S7, after the operation is completed, all the driving devices are adjusted so that the openings of all the parts with the openings are oriented in the same direction, and the object is taken out from the inside of the mechanical hand through the openings.

[0018] Compared with the prior art, the application has the following beneficial effects: The application realizes the internal dexterity by using the active surface, the special layout of the active surface forms a stable clamping space, avoids friction deviation and does not need an additional guide module, the clamping space is openable, the middle part of the rope-shaped object can be easily clamped, the trouble of threading is avoided, the object is automatically registered during the clamping process, different objects can be compatible by adjusting the position of the palm clamping, the discontinuous rotation is avoided by using the double transmission path, the motor is rear-mounted and the electromechanical separation is realized by the decoupling mechanism and the differential drive, the cable winding is avoided, the inertia is reduced, and the control and planning difficulty is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0019] Other features, objects and advantages of the application will become more apparent from the following detailed description of non-limiting embodiments, made with reference to the accompanying drawings: Figure 1The structural schematic view of the adaptive clamping manipulator for continuously rotating and pushing the rope object is mainly embodied in the application; Figure 2 The structural schematic view of the adaptive clamping manipulator for continuously rotating and pushing the rope object is mainly embodied in the application; Figure 3 The structural schematic view of the electrical module is mainly embodied in the application; Figure 4 The structural schematic view of the transition module and the rotation module is mainly embodied in the application; Figure 5 The structural schematic view of the transition module is mainly embodied in the application; Figure 6 The structural schematic view of the rotation module is mainly embodied in the application; Figure 7 The structural schematic view of the finger module is mainly embodied in the application; Figure 8 The exploded view of the electrical module is mainly embodied in the application; Figure 9 The exploded view of the transition module is mainly embodied in the application; Figure 10 The exploded view of the rotation module is mainly embodied in the application; Figure 11 The exploded view of the finger module is mainly embodied in the application; Figure 12 The schematic view of the movement of the finger module is mainly embodied in the application.

[0020] The schematic view of the movement of the finger module is mainly embodied in the application. Base 11, rotating disc shaft sleeve 111, rotating disc shaft sleeve hole 112, base first opening 113, base second opening 114, base first hole 121, base second hole 122, base third hole 131, base fourth hole 132, base fifth hole 133, base sixth hole 134, base seventh hole 143, base eighth hole 145, male quick connector 15, threaded section 151, head 152, base ninth hole 153, quick connector nut 16; Turbine 21, turbine shaft hole 211, screw counterbore 212, first primary gear 22, first primary gear shaft hole 221, first primary gear nut counterbore 222, first shaft 23, first shaft sleeve 231, first shaft nut 232, second primary gear 24, second primary gear shaft hole 241, first primary gear nut counterbore 242; Second primary gear 31, second primary gear shaft hole 311, second shaft 32, second shaft sleeve 321, second shaft nut 322, third shaft 33; worm 41, upper shaft 411, lower shaft 412, worm base 42, worm base threaded hole 421, worm base hole 422, worm base screw 43, upper shaft sliding bearing 44, coupling female 45, coupling female hole 451, cross slot 452, coupling female threaded hole 453; rotary disc shaft 51, rotary disc shaft inner space 511, rotary disc shaft first opening edge 512, rotary disc shaft sliding way 513, rotary disc shaft opening 514, rotary disc shaft hole 515, tail end surface threaded hole 516, tail end surface 517, rotary disc shaft second opening edge 518, shaft part 519, front tooth ring 52, front tooth ring inner hole 521, front tooth ring opening 522, middle tooth ring 53, middle tooth ring inner hole 531, middle tooth ring opening 532, middle tooth ring second protrusion 533, middle tooth ring first protrusion 534, opening sliding bearing 54, sliding bearing first opening edge 541, sliding bearing second opening edge 542, small tooth ring 547, small tooth ring first protrusion 543, small tooth ring second protrusion 544, opening sliding bearing opening 545, small tooth ring opening 546, tail disc 55, tail disc inner hole 551, tail disc opening 552, tail disc sliding way 553, tail disc threaded hole 554, tail disc center hole 555, rear tooth ring 557, rear tooth ring opening 558, rear tooth ring hole 559, planetary gear universal joint assembly 56, planetary gear 561, planetary gear sliding bearing 562, planetary gear universal joint 563, male telescopic rod 564, male telescopic rod protrusion 565, universal joint tail shaft 566, planetary gear threaded hole 567, rack and block assembly 57, rack 571, block 572, block first sliding slot 573, block second sliding slot 574, block threaded hole 575; finger lever 61, finger lever first hole 611, finger lever second hole 612, finger lever third hole 613, finger lever fourth hole 614, finger lever fifth hole 615, finger lever sixth hole 6151, finger lever first shaft 616, finger lever first shaft through hole 617, finger lever second shaft 618, finger lever seventh hole 619, finger lever eighth hole 620, finger lever bracket 621, finger lever ninth hole 622, finger lever sliding groove 623, tension seat 624, tension seat hole 625, finger lever first screw 626, finger lever sliding bearing 627, finger lever second screw 628, finger lever third shaft 629, finger buckle 63, finger buckle shaft 631, finger buckle shaft threaded hole 632, finger buckle first hole 633, finger buckle second hole 634, finger buckle third hole 635, finger buckle fourth hole 636, finger buckle sliding groove 637, synchronous wheel assembly 64, first synchronous wheel 641, first synchronous wheel shaft 642, first synchronous wheel sliding bearing one 644, first synchronous wheel sliding bearing two 645, first synchronous wheel hole 646, tension wheel 65, tension wheel shaft 651, tension wheel first side arm 652, tension wheel shaft support 653, tension wheel nut 654, tension wheel screw 655, tension wheel second side arm 656, finger lever shaft 66, outer end 660, inner end 661, finger lever shaft sliding bearing 662, first bevel gear 663, second bevel gear 664, bevel gear shaft 665, bevel gear shaft sliding bearing 666, finger lever universal joint 667, telescopic rod female 668, telescopic rod female sliding groove 669, synchronous belt 67, second synchronous wheel 68, second synchronous wheel sliding bearing one 681, second synchronous wheel sliding bearing two 682, second synchronous wheel hole 683; first motor 71, output shaft 711, second motor 712, third motor 713, motor nut 72, base plate 73, base plate first hole 731, base plate second hole 732, base plate third hole 733, shaft coupling screw 74, shaft coupling male 75, shaft coupling male hole 751, shaft coupling male threaded hole 752, one-way plug 753, quick connector female 76, quick connector female threaded section 761, quick connector female hole 762. DETAILED DESCRIPTION

[0021] The application will be described in detail below with specific embodiments. The following examples will help those skilled in the art to further understand the application, but do not limit the application in any form. It should be noted that for those skilled in the art, without departing from the concept of the application, a number of changes and improvements can be made. These are within the scope of the present application.

[0022] Example 1 As Figures 1-12As shown, the adaptive clamping manipulator for continuously rotating and pushing the rope-shaped object provided by the application comprises an electrical module and a mechanical module. The electrical module comprises three driving devices. The mechanical module comprises a transition module, a rotating module and three groups of finger modules. The transition module comprises three groups of independent worm gears. The rotating module comprises a rotating disc and three tooth rings sleeved on the rotating disc. The rotating disc and the three tooth rings are provided with openings allowing the object to pass through. The three driving devices are respectively connected with the three tooth rings through the worm gears. The three tooth rings can rotate independently. The tooth rings comprise a front tooth ring 52, a middle tooth ring 53 and a rear tooth ring 557. The rotating disc is tightly connected with the rear tooth ring 557 and can rotate synchronously. Three slides are uniformly arranged on the rotating disc. The three groups of finger modules are respectively installed in the three slides through the slide rack assemblies 57. The middle tooth ring 53 and any slide rack assembly 57 are connected through gear meshing. The three groups of finger modules can move along the slides to synchronously approach or move away from the central axis of the rotating disc. The driving surfaces of the three groups of finger modules can clamp or release the object. The driving surface of any finger module is provided with a synchronous belt 67. The front tooth ring 52 is connected with the three synchronous belts 67 through three planetary gears 561. The object can move along the central axis of the rotating disc through the synchronous belt 67.

[0023] The application is a manipulator for automatically centering, clamping and continuously pushing and rotating the rope-shaped object in hand. It can be applied to industrial production, medical surgery and service industry, etc. and can realize the clamping, pushing and rotating of the rope-shaped object. The manipulator can be opened and tightened to realize the adaptive clamping of the rope-shaped object with different diameters. Moreover, the manipulator has the functions of continuous pushing and rotating the rope-shaped object, realizes the operation of the rope-shaped object in hand, and has the advantages of miniaturization and light weight, so it can be widely applied.

[0024] The angle between the slide direction and the driving surface is 30°. The rotating center of the manipulator is on the motion track of the edge of the driving surface, i.e. the motion direction of the edge of the driving surface points to the rotating center of the manipulator.

[0025] The electrical module further comprises a substrate 73 as the installation base. The transition module further comprises a base 11 as the installation base. The substrate 73 is tightly connected with the base 11. The driving devices are installed on the side of the substrate 73 away from the base 11. The worm gears are installed in the interior of the base 11. Any worm gear comprises a turbine 21 and a worm 41. The motor shaft of the driving device is connected with the worm 41 through the substrate 73. The worm 41 is connected with the turbine 21 through the gear transmission.

[0026] Three turbines 21 are mounted on the base 11 through a first shaft 23, the three turbines 21 can rotate independently, any turbine 21 is provided with two primary gears fastened and connected thereto, any turbine 21 is provided with two secondary gears 31 meshed and connected with the primary gears, the central axes of the two groups of secondary gears 31 are arranged in parallel.

[0027] The base 11 is provided with a connecting ring away from the base plate 73, the connecting ring is provided with an opening matched with the rotary module, the turntable comprises a turntable shaft 51 and a tail disc 55, the end of the shaft part 519 of the turntable shaft 51 is fastened and connected with the tail disc 55, and the connecting ring is sleeved on the shaft part 519.

[0028] The front tooth ring 52, the middle tooth ring 53 and the rear tooth ring 557 are sequentially sleeved on the shaft part 519, both sides of the middle tooth ring 53 are provided with small tooth rings 547 sleeved on the shaft part 519, the middle tooth ring 53 is fastened and connected with the small tooth rings 547 through the opening sliding bearing 54, the sliding bearing first opening edge 541 of the opening sliding bearing 54 is in close contact with the middle tooth ring first protrusion 534 of the middle tooth ring 53 and the small tooth ring first protrusion 543 of the small tooth ring 547, the sliding bearing second opening edge 542 of the opening sliding bearing 54 is in close contact with the middle tooth ring second protrusion 533 of the middle tooth ring 53 and the small tooth ring second protrusion 544 of the small tooth ring 547, and the middle tooth ring 53 drives the two small tooth rings 547 to rotate synchronously through the opening sliding bearing 54.

[0029] The slider rack assembly 57 comprises a slider 572 and a rack 571 fastened and connected, the turntable shaft 51 and the tail disc 55 are correspondingly provided with three sliding channels, both sides of the slider 572 are provided with sliding grooves in sliding fit with the sliding channels, the rack 571 is meshed and connected with the small tooth ring 547, and the six slider rack assemblies 57 move synchronously through the small tooth ring 547.

[0030] The three planetary gears 561 are mounted on the turntable shaft 51 through the planetary gear sliding bearing 562, the planetary gear universal joint 563 and the telescopic rod male 564, the finger module is provided with a finger rod female universal joint 667 and a telescopic rod female 668 matched with the planetary gear 561, the planetary gear 561 is meshed and connected with the front tooth ring 52, and the planetary gear 561 is drivingly connected with the synchronous belt 67 through the telescopic rod.

[0031] Any finger module comprises a finger rod 61 and a finger buckle 63 fastened and connected, the slider 572 is drivingly connected with the finger rod 61, the finger rod 61 can move along the sliding direction of the sliding channel, the synchronous belt 67 is mounted on the finger rod 61 through a plurality of synchronous wheels and tension wheels, and the synchronous belt 67 is driven to move around the finger rod 61 through the synchronous wheels.

[0032] More specifically, the electrical module and mechanical module of the adaptive clamping manipulator for continuously rotating and pushing the rope object comprise the following contents: The electrical module contains first motor 71, second motor 712, third motor 713, base plate 73, shaft coupling male 75, quick connector female 76 and several screws and nuts. The motors provide power, motor nut 72 is used to fix the quick connector female 76 on the base plate 73, the base plate 73 is used to be fixed with the outside world, the shaft coupling male 75 is used to transmit the power of the motor from the electrical part, the quick connector female 76 is used to connect the electrical module and the mechanical module.

[0033] The output shaft 711 of the motor passes through the first hole 731 of the base plate and inserts into the shaft coupling male hole 751 of the shaft coupling male 75, and the top screw is screwed into the shaft coupling male thread hole 752 to fix the motor and the shaft coupling male 75. The shaft coupling screw 74 passes through the second hole 732 of the base plate and is screwed into the motor to fix the motor and the base plate 73. The quick connector female thread section 761 of the quick connector female 76 is inserted into the third hole 733 of the base plate and locked by the third hole 733 of the base plate. The head 152 of the quick connector male 15 is inserted into the quick connector female hole 762 of the quick connector female 76.

[0034] The transition module contains base 11, quick connector male 15, quick connector nut 16, turbine 21, first primary gear 22, first shaft 23, first shaft sleeve 231, secondary gear 31, second shaft 32, second shaft sleeve 321, worm 41, worm seat 42, upper shaft sliding bearing 44, shaft coupling female 45 and several screws and nuts.

[0035] The base 11 is used to support the internal parts and provide the rotation axis and axial positioning for the rotation module, the male quick connector 15 is used to connect the electrical module, the female quick connector 16 is used to connect the male quick connector 15 to the base 11, the coupling female 45 is used to receive the power from the electrical module and transmit the power to the worm 41, the worm 41 and the turbine 21 form a worm and turbine transmission mode to change the transmission direction, achieve the speed reduction effect and provide the self-locking ability, the first shaft 23 is used to support the turbine 21, the first primary gear 22 and the second primary gear 24, the second shaft 32 is used to support the secondary gear 31, the first primary gear 22 and the second primary gear 24 are fixedly connected with the turbine 21 to keep the same speed, the first primary gear 22 and the second primary gear 24 are respectively engaged with the secondary gear 31 on the second shaft 32 or the third shaft 33 to form two transmission paths, the first primary gear 22 and the second primary gear 24 have three pairs in total, the secondary gear 31 has six in total, and the turbine has three in total, forming three groups of double transmission paths in front, middle and back. The first shaft sleeve 231 is used to provide axial positioning for each rotating part on the first shaft 23, the first shaft nut 232 is used to fixedly connect the first shaft 23 with the base 11, the second shaft sleeve 321 is used to provide axial positioning for each rotating part on the second shaft 32 and the third shaft 33, and the second shaft nut 322 is used to fixedly connect the second shaft 32 and the third shaft 33 with the base 11. The upper shaft sliding bearing 44 is used to support and low-friction rotate the worm 41.

[0036] The threaded section 151 of the male fastener 15 penetrates the ninth hole 153 of the base and is locked by the fastener nut 16. The screw penetrates the screw counterbore 212 of the turbine 21, the first primary gear nut counterbore 242 of the second primary gear 24 and the first primary gear nut counterbore 222 of the first primary gear 22 in turn and is locked by the nut, so as to fix the turbine 21, the second primary gear 24 and the first primary gear 22. The first shaft 23 penetrates the second hole 122 of the base 11, the above-mentioned three groups of components and the first hole 121 of the base 11 in turn, and the first shaft sleeve 231 is also penetrated between two of them, and the first shaft nut 232 is used to lock the first shaft 23 to the base 11 at both ends of the shaft. The third shaft 33 penetrates the fifth hole 133 of the base 11, the secondary gear shaft hole 311 of the three secondary gears 31 and the third hole 131 of the base 11 in turn, and the second shaft sleeve 321 is also penetrated between two of them, and the second shaft nut 322 is used to lock the third shaft 33 to the base 11 at both ends of the shaft. The second shaft 32 penetrates the sixth hole 134 of the base 11, the secondary gear shaft hole 311 of the three secondary gears 31 and the fourth hole 132 of the base 11 in turn, and the second shaft sleeve 321 is also penetrated between two of them, and the second shaft nut 322 is used to lock the second shaft 32 to the base 11 at both ends of the shaft. The upper shaft sliding bearing 44 is embedded in the seventh hole 143 of the base 11 and the worm base hole 422 of the worm base 42. The upper shaft 411 of the worm 41 penetrates the upper shaft sliding bearing 44 and is inserted into the coupling female hole 451 of the coupling female 45, and the top screw is screwed into the coupling female thread hole 453 of the coupling female 45 to fix the coupling female 45 and the worm 41. The Phillips plug 753 can be inserted into the cross slot 452 for torque transmission. The lower shaft 412 of the worm 41 is inserted into the upper shaft sliding bearing 44. The worm base screw 43 penetrates the eighth hole 145 of the base 11 and is screwed into the threaded hole of the worm base 42, so as to fix the worm base 42 to the base 11. The worm 41 and the turbine 21 are engaged, and the first primary gear 22 and the second primary gear 24 are respectively engaged with different secondary gears 31.

[0037] The rotary module comprises a turntable shaft 51, a front tooth ring 52, a middle tooth ring 53, an open sliding bearing 54, a tail disc 55, a rear tooth ring 557, a small tooth ring 547, a rack and slider assembly 57, a planetary wheel universal joint assembly 56 and a plurality of screws. Among them, the rack and slider assembly 57 comprises a rack 571, a slider 572 and a screw; the planetary wheel universal joint assembly 56 comprises a planetary wheel 561, a planetary wheel sliding bearing 562 and a planetary wheel universal joint 563.

[0038] The rotating shaft 51 provides support and positioning for several parts on the rotating module, the front tooth ring 52, the middle tooth ring 53, and the back tooth ring 557 each receives power from the transition module, and they all receive power from two transmission paths, so when the rotating process is in progress, the front tooth ring opening 522, the middle tooth ring opening 532, and the back tooth ring opening 558 may interrupt one of the transmission paths but not both. The shaft part 519 of the rotating shaft 51 fits in the opening sliding bearing 54 and can rotate, and the opening sliding bearing 54 fits in the rotating shaft sleeve 111 and can rotate. The sliding bearing first opening edge 541 and the sliding bearing second opening edge 542 of the opening sliding bearing 54 respectively tightly adhere to the middle tooth ring first protrusion 534 and the middle tooth ring second protrusion 533 of the middle tooth ring 53, the small tooth ring first protrusion 543 and the small tooth ring second protrusion 544 of the small tooth ring 547, and the middle tooth ring 53, the opening sliding bearing 54, and the small tooth ring 547 are fixedly connected, so that the middle tooth ring 53 drives the small tooth ring 547 through the opening sliding bearing 54. The small tooth ring 547 is engaged with the rack 571, and the rack 571 and the slider 572 are fixedly connected by screws, so that the slider 572 can move in a straight line and maintain a fixed distance from the rotating axis of the rotating shaft 51. Each small tooth ring 547 is engaged with three racks 571 to achieve synchronous movement of six sliders 572. The front tooth ring 52 is engaged with three planetary gears 561 to achieve synchronous rotation of the three planetary gears 561, and the planetary gear sliding bearing 562 is used to support and reduce friction. The back tooth ring 557 drives the tail disc 55 to rotate together, and then drives the rotating shaft 51 to rotate together. The front tooth ring opening 522 of the front tooth ring 52, the opening sliding bearing opening 545 of the opening sliding bearing 54, the middle tooth ring opening 532 of the middle tooth ring 53, the back tooth ring opening 558 of the back tooth ring 557, the small tooth ring opening 546 of the small tooth ring 547, the rotating shaft opening 514 of the rotating shaft 51, and the tail disc opening 552 of the tail disc 55 are adjusted to be in the same direction as the base first opening 113 and the base second opening 114 of the base 11, forming a channel between the internal space and the outside world for placing or removing the cord-shaped object. When the front tooth ring opening 522 is directly opposite a planetary gear 561, the transmission of the planetary gear 561 and its corresponding synchronous belt 67 is interrupted. However, since the cord-shaped object is clamped by the three finger modules at this time, two synchronous belts 67 are still driven, which will drive the lost transmission synchronous belt 67 to move together. The continuity of the push-pull operation is not interrupted.

[0039] The front tooth ring 52, the middle tooth ring 53 and the rear tooth ring 557 each mesh with two secondary gears 31. The shaft part 519 of the rotating disc shaft 51 is sleeved in the open sliding bearing 54, and sequentially passes through the small tooth ring 547, the front tooth ring 52, the middle tooth ring 53, the rear tooth ring 557 and another small tooth ring 547 with the open sliding bearing 54. The screws pass through the tail disc center hole 555 of the tail disc 55 to fix the tail disc 55 to the tail end face 517 of the rotating disc shaft 51, and the tail disc opening 552 of the tail disc 55 is consistent with the rotating disc shaft opening 514. The sliding bearing first opening edge 541 of the open sliding bearing 54 is fitted with the middle tooth ring first protrusion 534 of the middle tooth ring 53 and the small tooth ring first protrusion 543 of the small tooth ring, and the sliding bearing second opening edge 542 of the open sliding bearing 54 is fitted with the middle tooth ring second protrusion 533 of the middle tooth ring 53 and the small tooth ring second protrusion 544 of the small tooth ring 547. The screws are screwed into the tail disc threaded hole 554 of the tail disc 55 through the rear tooth ring hole 559, so that the rear tooth ring 557 and the tail disc 55 are fixedly connected, and the tail disc opening 552 of the tail disc 55 is consistent with the rear tooth ring opening 558 of the rear tooth ring 557. The slider 572 and the rack 571 are fixed together by screws, and the six slider rack assemblies 57 are respectively inserted into the rotating disc shaft slide 513 and the tail disc slide 553 of the rotating disc shaft 51 and the tail disc 55 through the cooperation of the slider first sliding groove 573 and the slider second sliding groove 574 with the rotating disc shaft slide 513 and the tail disc slide 553. The rack 571 and the small tooth ring 547 mesh. The planetary gear sliding bearing 562 is embedded in the rotating disc shaft hole 515 of the rotating disc shaft 51, the universal joint tail shaft 566 passes through the planetary gear sliding bearing 562 and penetrates into the planetary gear 561, and the stud is screwed into the planetary gear threaded hole 567 to fixedly connect the planetary gear 561 and the universal joint tail shaft 566. The planetary gear 561 and the front tooth ring 52 mesh. The extension rod male 564 is inserted into the extension rod female 668 of the finger module, and the extension rod male protrusion 565 is in the extension rod female sliding groove 669.

[0040] The finger module comprises a finger lever 61, a finger buckle 63, a synchronous wheel assembly 64, a tensioning wheel 65, a tensioning wheel shaft 651, a tensioning wheel shaft support 653, a finger lever shaft 66, a finger lever shaft sliding bearing 662, a first bevel gear 663, a second bevel gear 664, a bevel gear shaft sliding bearing 666, a finger lever universal joint 667, a synchronous belt 67, and a plurality of studs, screws and nuts. The synchronous wheel assembly 64 is composed of a first synchronous wheel 641, a first synchronous wheel shaft 642, a first synchronous wheel sliding bearing one 644, a first synchronous wheel sliding bearing two 645 and a stud.

[0041] The finger bar 61 and the finger catch 63 provide support and positioning for several parts on the finger module. The finger bar 61 is able to move along with the slider 572 along the carousel shaft slide 513. The planetary gear joint 563 of the swivel module, the extension bar male 564, the extension bar female 668 of the finger module, and the finger bar joint 667 together achieve the effect that the input axis of movement and the output axis of movement are parallel and can not coincide, which makes the movement of the finger bar 61 along with the slider 572 not interfere with the rotation of the synchronous belt 67. The second bevel gear 664 and the first bevel gear 663 are used to change the direction of transmission, and the finger bar shaft 66 is used to drive the second synchronous wheel 68. The second synchronous wheel 68 drives the synchronous belt 67 to rotate. The second synchronous wheel 68 is the driving wheel, and the rest of the synchronous wheel assembly 64 is the driven wheel. The synchronous wheel assembly 64 is used to support the synchronous belt 67. The synchronous belt 67 is used to clamp and operate the rope-shaped object. By rotating the tensioner screw 655, the position of the tensioner 65, the tensioner shaft 651, and the tensioner shaft support 653 can be adjusted to adjust the tensioning force of the synchronous belt 67. The bevel gear shaft sliding bearing 666, the finger bar sliding bearing 627, the sliding bearing 634, the first synchronous wheel sliding bearing one 644, the first synchronous wheel sliding bearing two 645, the finger bar shaft sliding bearing 662, the second synchronous wheel sliding bearing one 681, and the second synchronous wheel sliding bearing two 682 are used to reduce friction and provide support.

[0042] The bevel gear shaft sliding bearing 666 is inserted into the finger lever seventh hole 619, the bevel gear shaft 665 of the second bevel gear 664 passes through the bevel gear shaft sliding bearing 666 and penetrates into the finger lever universal joint 667 with interference fit. The sliding bearing 622 and the second synchronous wheel sliding bearing two 682 are respectively inserted into both ends of the finger lever second hole 612, the finger lever shaft 66 passes through the finger lever shaft sliding bearing 662 and the second synchronous wheel sliding bearing two 682, the outer end 660 of the finger lever shaft 66 penetrates into the first bevel gear 663 and both are interference fit, the inner end 661 of the finger lever shaft 66 penetrates into the second synchronous wheel 68 and is locked by the second synchronous wheel hole 683 with the jack screw. The second synchronous wheel sliding bearing one 681 is inserted into the finger buckle first hole 633. The internal parts of the other synchronous wheel assembly 64 are as follows: the shaft 642 passes through the first synchronous wheel sliding bearing two 645, the first synchronous wheel 641 and the first synchronous wheel sliding bearing one 644 in turn, the first synchronous wheel 641 is locked with the first synchronous wheel shaft 642 by the first synchronous wheel hole 646 with the jack screw. The first synchronous wheel sliding bearing two 645 is inserted into the finger lever sixth hole 6151, the finger lever third hole 613, the finger lever first hole 611, and the first synchronous wheel sliding bearing one 644 is respectively inserted into the finger lever fifth hole 615, the finger buckle third hole 635, the finger buckle second hole 634. The finger lever third shaft 629 passes through the finger lever sliding bearing 627 and is inserted into the finger lever fourth hole 614, and the other finger lever sliding bearing 627 is sleeved on the finger lever second shaft 618. The length of the finger lever first shaft 616 is slightly wider than the second synchronous wheel 683 and the first synchronous wheel 641, the finger buckle shaft 631 is inserted into the finger lever first shaft through hole 617, the screw is screwed into the finger buckle shaft threaded hole 632 of the finger buckle 63 through the finger lever first shaft through hole 617, so that the finger buckle 63 and the finger lever 61 are fixedly connected. The tensioner first side arm 652 and the tensioner second side arm 656 of the tensioner shaft support 653 are respectively in the finger lever sliding groove 623 and the finger buckle sliding groove 637. The screw passes through the tensioner seat hole 625 and the tensioner nut 654 in turn and is pressed against the tensioner shaft support 653. The tensioner shaft 651 passes through the tensioner 65, and the tensioner first side arm 652 and the tensioner second side arm 656 of the tensioner shaft support 653 are respectively pressed against both ends of the tensioner shaft 651. The second bevel gear 664 and the first bevel gear 663 are engaged, the second synchronous wheel 683, the first synchronous wheel 641, the tensioner 65 and the synchronous belt 67 are engaged, and the finger lever sliding bearing 627 is pressed on the surface of the synchronous belt 67. The screw is screwed into the slider threaded hole 575 of the rotary module through the finger lever ninth hole 622 and the finger lever eighth hole 620, so that each finger lever 61 is fixedly connected with the front and rear sliders 572.

[0043] Among the above-mentioned parts, the turbine 21, the first primary gear 22, the secondary gear 31, the upper shaft sliding bearing 44, the front tooth ring 52, the middle tooth ring 53, the open sliding bearing 54, the rear tooth ring 557, the small tooth ring 547, the rack 571, the slider 572, the planet wheel 561, the planet wheel sliding bearing 562, the bevel gear shaft sliding bearing 666, the first synchronous wheel sliding bearing one 644, and the first synchronous wheel sliding bearing two 645 can all be made of engineering plastic material, especially engineering plastic material with self-lubricating properties with lubricating additives.

[0044] The working principle of the present application is as follows: the mechanical hand can hold the strip-shaped object, and can further continuously push and pull and continuously rotate the hand-in operation. The mechanical hand forms a channel for the strip-shaped object to enter by moving the active surfaces away from each other; the object is clamped by moving the active surfaces close to each other and fitting together; the object is moved along the axial direction by the active movement of the active surfaces; the object in the clamping is rotated circumferentially by the passive circumferential rotation of the active surfaces.

[0045] The active surface is the surface that contacts the elongated object and drives the elongated object to move by friction. If a synchronous belt is used, the surface of the synchronous belt that contacts the elongated object is the active surface. There are three active surfaces, and the included angle between adjacent active surfaces is 60°. One side edge of each active surface is coplanar with the other active surface. Therefore, the area surrounded by the three active surfaces forms a planar space with a cross-section of an equilateral triangle for clamping the object. The direction from the vertex to the center is the movement direction of the active surface approaching (or moving away from) the elongated object, i.e., the opening and closing movement of the active surface clamping and releasing the object. During clamping, the three active surfaces approach synchronously, and the axial line of the object gradually coincides with the axis of the mechanical hand rotation, achieving automatic centering and alignment. Compared with two-surface clamping, three-surface clamping has a larger contact surface and is more stable and less susceptible to interference. The present application can clamp very thin objects, avoid interference between the active surfaces when they approach each other, and form a sufficiently narrow planar space for clamping the object.

[0046] The size of the planar space of the present application is adjustable and continuously adjustable, and can be adjusted according to the size of the clamped object, having compatibility with objects of different sizes. When the object needs to be installed and removed, the active surfaces can be moved away from each other to a certain extent, and the object can freely enter and exit the planar space between the two surfaces. The present application can clamp objects of different materials, such as rigid and flexible objects, and objects of different interface shapes, such as circles, triangles, and partial polygons.

[0047] Three motors of the application rotate simultaneously to drive the active surfaces and the objects clamped by them to rotate. One motor drives the active surfaces to move closer to or away from each other through a transmission belt, realizing clamping or releasing the objects. In the transmission process, one gear drives three racks to realize one-way transmission divided into three paths, and finally realizes the synchronous approach or away of the three active surfaces. One motor drives the active surfaces to roll actively, realizing the push-pull of the objects. There are three active surfaces and one corresponding motor. In the transmission process, one sun gear drives three planetary gears to realize one-way transmission divided into three paths. The active rolling of the active surface is not disturbed by the opening and closing movement of the active surface, which is realized by the double universal joint transmission with telescopic rod. With the synchronous approach of the three active surfaces, the axis of the object itself gradually coincides with the axis of the manipulator rotary movement, and remains consistent when clamped, which is very important for the accurate interaction of the operated object with the external environment, and does not require additional guiding correction mechanism and registration program.

[0048] Compared with two-surface clamping, three-surface clamping can have more uniform distribution under the same total clamping force, reducing the possibility of damaging the object due to clamping force. The application has openness, i.e. when the active surfaces move away to a certain extent, the object can freely enter and exit the in-plane space between the two surfaces. Avoid the trouble of only entering and exiting from the head and tail.

[0049] Some parts of the application have openings, allowing the object to pass through these parts to enter the internal in-plane space. Using double transmission path avoids the interruption of transmission caused by the opening.

[0050] All the motors of the application are rear-mounted, separating the mechanical and electrical parts, which is beneficial to modular assembly, avoiding the winding of motor cables, and similar part of the transmission process, which is beneficial to compact structure and miniaturization. For a three-degree-of-freedom manipulator, the self-weight of part of the motor becomes the load of other motors. Reducing the motor load inertia is beneficial to dynamic performance. Mechanical and electrical separation is beneficial to aseptic operation, such as high-temperature disinfection of the mechanical part without worrying about damage to electronic components; the mechanical part can be used as disposable and as a disinfection solution. The mechanical part can also be used for underwater operation without worrying about damage to electronic components.

[0051] The push-pull and rotation operations of the manipulator of the application are continuous operations, and even the continuous spiral movement of the object can be operated, which enables the manipulator to perform complex tasks. The overall structure of the manipulator of the application is compact, with the characteristics of miniaturization and light weight, easy to be used with a mechanical arm, and easy to be widely applied.

[0052] Embodiment 2 Based on embodiment 1, a use method of an adaptive clamping manipulator for continuous rotation and push-pull cable objects provided by the application is provided, comprising the following steps: Step S1, adjust all driving devices so that the openings of all parts with openings are consistent in orientation; Step S2, the cord-shaped object enters the inside of the manipulator through the opening; Step S3, drive the middle gear ring 53 to rotate by the driving device, so that the three finger modules are close to each other, the internal space is gradually reduced until the slender object is clamped, and the object is automatically aligned to the axis of rotation of the manipulator, if the object needs to be rotated, enter step S4, if the object needs to be pushed and pulled, enter step S5, if the object needs to be rotated and pushed and pulled at the same time, enter step S6; Step S4, drive the rear gear ring 557 to rotate by the driving device, so that the rotation module rotates around the axis together with the object; Step S5, drive the front gear ring 52 to rotate by the driving device, so that the synchronous belt 67 moves the object to move in the axial direction; Step S6, drive the rear gear ring 557 to rotate by the driving device, so that the rotation module rotates around the axis together with the object, and drive the front gear ring 52 to rotate by the driving device, so that the synchronous belt 67 moves the object to move in the axial direction; Step S7, after the operation is completed, adjust all driving devices so that the openings of all parts with openings are consistent in orientation, and the object is taken out from the inside of the manipulator through the opening.

[0053] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore cannot be understood as a limitation on the present application.

[0054] The specific embodiments of the present application have been described above. It should be understood that the present application is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essential content of the present application. The embodiments of the present application and the features in the embodiments can be arbitrarily combined with each other without conflict.

Claims

1. An adaptive gripping manipulator for continuously rotating and pushing a cable object, characterized in that: include: An electrical module and a mechanical module, wherein the electrical module includes three driving devices, the mechanical module includes a transition module, a rotary module and three groups of finger modules, the transition module includes three groups of independent worm gear transmission mechanisms, the rotary module includes a turntable and three gear rings sleeved on the turntable, the turntable and the three gear rings are correspondingly provided with openings allowing objects to pass through, the three driving devices are respectively connected to the three gear rings through the worm gear transmission mechanisms, the three gear rings can rotate independently, the gear rings include a front gear ring (52), a middle gear ring (53) and a rear gear ring (557), the turntable is fastened to the rear gear ring (557) and the two can rotate synchronously; Three slideways are evenly arranged on the turntable, and the three groups of finger modules are respectively installed in the three slideways through the slider rack assembly (57), and the middle gear ring (53) and any slider rack assembly (57) are connected by gear meshing transmission. The three groups of finger modules can move along the direction of the slideway to synchronously approach or move away from the central axis of the turntable, and the active surfaces of the three groups of finger modules cooperate to clamp or release the object; The active surface of any finger module is provided with a synchronous belt (67), the front gear ring (52) is respectively connected to the three synchronous belts (67) through three planetary gears (561), and the object is driven by the synchronous belt (67) to move along the central axis of the turntable.

2. The adaptive gripping manipulator for continuously rotating and pushing a cable object according to claim 1, characterized in that: The included angle between the direction of the slideway and the active surface is 30°, and the rotation center of the manipulator is on the motion trajectory of the edge of the active surface.

3. The adaptive gripping manipulator for continuously rotating and pushing a cable object according to claim 1, characterized in that: The electrical module further includes a substrate (73) serving as a mounting base, and the transition module further includes a base (11) serving as a mounting base. The substrate (73) is securely connected to the base (11). The drive device is mounted on a side of the substrate (73) away from the base (11). The worm gear transmission mechanism is mounted inside the base (11). Any of the worm gear transmission mechanisms includes a turbine (21) and a worm (41). The motor shaft of the drive device passes through the substrate (73) and is in transmission connection with the worm (41). The worm (41) is connected to the turbine (21) via a gear transmission.

4. The adaptive gripping manipulator for continuously rotating and pushing a cable object according to claim 3, characterized in that: The three turbines (21) are mounted on the base (11) via a first shaft (23). The three turbines (21) can rotate independently. Each turbine (21) is correspondingly provided with two primary gears fastened thereto. Each turbine (21) is correspondingly provided with two secondary gears (31) meshingly connected to the primary gears. The central axes of the two sets of secondary gears (31) are arranged in parallel.

5. The adaptive gripping manipulator for continuously rotating and pushing a cable object according to claim 3, characterized in that: A connecting ring is provided on a side of the base (11) away from the substrate (73), and the connecting ring has an opening matching the rotary module. The turntable comprises a turntable shaft (51) and a tail plate (55). The end of the shaft portion (519) of the turntable shaft (51) is tightly connected to the tail plate (55), and the connecting ring is sleeved on the shaft portion (519).

6. The adaptive gripping manipulator for continuously rotating and pushing a cable object according to claim 5, characterized in that: The front gear ring (52), the middle gear ring (53) and the rear gear ring (557) are sequentially sleeved on the shaft portion (519), and small gear rings (547) sleeved on the shaft portion (519) are provided on both sides of the middle gear ring (53). The middle gear ring (53) is fastened to the small gear ring (547) through an open sliding bearing (54). The first opening edge (541) of the sliding bearing of the open sliding bearing (54) is in close contact with the first middle gear ring protrusion (534) of the middle gear ring (53) and the first small gear ring protrusion (543) of the small gear ring (547). The second opening edge (542) of the sliding bearing of the open sliding bearing (54) is in close contact with the second middle gear ring protrusion (533) of the middle gear ring (53) and the second small gear ring protrusion (544) of the small gear ring (547). The middle gear ring (53) drives the two small gear rings (547) to rotate synchronously through the open sliding bearing (54).

7. The adaptive gripping manipulator for continuously rotating and pushing a cable object according to claim 6, characterized in that: The slider rack assembly (57) includes a slider (572) and a rack (571) that are fastened together. Three slideways are correspondingly provided on the turntable shaft (51) and the tail plate (55). Slide grooves are provided on both sides of the slider (572). The slide grooves are slidably matched with the slideways. The rack (571) is meshed and connected with the small gear ring (547). The six slider rack assemblies (57) move synchronously through the small gear ring (547).

8. The adaptive gripping manipulator for continuously rotating and pushing a cable object according to claim 5, characterized in that: The three planetary gears (561) are mounted on the turntable shaft (51) via planetary gear sliding bearings (562), planetary gear universal joints (563), and telescopic rod males (564). The finger module is provided with finger rod universal joints (667) and telescopic rod females (668) that match the planetary gears (561). The planetary gears (561) are meshedly connected with the front gear ring (52). The planetary gears (561) are transmission-connected with the synchronous belt (67) via the telescopic rod.

9. The adaptive gripping manipulator for continuously rotating and pushing a cable object according to claim 7, characterized in that: Any of the finger modules comprises a finger rod (61) and a finger fastener (63) that are fastened together, the slider (572) is transmission-connected to the finger rod (61), the finger rod (61) is capable of moving along the direction of the slideway, the synchronous belt (67) is installed on the finger rod (61) through a plurality of synchronous wheels and a tensioning wheel, and the synchronous belt (67) is driven by the synchronous wheels to move around the finger rod (61).

10. A method for using the adaptive gripping manipulator for continuously rotating and pushing a cable object according to any one of claims 1 to 9, characterized in that: The following steps are involved: Step S1, adjusting all driving devices so that the opening directions of all parts with openings are consistent; Step S2: the rope-shaped object enters the interior of the manipulator through the opening; Step S3, driving the middle gear ring (53) to rotate by the driving device, so that the three finger modules approach each other, and the internal space gradually shrinks until the object is clamped. If the object needs to be rotated, step S4 is entered; if the object needs to be pushed or pulled, step S5 is entered; if a combined operation of rotating and pushing and pulling the object is required at the same time, step S6 is entered; Step S4, driving the rear gear ring (557) to rotate by the driving device, so that the rotary module and the object rotate together around the axis; Step S5, driving the front gear ring (52) to rotate by the driving device, so that the synchronous belt (67) moves and drives the object to move along the axis direction; Step S6, driving the rear gear ring (557) to rotate by the driving device, so that the rotary module and the object rotate together around the axis, and at the same time driving the front gear ring (52) to rotate by the driving device, so that the synchronous belt (67) moves and drives the object to move along the axis direction; Step S7: After the operation is completed, all driving devices are adjusted so that the openings of all parts with openings are oriented in the same direction, and the object is taken out from the inside of the manipulator through the opening.

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