Composite drive type rigid-flexible coupling gripper

Abstract

The invention relates to the technical field of mechanical grippers, and discloses a composite driving type rigid-flexible coupling gripper which comprises at least two rigid-flexible coupling claws and a driving unit, each rigid-flexible coupling claw comprises a rigid claw and a plurality of telescopic elastic hose feet, the telescopic elastic hose feet are connected to the rigid claw, and in a working state, the flexible hose feet are connected to the rigid claw. The free end of the telescopic elastic hose foot abuts against the workpiece. The driving unit is connected with the rigid-flexible coupling claw, and in the working state, the driving unit drives the rigid-flexible coupling claw to move horizontally and clamp a workpiece. The mechanical arm has the beneficial effects that the characteristics of high grabbing precision, good structural stability and the like of the rigid claw are combined with the advantages of high adaptability to objects, good buffer protection performance, high flexibility and the like of the telescopic elastic hose foot, and the driving unit is arranged to drive the rigid-flexible coupling claw to horizontally move and clamp a workpiece, so that the grabbing precision and the adaptability are balanced; therefore, the use requirements in scenes with various requirements can be met.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of mechanical gripper, and particularly relates to a composite driving type rigid-flexible coupling gripper. BACKGROUND

[0002] With the development of industrial automation, logistics and other fields, in order to meet the efficient and accurate grasping of various objects, the use of mechanical gripper is becoming more and more widespread. The common motor rope driven gripper has the advantages of accurate control, high flexibility, easy to realize miniaturization and light weight, fast response speed, etc., but has the disadvantages of limited power, high cost, high maintenance requirement, etc. The common pneumatic gripper has the advantages of strong grasping force, fast response, simple and durable structure, strong adaptability, etc., but also has the disadvantages of relatively poor control accuracy, the need for air support, etc.

[0003] The rigid gripper has the advantages of high grasping precision, good structural stability, fast response speed, etc., but also has the disadvantages of poor adaptability, lack of flexible buffer, insufficient flexibility, etc. The flexible gripper has the advantages of strong adaptability to objects, good buffer protection performance, high flexibility, etc., but also has the disadvantages of limited grasping precision, limited power output, slow response speed, etc. Both rigid structure and flexible structure fail to balance precision and adaptability, and are difficult to use in various required scenarios. SUMMARY

[0004] The technical problem to be solved by the present application is that the existing rigid structure and flexible structure fail to balance precision and adaptability, and are difficult to use in various required scenarios. The purpose is to provide a composite driving type rigid-flexible coupling gripper, which balances grasping precision and adaptability to meet the use requirements in various required scenarios.

[0005] The present application is realized by the following technical scheme:

[0006] A composite driving type rigid-flexible coupling gripper comprises at least two rigid-flexible coupling claws and a driving unit. The rigid-flexible coupling claw comprises a rigid claw and a plurality of retractable elastic hose feet. In the working state, the free ends of the retractable elastic hose feet abut against the workpiece. The driving unit is connected with the rigid-flexible coupling claw. In the working state, the driving unit drives the rigid-flexible coupling claw to move horizontally and clamp the workpiece.

[0007] The present application has the beneficial effect that the rigid-flexible coupling claw comprises a rigid claw and a plurality of retractable elastic hose feet, which combines the characteristics of high grasping precision and good structural stability of the rigid claw with the advantages of strong adaptability to objects, good buffer protection performance and high flexibility of the retractable elastic hose feet. The driving unit is further arranged to drive the rigid-flexible coupling claw to move horizontally and clamp the workpiece, thereby balancing the grasping precision and adaptability to meet the use requirements in various required scenarios.

[0008] In some embodiments, a support disc and a connecting frame are further included, the connecting frame is connected at the top of the support disc, the rigid-flexible coupling claw is slidably connected at the lower end of the support disc, and the connecting frame is used for being connected with a mechanical arm. The support disc is arranged to support and position the rigid-flexible coupling claw, and guide the rigid-flexible coupling claw in the process of grabbing objects, so as to ensure the grabbing precision.

[0009] In some embodiments, the rigid claw is in the shape of an L-shaped plate, the telescopic elastic hose foot includes a piston cylinder, a piston push rod, a hose foot compression spring and a hose foot end connector, a plurality of the piston cylinders are connected in parallel on the vertical section of the rigid claw and are perpendicular to the vertical section, the piston push rod is slidably connected in the inner cavity of the piston cylinder, the two ends of the hose foot compression spring are connected with the piston cylinder and the hose foot end connector respectively, and the end of the piston cylinder away from the hose foot end connector is connected with the driving unit. In the working state, the hose foot end connector abuts against a workpiece (object). In the working state, the driving unit controls the movement of the piston push rod to drive the hose foot end connector to adaptively fit the surface of the grabbed object, increase the contact area and friction force between the object and the hose foot end connector, improve the stability of grabbing the object, and effectively buffer the impact force between the gripper and the grabbed object through the hose foot compression spring, so as to prevent the object from being damaged.

[0010] In some embodiments, the hose foot end connector is embedded with a pressure sensor, and the pressure sensor is electrically connected with a control terminal. The pressure sensor embedded in the hose foot end connector ensures that each gripping point, i.e. the hose foot end connector, provides a controllable and similar grabbing force to the grabbed object, realizes load balancing, and improves the grabbing precision.

[0011] In some embodiments, the driving unit includes a cable driving unit and a pneumatic driving unit, the cable driving unit includes a stepping motor and at least two traction ropes, the stepping motor is connected to the support disc, one end of each of the traction ropes is connected to the free end of the output shaft of the stepping motor, and the other end of each of the traction ropes is connected with the corresponding rigid claw, and the stepping motor is electrically connected with the control terminal. The output shaft of the stepping motor is connected with the traction ropes, so that the traction ropes are contracted or lengthened when the stepping motor rotates, so as to realize the grabbing and releasing of the object by the rigid-flexible coupling gripper.

[0012] In some embodiments, the cable driving unit further includes at least two traction rope compression springs, and the traction rope compression springs are sleeved on the corresponding traction ropes. The traction rope compression springs are arranged to reset the rigid claw and the telescopic elastic hose foot by using the restoring force of the traction rope compression springs when the gripper releases the object.

[0013] In some embodiments, further comprising at least two rope traction slot fixing blocks, the rope traction slot fixing blocks are connected at the lower end of the support disc and symmetrically arranged with the center of the support disc as the symmetric center, the center of the rope traction slot fixing block is provided with a through hole for the traction rope to pass through, the end of the rope traction slot fixing block away from the center of the support disc is provided with a guide column, and the end of the traction rope compression spring away from the steel claw is sleeved on the guide column. By arranging corresponding rope traction slot fixing blocks at the center of the support disc for each traction rope, the traction rope and the compression spring are positioned and guided, so as to further ensure the accuracy when grabbing and releasing objects.

[0014] In some embodiments, further comprising a slide rail and a slide block, the slide rail comprises at least two, and the two slide rails are connected at the lower end of the support disc and symmetrically arranged with the center of the support disc as the symmetric center, the slide block is slidably connected on the corresponding slide rail, and the rigid claw is connected with the corresponding slide block. By arranging the slide rail and the slide block and connecting the slide block with the rigid claw, the rigid claw moves along the slide rail under the action of the traction rope, so that the movement path of the rigid claw and the telescopic elastic hose foot is limited, and the accuracy of grabbing objects is ensured.

[0015] In some embodiments, further comprising a gas storage chamber, an air inlet pump and an air outlet pump, the gas storage chamber, the air inlet pump and the air outlet pump are connected at the upper end of the support disc, the air inlet pump and the air outlet pump are connected with the gas storage chamber through the air guide hose, and the gas storage chamber is connected with the inlet of the piston cylinder through the air guide hose. By arranging the gas storage chamber as an independent gas source, the air inlet pump and the air outlet pump carried by the gripper, the air inlet pump is responsible for charging and pressurizing the gas pressure system, the air outlet pump is responsible for pumping and depressurizing the gas pressure system to control the pressure of the entire gas pressure system, and one-way valves are added in the air guide hoses connecting the two pumps and the gas storage chamber to prevent gas from leaking from the pump section, so as to ensure the air tightness.

[0016] In some embodiments, further comprising a gas pressure back cover, the gas pressure back cover is in a rectangular shell shape, a plurality of connecting holes are arranged on the inner side of the gas pressure back cover, the air inlet end of the piston cylinder extends into the gas pressure back cover from the corresponding connecting hole and is in sealed connection with the corresponding connecting hole, and the gas pressure back cover is communicated with the corresponding air guide hose. By arranging the gas pressure back cover, the inlet ends of the piston cylinders of the telescopic elastic hose feet located on the same rigid claw are located in the gas pressure back cover, and the air pump and the gas pressure back cover are communicated through the air guide hose, so that the telescopic members located on the same rigid claw are simultaneously subjected to the communicated gas pressure, the object to be grabbed is balanced, and the stability of grabbing objects is ensured.

[0017] Compared with the prior art, the present application has the following advantages and beneficial effects:

[0018] 1. The rigid claw has high grabbing precision, good structural stability, etc., and the telescopic elastic hose feet have strong adaptability to objects, good buffer protection performance, high flexibility, etc. By setting a driving unit to drive the rigid-flexible coupling claw to move horizontally and clamp the workpiece, the balance between grabbing precision and adaptability is realized to meet the use requirements in various scenes.

[0019] 2. During work, the driving unit controls the piston push rod to move to drive the pipe foot end connector to adaptively fit the surface of the grabbed object, increase the friction between the object and the object, and improve the stability of the grabbed object. By setting the pipe foot compression spring, the impact force between the gripper and the grabbed object can be effectively buffered to prevent damage to the object.

[0020] 3. The pressure sensor embedded in the pipe foot end connector ensures that each gripping point, i.e. the pipe foot end connector, provides controllable and similar grabbing force to the grabbed object, realizes load balancing, and improves grabbing precision.

[0021] 4. A corresponding rope traction slot fixing block is provided for each traction rope in the center of the support disc to position and guide the traction rope and the compression spring, further ensuring the precision when grabbing and releasing objects.

[0022] 5. By setting the air pressure back cover, the inlet ends of the piston cylinder bodies of the telescopic elastic hose feet located on the same rigid claw are located in the air pressure back cover, and the air pump is connected with the air pressure back cover through the air hose. The air pressure is applied to the telescopic members located on the same rigid claw at the same time, so that the grabbed object is balanced, and the stability of the grabbed object is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the example embodiments of the present application, the following will briefly introduce the drawings needed in the examples. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor. In the drawings:

[0024] Figure 1 It is a schematic diagram of the overall structure of the present application;

[0025] Figure 2 It is a schematic diagram of the structure of the present application;

[0026] Figure 3 It is a schematic diagram of the structure of the rigid-flexible coupling claw in the present application;

[0027] Figure 4 It is a schematic diagram of the structure of the rigid-flexible coupling claw in the present application;

[0028] Figure 5 A schematic view of the telescopic elastic hose foot in the present application is shown in FIG. 1.

[0029] Figure 6 A bottom view of the telescopic elastic hose foot in the present application is shown in FIG. 2. Figure 1 A bottom view of the telescopic elastic hose foot in the present application is shown in FIG. 2.

[0030] Markings in the drawings and corresponding names of parts:

[0031] 1-connection frame, 2-support disc, 3-rigid claw, 4-air pressure back cover, 5-telescopic elastic hose foot, 51-piston cylinder, 52-piston push rod, 53-tube foot compression spring, 54-tube foot end connector, 55-silica gel soft foot pad, 6-gas storage cabin, 7-inlet air pump, 8-stepping motor, 9-sliding block, 10-gas guide hose, 11-sliding rail, 12-rope compression spring, 13-rope fixing block, 14-pulling rope, 15-rope pulling groove fixing block, 16-pulling rope hole, 17-outlet air pump. DETAILED DESCRIPTION

[0032] In order to make the objects, technical solutions and advantages of the present application clearer, further detailed description will be made to the present application in combination with embodiments and drawings, the illustrative embodiments of the present application and the description thereof are only used to explain the present application, and not as a limitation to the present application.

[0033] Throughout the specification, the mention of “one embodiment”, “an embodiment”, “one example” or “an example” means that the particular feature, structure or characteristic described in connection with the embodiment or example is included in at least one embodiment of the present application. Therefore, the phrases “one embodiment”, “an embodiment”, “one example” or “an example” appearing in various places throughout the specification are not necessarily all referring to the same embodiment or example. In addition, specific features, structures or characteristics can be combined in any appropriate combination and / or sub-combination in one or more embodiments or examples. In addition, those of ordinary skill in the art should understand that the drawings provided herein are for illustrative purposes only, and the drawings are not necessarily drawn to scale. The term “and / or” used herein includes any and all combinations of one or more of the relevant listed items.

[0034] In the description of the present application, the terms “front”, “back”, “left”, “right”, “up”, “down”, “vertical”, “horizontal”, “high”, “low”, “inner”, “outer” and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation to the scope of protection of the present application.

[0035] The terms "first" and "second" used in the present invention are only used to distinguish corresponding components for the sake of clarity of description and are not intended to limit any order or emphasize importance. In addition, the term "connected" used in this article can refer to direct connection or indirect connection via other components unless otherwise specified.

[0036] Example

[0037] like Figures 1-6 As shown, this embodiment provides a composite-drive rigid-flexible coupling gripper, comprising at least two rigid-flexible coupling claws and a drive unit. The rigid-flexible coupling claw comprises a rigid claw 3 and several retractable elastic hose legs 5. The legs are connected to the rigid claw 3. In the operating state, the free ends of the legs 5 abut against the workpiece. The drive unit is connected to the rigid-flexible coupling claw and, in the operating state, drives the rigid-flexible coupling claw to move horizontally and clamp the workpiece. The high grasping accuracy and good structural stability of the rigid claw 3 are combined with the strong adaptability, good buffering and protection performance, and high flexibility of the retractable elastic hose legs 5. Furthermore, a drive unit is provided to drive the horizontal movement of the rigid-flexible coupling claw and clamp the workpiece, thereby achieving a balanced grasping accuracy and adaptability to meet the needs of use in a variety of scenarios.

[0038] See also Figures 1-2 The robot also includes a support plate 2 and a connecting frame 1. The connecting frame 1 is connected to the top of the support plate 2, and the rigid-flexible coupling claw is slidably connected to the bottom of the support plate 2. The connecting frame 1 is used to connect to the robotic arm. The support plate 2 supports and positions the rigid-flexible coupling claw and guides it during the grasping process to ensure grasping accuracy.

[0039] See also Figures 3-5, the rigid claw 3 is an L-shaped plate, the telescopic elastic hose foot 5 comprises a piston cylinder 51, a piston push rod 52, a hose foot compression spring 53 and a hose foot end connector 54, a plurality of the piston cylinders 51 are connected on the vertical section of the rigid claw 3 in parallel and are perpendicular to the vertical section, the piston push rod 52 is slidably connected in the inner cavity of the piston cylinder 51, the two ends of the hose foot compression spring 53 are connected with the piston cylinder 51 and the hose foot end connector 54 respectively, and the end of the piston cylinder 51 away from the hose foot end connector 54 is connected with the driving unit, and the hose foot end connector 54 abuts against the workpiece (object) in the working state. In the working state, the driving unit controls the piston push rod 52 to move, so that the hose foot end connector 54 is adaptively attached to the surface of the grabbed object, the contact area and the friction force between the object are increased, the stability of the grabbed object is improved, and the impact force between the gripper and the grabbed object can be effectively buffered through the hose foot compression spring 53, so that the object is prevented from being damaged.

[0040] Referring to Figure 5 , the hose foot end connector 54 is embedded with a pressure sensor, and the pressure sensor is electrically connected with the control terminal. Through the pressure sensor embedded in the hose foot end connector 54, it is ensured that each gripping point, i.e. the hose foot end connector 54, provides controllable and similar grabbing force to the grabbed object, load balancing is achieved, and grabbing precision is improved.

[0041] Referring to Figure 3 , it also comprises a silica gel soft foot pad 55, the hose foot end connector 54 is connected with the silica gel soft foot pad 55, the pressure sensor is embedded in the silica gel soft foot pad 55, the pressure sensor is embedded in the geometric center of the silica gel soft foot pad 55, and the sensor sensitive direction is consistent with the foot pad contact surface direction. Specifically, the telescopic elastic hose foot 5 is assembled on the rigid claw 3 in the form of an array, when a part of the hose feet in the array are damaged, the hose feet can be conveniently and quickly disassembled and replaced, and the maintenance time is greatly shortened.

[0042] Referring to Figures 1-4 , the driving unit comprises a cable driving unit and an air pressure driving unit, the cable driving unit comprises a stepping motor 8 and at least two traction ropes 14, the stepping motor 8 is connected on the support disc 2, one end of each of the two traction ropes 14 is connected on the free end of the output shaft of the stepping motor 8, and the other end is connected with the corresponding rigid claw 3, and the stepping motor 8 is electrically connected with the control terminal. By connecting the output shaft of the stepping motor 8 with the traction rope 14, the traction rope 14 can be contracted or released to be longer when the stepping motor 8 rotates, so that the rigid and flexible coupling gripper can grab and release the object.

[0043] Referring to Figure 3 and Figure 4, specifically, further comprising a rope fixing block 13, which is in the shape of a rectangular plate, and has a connecting hole connected with the traction rope 14, and is connected to the outer side of the corresponding rigid claw 3.

[0044] Referring to Figures 1-2 , the cable driving unit further comprises at least two traction rope compression springs 12, which are sleeved on the corresponding traction rope 14. By arranging the traction rope compression spring 12, the reset force of the traction rope compression spring 12 is used to reset the stretchable elastic hose foot 5 when the gripper releases the object.

[0045] Referring to Figure 2 , further comprising at least two rope traction groove fixing blocks 15, which are connected to the lower end of the support disc 2 and are symmetrically arranged with the center of the support disc 2 as the center of symmetry, the center of the rope traction groove fixing block 15 is provided with a traction rope hole 16 for the traction rope 14 to pass through, and the end of the rope traction groove fixing block 15 away from the center of the support disc 2 is provided with a guide column, and the end of the traction rope compression spring 12 away from the rigid claw is sleeved on the guide column. By arranging a corresponding rope traction groove fixing block 15 for each traction rope 14 in the center of the support disc 2, the traction rope 14 and the compression spring are positioned and guided, so as to further ensure the accuracy when grabbing and releasing the object.

[0046] Referring to Figure 2 , further comprising a slide rail 11 and a sliding block 9, the slide rail 11 comprises at least two, both of which are connected to the lower end of the support disc 2 and are symmetrically arranged with the center of the support disc 2 as the center of symmetry (i.e. more than 2, arranged in a circular manner), the sliding block 9 is slidably connected to the corresponding slide rail 11, and the rigid claw 3 is connected to the corresponding sliding block 9. By arranging the slide rail 11 and the sliding block 9, and connecting the sliding block 9 with the rigid claw 3, the rigid claw 3 moves along the slide rail 11 under the action of the traction rope 14, limiting the movement path of the rigid claw 3 and the stretchable elastic hose foot 5, so as to ensure the accuracy of grabbing the object. When working, the motor rotates by a specified angle to pull the traction rope 14, and the traction rope 14 pulls the rigid-joint flexible coupling claw to contract. The gripper drives the claw structure on the slide rail 11 through the high-positioned traction rope, and under the support of the low-friction slide rail 11, the action point of the traction force deviates from the geometric center, but through the optimization of the contact length of the slide rail 11 and the traction rope compression spring 12 and the design of the pulley block, the additional friction force caused by the high-positioned traction force can be reduced. Although the high-positioned layout may introduce a small amount of overturning moment, this deficiency can be effectively suppressed by symmetrically supporting the slide rail 11 and designing a lightweight claw body. The overall structure can still operate stably in space-limited or fast-displacement scenarios, and can balance functionality and engineering feasibility.

[0047] Referring to Figure 1 and Figure 2Also including gas storage warehouse 6, air inlet pump 7 and air outlet pump 17, all of which are connected to the upper end of the support disc 2, the air inlet pump 7 and the air outlet pump 17 are connected with the gas storage warehouse 6 through the air hose 10, and the gas storage warehouse 6 is connected with the inlet of the piston cylinder 51 through the air hose 10. By setting the gas storage warehouse 6 as an independent gas source, the air inlet pump 7 and the air outlet pump 17 carried by the gripper, the air inlet pump 7 is responsible for charging and pressurizing the gas pressure system, the air outlet pump 17 is responsible for pumping and depressurizing the gas pressure system to control the pressure of the whole gas pressure system, and at the same time, one-way valves are added in the air hose 10 connecting the two air pumps and the gas storage chamber to prevent gas leakage from the air pump section and ensure air tightness.

[0048] Referring to Figures 1-4 Also including gas pressure back cover 4, also including gas pressure back cover 4, the gas pressure back cover 4 is in the shape of a rectangular shell, a plurality of connecting holes are arranged on the inner side of the gas pressure back cover 4, the air inlet end of the piston cylinder 52 extends into the gas pressure back cover 4 from the corresponding connecting hole and is in sealed connection with the corresponding connecting hole, and the gas pressure back cover 4 is communicated with the corresponding air hose 10. By setting the gas pressure back cover 4, the inlet end of the piston cylinder 51 of the telescopic elastic hose foot 5 located on the same rigid claw 3 is located in the gas pressure back cover 4, and the air pump is communicated with the gas pressure back cover 4 through the air hose 10, which realizes the simultaneous application of communicated air pressure on the telescopic members located on the same rigid claw 3, so that the force on the grabbed object is balanced, and the stability of grabbing the object is ensured.

[0049] Referring to Figures 1-5In operation, the gripper is moved to the appropriate position by the robot arm, and then the gripper uses the stepper motor 8 to pull the traction rope 14, which pulls the four rigid-flexible coupling claws to contract. The pre-tightening force brought by the traction rope 14 will make the pin compression springs 53 of different pins compress different lengths in the self-adapting process when the object surface is uneven, so the pressure data collected by the pressure sensors of each pin are also not completely the same. When the pressure data collected by as many pressure sensors on the stretchable elastic soft pins 5 as possible are greater than 0, it means that the gripper has achieved good adhesion to the object, at which time the stepper motor 8 stops rotating, i.e. the rope is pulled. Then the intake air pump 7 is used to pump air to the air pressure system to increase the pressure. Since each pin is in the same air pressure system, under the condition of uniform gas distribution, the air pressure borne by the piston push rod 52 in all pins is roughly equal. When the pressure brought by the air pressure to the piston push rod 52 is less than the spring compression elastic force brought by the silicone soft foot pad 55 in the process of self-adapting to the object surface, the piston push rod 52 will not extend outward. With the increase of air pressure, the pin compression spring 52 of the stretchable elastic soft pin 5 whose compression distance is relatively short (i.e. the stretchable elastic soft pin 5 whose pressure data is relatively small) is further compressed. When the air pressure pre-tightening force reaches the spring force of the pin compression spring 52 of the stretchable elastic soft pin 5 whose compression distance is the largest, at this time the pin compression spring 52 of each stretchable elastic soft pin 5 whose initial pressure is not 0 is compressed by a similar distance, providing a similar pressure to the object surface. Thereafter, continued inflation can increase the pressure of each pin to the object surface while ensuring the balance of each pin load. Through the feedback of the pressure data, the intake air pump 7 and the exhaust air pump 17 work together to control the gripping force.

[0050] The above detailed description further explains the purpose, technical solution and beneficial effects of the present application. It should be understood that the above description is only a specific embodiment of the present application and is not used to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A composite drive type rigid-flexible coupling gripper, characterized by, The utility model provides a kind of rigid-flexible coupling claw and its driving unit, including: At least two rigid-flexible coupling claws, the rigid-flexible coupling claw includes rigid claw and several telescopic elastic hose feet, several the telescopic elastic hose feet are connected on the rigid claw, in working condition, the free end of the telescopic elastic hose feet is in abutment with workpiece; Driving unit, the driving unit is connected with the rigid-flexible coupling claw, in working condition, the driving unit drives the rigid-flexible coupling claw horizontal movement, and clamps workpiece.

2. The composite drive type rigid-flexible coupling gripper according to claim 1, characterized in that, It also includes support disc and connecting frame, the connecting frame is connected on the top of the support disc, the rigid-flexible coupling claw is slidably connected on the lower end of the support disc, the connecting frame is used to be connected with mechanical arm.

3. The composite driven type rigid-flexible coupling gripper according to claim 1, characterized in that, The rigid claw is L-shaped plate, the telescopic elastic hose foot includes piston cylinder, piston push rod, tube foot compression spring and tube foot end connector, several the piston cylinder is connected on the vertical section of the rigid claw, and it is perpendicular to the vertical section, the piston push rod is slidably connected in the inner chamber of the piston cylinder, the both ends of the tube foot compression spring are connected with piston cylinder and tube foot end connector respectively, the end of the piston cylinder away from the tube foot end connector is connected with the driving unit, in working condition, the tube foot end connector is in abututment with workpiece.

4. The composite driven type rigid-flexible coupling gripper according to claim 3, characterized in that, The tube foot end connector is embedded with pressure sensor, and the pressure sensor is electrically connected with the control terminal.

5. The composite driven type rigid-flexible coupling gripper according to claim 3, characterized in that, The driving unit includes cable driving unit and air pressure driving unit, the cable driving unit includes step motor and at least two traction ropes, both the traction ropes are connected on the free end of the output shaft of the step motor, and the other end is connected with corresponding rigid claw, and the step motor is electrically connected with the control terminal.

6. The composite driven type rigid-flexible coupling gripper according to claim 5, characterized in that, The cable driving unit also includes at least two traction rope compression springs, and the traction rope compression springs are sleeved on the corresponding traction ropes.

7. The composite driven type rigid-flexible coupling gripper according to claim 3, characterized in that, It also includes at least two rope traction groove fixed blocks, the rope traction groove fixed blocks are connected on the lower end of the support disc and are symmetrically arranged with the center of the support disc as the center of symmetry, the center of the rope traction groove fixed block is provided with a traction rope hole for the traction rope to pass through, and one end of the rope traction groove fixed block away from the center of the support disc is provided with a guide column, and the end of the traction rope compression spring away from the rigid claw is sleeved on the guide column.

8. The composite driven type rigid-flexible coupling gripper according to claim 3, characterized in that, It also includes slide rails and sliding blocks, the slide rails include at least two, both the slide rails are connected on the lower end of the support disc and are symmetrically arranged with the center of the support disc as the center of symmetry, the sliding blocks are slidably connected on the corresponding slide rails, and the rigid claw is connected with the corresponding sliding block.

9. The composite driven type rigid-flexible coupling gripper according to claim 3, characterized in that, It also includes gas storage warehouse, air inlet pump and air outlet pump, the gas storage warehouse, air inlet pump and air outlet pump are connected on the upper end of the support disc, the air inlet pump and the air outlet pump are connected with the gas storage warehouse through air guide hose, and the gas storage warehouse is connected with the inlet of the piston cylinder through air guide hose.

10. The composite driven type rigid-flexible coupling gripper according to claim 9, characterized in that, The air pressure back cover is rectangular shell-shaped, and a plurality of connecting holes are arranged on the inner side of the air pressure back cover. The air inlet end of the piston cylinder body extends into the air pressure back cover from the corresponding connecting hole and is in sealed connection with the corresponding connecting hole.

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