Multi-degree-of-freedom robot gripper structure and control method thereof

Abstract

The application provides a multi-degree-of-freedom robot gripper structure and a control method thereof, relates to the technical field of adaptive grippers, and comprises a multi-degree-of-freedom mechanical arm, a double-shaft hole plate piece, a first rotating shaft, a second rotating shaft, a cam piece, a swing wheel piece and a driving unit. The application creatively proposes a two-stage clamping mode of "pre-positioning + rolling clamping", first, self-adaptive pre-tightening is carried out through independent rotation of the swing wheel piece to eliminate the gap; then, through synchronous and same-direction rotation of the cam piece and the swing wheel piece, continuous rolling extrusion force is applied to the side wall of the workpiece; the extrusion mode of this dynamic linear contact can generate a much larger anti-rotation torque than static friction force, so that the axial movement and circumferential rotation of the workpiece in the carrying process are effectively inhibited without relying on extremely large static friction force, and essential stable clamping is realized.

Description

Technical Field

[0001] This invention relates to the field of intelligent manufacturing equipment, specifically to a multi-degree-of-freedom robot gripper structure and its control method. Background Technology

[0002] In the field of intelligent manufacturing equipment, the application of multi-degree-of-freedom robots is increasing, which can improve work efficiency and reduce labor costs. For gripping thin-walled cylindrical workpieces such as engine cylinder blocks, existing technologies mainly rely on external gripping or internal support grippers, which rely on rigid contact and friction to maintain the gripping state. However, the outer and inner sides of the cylinder block are very smooth arc surfaces, which are prone to slippage. Therefore, the stability of gripping the cylinder block is one of the key design points of this type of gripper structure.

[0003] Currently used gripper structures, whether externally gripping or internally supporting, are unable to effectively restrict the workpiece's rotational freedom around its axis and its slight movement along the axis during robot movement, resulting in insufficient gripping stability and safety risks. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a multi-degree-of-freedom robot gripper structure and its control method. This solves the problem that currently used gripper structures, whether externally gripping or internally supporting, are unable to effectively restrict the rotational freedom of the workpiece around its axis and the slight movement along the axis during robot movement, resulting in insufficient gripping stability and safety risks.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A multi-degree-of-freedom robot gripper structure, comprising:

[0007] Multi-degree-of-freedom robotic arm;

[0008] A dual-axis hole plate is fixedly connected to the operating end of the multi-degree-of-freedom robotic arm;

[0009] The first and second rotating shafts are mounted parallel to and rotatably on the dual-axis hole plate.

[0010] A cam component is fixedly installed on the portion of the first rotating shaft located below the dual-axis bore plate component;

[0011] The swing wheel component has a spiral outer profile in its cross-section. It is fixedly installed on the part of the second rotating shaft located below the double-axis hole plate component and is arranged opposite to the cam component to form a clamping space together.

[0012] The first drive unit is configured to independently drive the second rotating shaft to rotate, thereby adjusting the size of the clamping space formed between the swing wheel and the cam.

[0013] The second drive unit is configured to synchronously drive the first rotating shaft and the second rotating shaft to rotate in the same direction, so that the cam component and the swing wheel component jointly apply rolling and extruding force to the side wall of the cylindrical workpiece placed in the clamping space.

[0014] Preferably, the first drive unit drives the second rotating shaft to rotate unidirectionally in the opposite direction to the circumferential direction of the swing wheel;

[0015] The second drive unit drives the first and second rotating shafts to rotate in the direction that the second rotating shaft rotates unidirectionally in the opposite direction to the circumferential direction of the oscillating wheel.

[0016] Preferably, the first drive unit includes a motor component, the body of which is fixedly mounted on the dual-axis hole plate component via a motor mounting bracket, and its output end is connected to the second rotating shaft for driving the second rotating shaft to rotate.

[0017] Preferably, the motor mounting bracket includes: a plurality of screw members arranged in a ring and fixedly connected at the bottom to the top of the double-axis hole plate; a sleeve member is sleeved on the outer side of the screw member; the motor body mounting hole is sleeved on the top of the screw member and supported by the top of the sleeve member; and a nut member is threaded on the top of the screw member to press the motor body.

[0018] Preferably, the second driving unit includes:

[0019] A linear drive component is fixedly mounted on the dual-axis hole plate.

[0020] The tooth condition is fixedly connected to the telescopic end of the linear drive member and driven by it to perform linear motion;

[0021] The first gear is fixedly mounted on the first rotating shaft and meshes with the gear.

[0022] An adjusting gear is mounted on the second rotating shaft and meshes with the gear condition;

[0023] The linear motion of the tooth condition can synchronously drive the first gear and the adjusting gear to rotate.

[0024] Preferably, the adjusting gear includes:

[0025] The second gear has a stepped hole at its center and a positioning opening on the inner side of the stepped hole, which is tangential to the side wall of the stepped hole.

[0026] A central connector is rotatably mounted inside a stepped hole, and a sliding groove is provided on its side along its axial direction. An elastic element and a limiting element are provided inside the sliding groove, and one end of the limiting element corresponds to the positioning port.

[0027] A cover plate, which is annular in shape, is fixedly installed on the top of the second gear and covers the central connecting piece underneath;

[0028] The inner hole of the central connector is connected to the second rotating shaft by a key.

[0029] Preferably, a sliding seat is fixedly installed on the top of the dual-axis hole plate, and the toothed part slides in cooperation with the sliding seat.

[0030] Preferably, it further includes a first cover fixedly installed on the top of the dual-axis hole plate, the first cover covering the top of the second rotating shaft.

[0031] Preferably, the operating end of the multi-degree-of-freedom robotic arm is integrally provided with a connecting cover, which is fixedly installed on the top of the dual-axis hole plate and covers the top of the first rotating shaft.

[0032] A control method for a multi-degree-of-freedom robot gripper structure, using the aforementioned multi-degree-of-freedom robot gripper structure, specifically includes the following steps:

[0033] S1. Based on the operation of a multi-degree-of-freedom robotic arm, the cam component is inserted into the center of the cylindrical workpiece, and the side wall of the cylindrical workpiece is located in the clamping space formed by the cam component and the swing wheel component.

[0034] S2. The first drive unit drives the second rotating shaft to rotate, thereby driving the swing wheel to rotate, adjusting the size of the clamping space formed between the swing wheel and the cam to pre-clamp the side wall of the cylindrical workpiece.

[0035] S3. The second drive unit synchronously drives the first rotating shaft and the second rotating shaft to rotate in the same direction, so that the cam component and the swing wheel component jointly apply rolling and pressing force to the side wall of the cylindrical workpiece placed in the clamping space, thereby achieving clamping and fixing of the side wall of the cylindrical workpiece.

[0036] This invention provides a multi-degree-of-freedom robot gripper structure and its control method. It has the following beneficial effects:

[0037] This invention creatively proposes a two-stage clamping method of "pre-positioning + rolling clamping". First, adaptive pre-tightening is achieved through the independent rotation of the swing wheel component to eliminate gaps. Then, the synchronous and co-rotating cam component and the swing wheel component apply continuous rolling extrusion force to the side wall of the workpiece. This dynamic line contact extrusion method can generate an anti-rotation torque that is much greater than the static friction force, thereby effectively suppressing the axial movement and circumferential rotation of the workpiece during the handling process without relying on extremely large static friction forces. This achieves essentially stable clamping and enables high-precision, non-destructive clamping of thin-walled cylindrical workpieces. Since the final stable clamping force comes from the controllable rolling process, rather than the traditional rigid clamping, the peak static compressive stress on the workpiece can be significantly reduced. This is beneficial for protecting thin-walled, high-precision workpieces such as engine cylinder blocks and avoiding plastic deformation or surface damage caused by excessive clamping force. At the same time, the vortex profile and adjustable pre-tightening of the swing wheel component enable it to adapt to workpieces within a certain size range, improving the versatility and fault tolerance of the gripper. Attached Figure Description

[0038] Figure 1 This is a model diagram of a multi-degree-of-freedom robot gripper structure proposed in this invention;

[0039] Figure 2 This is a perspective view of a multi-degree-of-freedom robot gripper structure proposed in this invention;

[0040] Figure 3 This is an exploded view of a multi-degree-of-freedom robot gripper structure proposed in this invention;

[0041] Figure 4 This is a perspective view of a multi-degree-of-freedom robot gripper structure proposed in this invention;

[0042] Figure 5 This is a front view of a multi-degree-of-freedom robot gripper structure proposed in this invention;

[0043] Figure 6 for Figure 5 Cross-sectional view of section line AA in the middle;

[0044] Figure 7 This is an exploded view of a multi-degree-of-freedom robot gripper structure proposed in this invention;

[0045] Figure 8 This is a diagram illustrating the adjusting gear of a multi-degree-of-freedom robot gripper structure proposed in this invention;

[0046] Figure 9 This is a schematic diagram showing the correspondence between the orientation of the inner side of the adjusting gear and the orientation of the cam and the swing wheel in a multi-degree-of-freedom robot gripper structure proposed in this invention.

[0047] Among them, 1. Multi-degree-of-freedom robotic arm; 1a. Connecting cover; 2. First cover body; 3. Dual-axis hole plate; 4. First rotating shaft; 5. First gear; 6. Cam; 7. Sliding seat; 8. Gear condition; 9. Linear drive component; 10. Swing wheel component; 11. Motor component; 12. Second rotating shaft; 13. Motor mounting bracket; 1301. Screw component; 1302. Sleeve component; 14. Adjusting gear; 1401. Second gear; 1402. Central connecting component; 1403. Positioning port; 1404. Elastic component; 1405. Restricting component; 1406. Cover plate; a. Cylindrical workpiece. Detailed Implementation

[0048] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0049] Example 1:

[0050] like Figures 1-8 As shown, this embodiment of the invention provides a multi-degree-of-freedom robot gripper structure, which belongs to the adaptive gripper technology in the field of intelligent manufacturing equipment. It is used to clamp and fix a cylindrical workpiece a (such as an engine cylinder liner). Specifically, it includes a multi-degree-of-freedom robotic arm 1, a dual-axis hole plate 3, a first rotating shaft 4, a second rotating shaft 12, a cam 6, a swing wheel 10, and a drive unit.

[0051] The dual-axis perforated plate 3 is fixedly connected to the operating end of the multi-degree-of-freedom robotic arm 1. The multi-degree-of-freedom robotic arm 1 manipulates the dual-axis perforated plate 3 to perform actions, completing the transfer of the cylindrical workpiece a. Two parallel mounting holes are formed on the surface of the dual-axis perforated plate 3. The first rotating shaft 4 and the second rotating shaft 12 are parallel and rotatably mounted on the dual-axis perforated plate 3. The first rotating shaft 4 and the second rotating shaft 12 are generally assembled using bearings, but wear-resistant bushings can also be used. The first rotating shaft 4 has a through-type design, meaning its top end is above the dual-axis perforated plate 3, and its bottom end is below the dual-axis perforated plate 3. A cam 6 is fixedly mounted on the portion of the first rotating shaft 4 located below the dual-axis perforated plate 3, so that the first rotating shaft 4 and the cam 6 rotate synchronously. Figure 5As shown, the top of the cam 6 is provided with a connecting cylinder, which is fixed to the first rotating shaft 4 by a transversely penetrating pin, and the two can stably transmit torsional force. The outer contour of the cross-section of the swing wheel 10 is a spiral line, and its outer contour diameter gradually increases along the circumferential direction of the spiral line. It adopts a plane design that passes through the center at the maximum and minimum diameter positions. The second rotating shaft 12 is designed to pass through vertically, that is, the top of the second rotating shaft 12 is located above the double-axis hole plate 3, and the bottom of the second rotating shaft 12 is located below the double-axis hole plate 3. The swing wheel 10 is fixedly installed on the part of the second rotating shaft 12 located below the double-axis hole plate 3, so that the second rotating shaft 12 and the swing wheel 10 are fixed and rotate together. The swing wheel 10 and the cam 6 are arranged opposite each other to form a clamping space. The clamping space gradually decreases as the cam 6 rotates, and when placed on the plane at the maximum and minimum diameter positions, the clamping space will suddenly change to the maximum. As rotation continues, the clamping space decreases again.

[0052] The drive unit serves as the clamping power source and includes a first drive unit and a second drive unit. The first drive unit is configured to independently drive the second rotating shaft 12 to rotate, thereby driving the swing wheel 10 to rotate. This adjusts the size of the clamping space formed between the swing wheel 10 and the cam 6. This is used in the pre-positioning stage to adjust the clamping space to a larger size, facilitating the operation of the multi-degree-of-freedom robotic arm 1 on the dual-axis hole plate 3. The cam 6 is inserted into the center of the cylindrical workpiece a, with the sidewall of the cylindrical workpiece a located within the clamping space formed by the cam 6 and the swing wheel 10. Then, the second rotating shaft 12 and the swing wheel 10 are driven to rotate, adjusting the size of the clamping space between the swing wheel 10 and the cam 6 to pre-clamp the sidewall of the cylindrical workpiece a. The second drive unit is configured to synchronously drive the first rotating shaft 4 and the second rotating shaft 12 to rotate in the same direction, causing the cam 6 and the swing wheel 10 to jointly apply rolling and compressing force to the sidewall of the cylindrical workpiece a placed within the clamping space. Please refer to [reference needed]. Figure 6 As shown, at this time, the cam 6 and the swing wheel 10 rotate synchronously and in the same direction, applying a relative clamping force to the side wall of the cylindrical workpiece a, so as to stably clamp the cylindrical workpiece a.

[0053] In one embodiment, the first driving unit drives the second rotating shaft 12 along the circumferential direction of the oscillating wheel 10 (the cross-section of the oscillating wheel 10 is a spiral, and the spiral has a circumferential direction, such as...). Figure 6 The oscillating wheel 10 shown rotates unidirectionally in the opposite direction to the circumferential direction (clockwise direction). The second drive unit drives the first rotating shaft 4 and the second rotating shaft 12 to rotate in the opposite direction to the circumferential direction of the oscillating wheel 10.

[0054] In one embodiment, the first drive unit includes: a motor component 11, the body of which is fixedly mounted on the dual-shaft hole plate 3 via a motor mounting bracket 13, and its output end is connected to the second rotating shaft 12 for driving the second rotating shaft 12 to rotate; for example, a rear shaft assembly is fixedly mounted on the output shaft of the motor component 11, and the shaft assembly is splinedly fitted to the top end of the second rotating shaft 12.

[0055] The motor component 11 is selected from stepper motors or servo motors to precisely drive the second rotating shaft 12 to rotate, and the second rotating shaft 12 drives the swing wheel component 10 to rotate synchronously.

[0056] In one embodiment, the motor mounting bracket 13 includes: a plurality of screw members 1301 arranged in a ring and whose bottom ends are fixedly connected to the top of the dual-axis hole plate 3; a sleeve member 1302 is sleeved on the outer side of the screw member 1301; the body mounting hole of the motor member 11 is sleeved on the top of the screw member 1301 and supported by the top end of the sleeve member 1302; and a nut member for pressing the body of the motor member 11 is threadedly installed on the top end of the screw member 1301.

[0057] The bottom of the motor component 11 is provided with a circular flange structure. The motor component 11 is installed in an inverted manner. The mounting hole at the bottom of the motor component 11 is fitted onto the top of the screw component 1301 and supported by the top of the sleeve component 1302. A nut component is threaded onto the top of the screw component 1301 to press the motor component 11 into place.

[0058] In one embodiment, the second drive unit includes: a linear drive element 9, a gear condition 8, a first gear 5, and a shifting gear 14.

[0059] The linear drive component 9 uses a common structure such as a pneumatic cylinder, electric cylinder, or hydraulic cylinder (the gas / liquid connection pipeline adopts a lockable pneumatic-hydraulic system). The linear drive component 9 is fixedly installed on the double-axis bore plate 3. The gear condition 8 is arranged parallel to the linear drive component 9, and the gear condition 8 is fixedly connected to the telescopic end of the linear drive component 9. The linear drive component 9 drives the gear condition 8 to perform linear movement. In order to ensure the smoothness of the movement of the gear condition 8, a sliding seat 7 is also fixedly installed on the top of the double-axis bore plate 3. The gear condition 8 slides with the sliding seat 7. The sliding seat 7 is used to guide the gear condition 8 linearly. The first gear 5 is fixedly installed on the first rotating shaft 4 and meshes with the gear condition 8. The first gear 5 is located above the double-axis bore plate 3. The adjusting gear 14 is installed on the second rotating shaft 12 and meshes with the gear condition 8. The linear movement of the gear condition 8 can synchronously drive the first gear 5 and the adjusting gear 14 to rotate.

[0060] The linear drive component 9 drives the tooth condition 8 to move along the guide direction of the sliding seat 7. The tooth condition 8 meshes synchronously with the first gear 5 and the adjusting gear 14, thereby synchronously driving the first gear 5 and the adjusting gear 14 to rotate. The first gear 5 drives the first rotating shaft 4 to rotate, and the adjusting gear 14 drives the second rotating shaft 12 to rotate, thereby synchronously driving the cam component 6 and the swing wheel component 10 to rotate. This applies rolling and pressing force to the side wall of the cylindrical workpiece a placed in the clamping space, thereby clamping and fixing the side wall of the cylindrical workpiece a.

[0061] In the above design structure, in order to avoid the adjustment gear 14 of the second drive unit from affecting the operation of the first drive unit during use, the adjustment gear 14 is specifically designed, which includes: second gear 1401, central connecting member 1402 and cover plate 1406.

[0062] The second gear 1401 has a stepped hole at its center, and a positioning port 1403 is provided on the inner side of the stepped hole along the tangent direction of the side wall of the stepped hole. The central connecting member 1402 is rotatably installed inside the stepped hole, and a sliding groove is provided on its side along its axial direction. An elastic member 1404 and a limiting member 1405 are provided inside the sliding groove. One end of the elastic member 1404 is fixedly connected to the inner side of the sliding groove, and one end of the limiting member 1405 corresponds to the positioning port 1403. The cover plate 1406 is annular and is fixedly installed on the top of the second gear 1401, covering the central connecting member 1402 below. The inner hole of the central connecting member 1402 is connected to the second rotating shaft 12 by a key.

[0063] like Figure 8 As shown, when the central connector 1402 rotates, it drives the limiting member 1405 to rotate as well. The end of the limiting member 1405 slides along the side of the positioning port 1403, causing it to slide towards the inside of the sliding groove. The second rotating shaft 12 and the central connector 1402 can rotate normally for one revolution, thus completing the adjustment of the clamping space to the maximum and proceeding to the next step of pre-tightening. When the end of the limiting member 1405 rotates one revolution and is inserted into the positioning port 1403, the pre-tightening process is completed. The second drive unit is activated, driving the second gear 1401 to rotate. The second gear 1401 pushes the limiting member 1405, causing the central connector 1402 to rotate along with the second gear 1401, thereby driving the second rotating shaft 12 to rotate, so that the second drive unit and the first drive unit do not interfere with each other.

[0064] In one embodiment, a first cover 2 is also included, which is fixedly installed on the top of the dual-axis hole plate 3. The first cover 2 covers the top of the second rotating shaft 12 and protects the structure covered inside. Heat dissipation holes are generally provided on the side.

[0065] In one embodiment, the operating end of the multi-degree-of-freedom robotic arm 1 is integrally provided with a connecting cover 1a. The connecting cover 1a is fixedly installed on the top of the dual-axis hole plate 3 and covers the top of the first rotating shaft 4. The connecting cover 1a is used to protect the part of the structure covered inside.

[0066] When using, such as Figure 9 In the left-hand state, the clamping space between the cam 6 and the swing wheel 10 is relatively large. Based on the multi-degree-of-freedom robotic arm 1, the cam 6 is inserted into the center of the cylindrical workpiece a, and the sidewall of the cylindrical workpiece a is located within the clamping space formed by the cam 6 and the swing wheel 10. Then, the first drive unit drives the second rotating shaft 12 to rotate, which in turn drives the swing wheel 10 to rotate, adjusting the size of the clamping space formed between the swing wheel 10 and the cam 6 to pre-clamp the sidewall of the cylindrical workpiece a. During this process, the central connecting member 1402 rotates synchronously with the second rotating shaft 12, and the limiting member 1405 is compressed into the inner side of the sliding groove. The second rotating shaft 12 is driven to rotate to the pre-clamping state, corresponding to... Figure 9 In the right-side state, the limiting member 1405 on the side of the central connector 1402 is engaged in the positioning port 1403; the second drive unit synchronously drives the first rotating shaft 4 and the second rotating shaft 12 to rotate in the same direction, so that the cam member 6 and the swing wheel member 10 jointly apply rolling and compressing force to the side wall of the cylindrical workpiece a placed in the clamping space, thereby clamping and fixing the side wall of the cylindrical workpiece a; when releasing the cylindrical workpiece a, the cam member 6 is driven to rotate in the opposite direction, and the second gear 1401 is driven to return to its original position. At this time, the cylindrical workpiece a is unloaded, and the first drive unit drives the second rotating shaft 12 to continue rotating (at this time, the rotation direction of the second rotating shaft 12 is consistent with the rotation direction of the second rotating shaft 12 during the pre-clamping process), and after rotating a certain angle, it returns to the position as shown. Figure 9 Left side view.

[0067] Example 2:

[0068] This embodiment provides a control method for a multi-degree-of-freedom robot gripper structure, using the multi-degree-of-freedom robot gripper structure from Embodiment 1, specifically including the following steps:

[0069] S1. Based on the multi-degree-of-freedom robotic arm 1, the cam 6 is inserted into the center of the cylindrical workpiece a, and the side wall of the cylindrical workpiece a is located in the clamping space formed by the cam 6 and the swing wheel 10.

[0070] S2. The first drive unit drives the second rotating shaft 12 to rotate, which in turn drives the swing wheel 10 to rotate, adjusting the size of the clamping space formed between the swing wheel 10 and the cam 6, so as to pre-clamp the side wall of the cylindrical workpiece a.

[0071] S3. The second drive unit synchronously drives the first rotating shaft 4 and the second rotating shaft 12 to rotate in the same direction, so that the cam component 6 and the swing wheel component 10 jointly apply rolling and pressing force to the side wall of the cylindrical workpiece a placed in the clamping space, thereby achieving clamping and fixing of the side wall of the cylindrical workpiece a.

[0072] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A multi-degree-of-freedom robot gripper structure, comprising a multi-degree-of-freedom robotic arm (1), characterized in that, Also includes: The dual-axis hole plate (3) is fixedly connected to the operating end of the multi-degree-of-freedom robotic arm (1); The first rotating shaft (4) and the second rotating shaft (12) are mounted parallel to and rotatably on the dual-axis hole plate (3); Cam component (6) is fixedly installed on the part of the first rotating shaft (4) located below the double-axis hole plate component (3); The swing wheel component (10) has a spiral outer profile in its cross section. It is fixedly installed on the part of the second rotating shaft (12) located below the double-axis hole plate component (3) and is arranged opposite to the cam component (6) to form a clamping space together. The first drive unit is configured to independently drive the second rotating shaft (12) to rotate in order to adjust the size of the clamping space formed between the swing wheel (10) and the cam (6); The second drive unit is configured to synchronously drive the first rotating shaft (4) and the second rotating shaft (12) to rotate in the same direction, so that the cam (6) and the swing wheel (10) jointly apply rolling extrusion force to the side wall of the cylindrical workpiece (a) placed in the clamping space.

2. The multi-degree-of-freedom robot gripper structure according to claim 1, characterized in that: The first drive unit drives the second rotating shaft (12) to rotate unidirectionally in the opposite direction to the circumferential direction of the swing wheel (10); The second drive unit drives the first rotating shaft (4) and the second rotating shaft (12) to rotate in the opposite direction to the circumferential direction of the swing wheel (10).

3. A multi-degree-of-freedom robot gripper structure according to claim 1 or 2, characterized in that, The first drive unit includes a motor component (11), whose body is fixedly mounted on the dual-axis hole plate component (3) via a motor mounting bracket (13), and whose output end is connected to the second rotating shaft (12) for driving the second rotating shaft (12) to rotate.

4. The multi-degree-of-freedom robot gripper structure according to claim 3, characterized in that, The motor mounting bracket (13) includes: multiple screw members (1301) arranged in a ring and fixedly connected at the bottom to the top of the double-axis hole plate (3); a sleeve member (1302) is sleeved on the outside of the screw member (1301); the mounting hole of the motor component (11) is sleeved on the top of the screw member (1301) and supported by the top of the sleeve member (1302); and a nut member is threaded on the top of the screw member (1301) to press the body of the motor component (11).

5. A multi-degree-of-freedom robot gripper structure according to claim 1 or 2, characterized in that, The second drive unit includes: A linear drive component (9) is fixedly mounted on the dual-axis hole plate (3); The tooth condition (8) is fixedly connected to the telescopic end of the linear drive (9) and is driven by it to perform linear motion; The first gear (5) is fixedly installed on the first rotating shaft (4) and meshes with the gear condition (8); The adjusting gear (14) is mounted on the second rotating shaft (12) and meshes with the gear condition (8); The linear motion of the tooth condition (8) can synchronously drive the first gear (5) and the adjusting gear (14) to rotate.

6. The multi-degree-of-freedom robot gripper structure according to claim 5, characterized in that, The adjusting gear (14) includes: The second gear (1401) has a stepped hole at its center and a positioning port (1403) is provided on the inner side of the stepped hole along the tangent direction of the side wall of the stepped hole. A central connector (1402) is rotatably installed inside the stepped hole, and a sliding groove is provided on its side along its axial direction. An elastic element (1404) and a limiting element (1405) are provided inside the sliding groove. One end of the limiting element (1405) corresponds to the positioning port (1403). A cover plate (1406) is annular and is fixedly installed on the top of the second gear (1401), covering the center connector (1402) below. The inner hole of the central connector (1402) is connected to the second rotating shaft (12) by a key.

7. A multi-degree-of-freedom robot gripper structure according to claim 5, characterized in that: The top of the dual-axis hole plate (3) is fixedly mounted with a sliding seat (7), and the tooth condition (8) slides in cooperation with the sliding seat (7).

8. The multi-degree-of-freedom robot gripper structure according to claim 1, characterized in that, It also includes a first cover (2) fixedly installed on the top of the double-axis hole plate (3), the first cover (2) covering the top of the second rotating shaft (12).

9. A multi-degree-of-freedom robot gripper structure according to claim 1, characterized in that: The operating end of the multi-degree-of-freedom robotic arm (1) is integrally provided with a connecting cover (1a), which is fixedly installed on the top of the dual-axis hole plate (3) and covers the top of the first rotating shaft (4).

10. A control method for a multi-degree-of-freedom robot gripper structure, characterized in that, The multi-degree-of-freedom robot gripper structure according to any one of claims 1-9 specifically includes the following steps: S1. Based on the multi-degree-of-freedom robotic arm (1), the cam (6) is inserted into the center of the cylindrical workpiece (a), and the side wall of the cylindrical workpiece (a) is located in the clamping space formed by the cam (6) and the swing wheel (10). S2. The first drive unit drives the second rotating shaft (12) to rotate, thereby driving the swing wheel (10) to rotate, adjusting the size of the clamping space formed between the swing wheel (10) and the cam (6) to form a pre-clamping of the side wall of the cylindrical workpiece (a); S3. The second drive unit synchronously drives the first rotating shaft (4) and the second rotating shaft (12) to rotate in the same direction, so that the cam component (6) and the swing wheel component (10) jointly apply rolling extrusion force to the side wall of the cylindrical workpiece (a) placed in the clamping space, thereby achieving clamping and fixing of the side wall of the cylindrical workpiece (a).

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