Multi-degree-of-freedom flexible grabbing robot based on tendon driving

Abstract

A multi-degree-of-freedom flexible grabbing robot based on tendon driving comprises a head supporting and mounting frame body, a vertical sliding control device, a body flexible universal bending assembly and a tail grabbing mechanism, and a swing control mechanism is arranged on the side portion of the head supporting and mounting frame body; the head supporting and installing frame body is installed at the output end of the vertical sliding control device through the swing control mechanism, the body flexible universal bending assembly is connected to the lower end of the head supporting and installing frame body, and the tail grabbing mechanisms are sequentially connected to the lower end of the body flexible universal bending assembly. At least two tendon rope rotation driving devices are further installed at the upper end of the head supporting and installing frame body. The degree of freedom capable of being accurately controlled is high, the design structure and the control structure are simple, movement in two directions can be controlled through single drive, and the manufacturing cost is low.

Description

Technical Field

[0001] This invention belongs to the technical field of robotics, specifically relating to a tendon-driven multi-degree-of-freedom flexible grasping robot. Background Technology

[0002] Flexible robots are robotic systems whose main body is made of flexible materials and possess high-performance, highly flexible motion characteristics. Their high flexibility and energy absorption characteristics make them better suited for operations in complex environments and enable them to safely grasp fragile items. Current research on flexible robots focuses on challenges such as precise control of flexible drive technology. With advancements in materials science and mechanical control structures, they hold broad application prospects in complex industrial and civilian scenarios, including precision electronic assembly, logistics sorting, agricultural product harvesting, and the integration of high-precision processing procedures.

[0003] However, current flexible robots suffer from insufficient degrees of freedom and complex design and control structures. For example, patent document CN119871365 A discloses a cable-driven serial robot based on flexible joints and a tension structure, comprising a mobile platform, a fixed platform, a flexible joint mechanism, a tensioned overall structure, and a cable drive device. The flexible joint mechanism includes flexible joints between the mobile platform and the fixed platform, and flexible joints between the mobile platforms. The tensioned overall structure includes flexible cables between the mobile platform and the fixed platform, and flexible cables between the mobile platforms. The cable drive device is driven by a reduction drive, and the flexible cables are arranged in the order of mobile platform-mobile platform-mobile platform-fixed platform-motor. Although the above solution has relatively sufficient degrees of freedom, it suffers from complex design and control structures. Not only is the main body structure relatively bulky, but control in each direction requires a cable drive device driven by a reduction drive, resulting in extremely high manufacturing costs and significant limitations on application scenarios. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention proposes a tendon-driven, multi-degree-of-freedom flexible grasping robot that offers precise control, has a simple design and control structure, allows a single drive to control movement in two directions, and boasts low manufacturing costs.

[0005] The specific technical solution is as follows:

[0006] A tendon-driven multi-degree-of-freedom flexible grasping robot includes a head support mounting frame, a vertical sliding control device, a body flexible universal bending assembly, and a tail grasping mechanism. The head support mounting frame is provided with a swing control mechanism on its side, and the head support mounting frame is mounted on the output end of the vertical sliding control device through the swing control mechanism. The body flexible universal bending assembly is connected to the lower end of the head support mounting frame, and the tail grasping mechanism is sequentially connected to the lower end of the body flexible universal bending assembly. At least two tendon rope rotation drive devices are also installed on the upper end of the head support mounting frame.

[0007] The flexible universal bending assembly includes a central bendable support rod and an annular disc assembly. The central part of the annular disc assembly is fixedly mounted on the central bendable support rod. At least four sets of tendon rope perforations are provided on the edge of the annular disc assembly, and the four sets of tendon rope perforations are located in four different directions. A winding wheel is installed at the output end of the tendon rope rotation drive device. The winding wheel contains a tendon rope structure. The middle part of the tendon rope structure is wound on the winding wheel. The two ends of the tendon rope structure pass through two sets of tendon rope perforations in opposite directions and are fixedly connected to a certain annular disc assembly at the bottom or middle.

[0008] Furthermore, the annular disk assembly is composed of several annular disk segments, which are evenly spaced on the central bendable support rod, and the outer diameter of all the annular disk segments gradually decreases from top to bottom.

[0009] Furthermore, a compression spring assembly is provided between the annular disc segments of the annular disc assembly. This compression spring assembly is sleeved around the central bendable support rod and / or symmetrically arranged on two opposite sides of the annular disc segments.

[0010] Furthermore, the central bendable support rod is a gooseneck tube or a soft copper rod, and the tendon rope rotation drive device is a drive motor.

[0011] Furthermore, the upper end of the head support mounting frame is equipped with a first tendon rope rotation drive device, a second tendon rope rotation drive device, a third tendon rope rotation drive device, and a fourth tendon rope rotation drive device. The output ends of the first tendon rope rotation drive device, the second tendon rope rotation drive device, the third tendon rope rotation drive device, and the fourth tendon rope rotation drive device are respectively equipped with a first winding wheel, a second winding wheel, a third winding wheel, and a fourth winding wheel. The first winding wheel, the second winding wheel, the third winding wheel, and the fourth winding wheel are respectively fitted with a first tendon rope structure, a second tendon rope structure, a third tendon rope structure, and a fourth tendon rope structure. The two ends of the first tendon rope structure pass through tendon rope holes in the front-back direction from top to bottom and are fixedly connected to the bottom annular disc segment of the annular disc segment group. The two ends of the second tendon rope structure pass through tendon rope holes in the left-right direction from top to bottom and are fixedly connected to the bottom annular disc segment of the annular disc segment group.

[0012] The third tendon cord structure has its two ends passing through tendon cord holes in the front and back directions from top to bottom and is fixedly connected to the annular disc segment in the middle of the annular disc segment group. The fourth tendon cord structure has its two ends passing through tendon cord holes in the left and right directions from top to bottom and is fixedly connected to the annular disc segment in the middle of the annular disc segment group.

[0013] Furthermore, the head support mounting frame includes a support mounting skeleton, a drive mounting base, and an outer decorative shell assembly. The outer decorative shell assembly covers and is installed on the four sides of the support mounting skeleton, the drive mounting base is installed on the top of the support mounting skeleton, and the topmost annular disc segment of the annular disc segment assembly is fixedly installed on the bottom of the support mounting skeleton.

[0014] The drive mounting base has four mounting sides, each with an adjustable mounting slot extending through the top of the drive mounting base. An adjustable mounting plate is installed in the adjustable mounting slot, with its top extending out of the drive mounting base. The top of the adjustable mounting plate has a set of mounting holes for mounting the tendon cable rotation drive device. A set of strip-shaped holes is also provided in the lower part of the adjustable mounting plate, each containing a pre-tightening bolt. A set of threaded holes is provided at the bottom of the adjustable mounting slot, corresponding to the strip-shaped holes. The pre-tightening bolts pass through the strip-shaped holes and engage with the threaded holes. At least one tensioning screw hole is provided on the lower side of the adjustable mounting slot, containing a tensioning bolt that acts on the lower side of the adjustable mounting plate.

[0015] Furthermore, the first, second, third, and fourth tendon rope structures are all composed of steel wire ropes and outer sheaths. The outer sheaths are sleeved on the steel wire ropes, and the outer sheaths of the first and second tendon rope structures are engaged between the drive mounting base and the topmost annular disc segment of the annular disc assembly. The outer sheaths of the third and fourth tendon rope structures are engaged between the drive mounting base and the annular disc segment at the very center of the annular disc assembly. Tension springs are provided between all the outer sheaths and the drive mounting base.

[0016] Furthermore, the vertical sliding control device includes a vertical slide rail frame, a trolley platform, and a sliding drive motor. The trolley platform is slidably mounted on the vertical slide rail frame, and the sliding drive motor is fixedly mounted on the upper or lower end of the vertical slide rail frame. A lead screw structure is provided at the output end of the sliding drive motor, and a nut sleeve structure is fixedly connected to the trolley platform. The nut sleeve structure cooperates with the lead screw structure.

[0017] Furthermore, the swing control mechanism includes a rotary cover plate and a swing rotation drive device. The swing rotation drive device is fixedly mounted on the rotary cover plate. A driving pinion is installed at the output end of the swing rotation drive device. A fixed large gear is fixedly mounted on the trolley. The driving pinion meshes with the fixed large gear, and the rotary cover plate is rotatably mounted on the trolley.

[0018] Furthermore, the fixed large gear is an external gear slewing bearing, and its external gear ring is fixedly connected to the trolley table by bolts arranged around it. The slewing cover plate is an annular concave shell, and the inner side of the slewing cover plate is fixedly connected to the inner ring of the external gear slewing bearing by bolts arranged around it.

[0019] The beneficial effects of this invention are as follows: The flexible universal bending component of the body can be bent into different shapes to adapt to the needs of different scenarios. The vertical sliding control device can move quickly to cooperate with the tail gripping mechanism and can compensate for the vertical displacement of the tail gripping mechanism caused by the overall bending of the flexible universal bending component of the body, forming a simpler control logic. The swing control mechanism can quickly control the swing direction of the flexible universal bending component of the body and the tail gripping mechanism to avoid the dead angle problem caused by the bending limit of the flexible universal bending component of the body. Similarly, it can make the control logic simpler and form a higher degree of freedom of movement. Moreover, the design structure and control structure of the flexible universal bending component of the body are relatively simple. A single tendon rope rotation drive device can control the movement in two directions, and two adjacent movement directions can be combined, which makes the manufacturing cost low and the operation more flexible. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0021] Figure 2 for Figure 1 A magnified view of a portion of point A in the middle.

[0022] Figure 3 This is a top view of the entire invention.

[0023] Figure 4 This is a schematic diagram of the overall cross-sectional structure of the present invention.

[0024] Figure 5 for Figure 4 A magnified view of a portion of point B in the middle.

[0025] Figure 6 This is a schematic diagram of the drive mounting base in this invention.

[0026] Figure 7 This is a schematic diagram of the tail gripping mechanism in this invention.

[0027] Figure 8 This is a schematic diagram of the installation of the finger clamp mounting assembly in this invention.

[0028] Figure 9 This is a cross-sectional schematic diagram of the first embodiment of the telescopic drive device in this invention.

[0029] Figure 10 This is a cross-sectional schematic diagram of the second embodiment of the telescopic drive device in this invention.

[0030] In the diagram: 1. Head support mounting frame; 2. Vertical sliding control device; 3. Body flexible universal bending assembly; 4. Tail gripping mechanism; 5. Swing control mechanism; 6. Tendon rope rotation drive device; 7. Compression spring assembly.

[0031] Support frame 11; drive mounting base 12; outer decorative shell assembly 13; adjustable mounting slot 14; adjustable mounting plate 15; preload bolt 16; tension bolt 17;

[0032] Vertical slide rail frame 21; trolley table 22; sliding drive motor 23; lead screw structure 24; nut sleeve structure 25;

[0033] 31. Center bendable support rod; 32. Annular disc assembly; 33. Tendon ligament perforation;

[0034] Mounting base 41; telescopic drive device 42; central translational hinge frame 43; finger clamp mounting assembly 44; flexible finger clamp assembly structure 45; hinge support platform 46.

[0035] Drive mounting cavity 411; connecting mounting base 412; drive motor 421; lead screw structure 422; nut sleeve structure 423; spaced mounting kit 441; limiting mounting side plate 442; flexible finger clamp plate 451; outer driven hinge frame 461;

[0036] Rotary cover plate 51; oscillating rotation drive device 52; driving pinion 53; fixed large gear 54; winding wheel 61; tendon rope structure 62;

[0037] First tendon cord rotation drive device 601; second tendon cord rotation drive device 602; third tendon cord rotation drive device 603; fourth tendon cord rotation drive device 604.

[0038] First winding reel 611; Second winding reel 612; Third winding reel 613; Fourth winding reel 614;

[0039] First tendon cord structure 621; second tendon cord structure 622; third tendon cord structure 623; fourth tendon cord structure 624. Detailed Implementation

[0040] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby providing a clearer and more explicit definition of the scope of protection of the present invention.

[0041] In the description of this invention, it should be understood that the terms "center", "vertical", "horizontal", "up", "down", "front", "back", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0042] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," and "connect" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can be a direct connection or a connection through an intermediate medium; or they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0043] Example:

[0044] like Figures 1 to 10 As shown: A tendon-driven multi-degree-of-freedom flexible grasping robot is provided, comprising a head support mounting frame 1, a vertical sliding control device 2, a body flexible universal bending assembly 3, and a tail grasping mechanism 4. A swing control mechanism 5 is provided on the side of the head support mounting frame 1, and the head support mounting frame 1 is mounted on the output end of the vertical sliding control device 2 via this swing control mechanism 5. The body flexible universal bending assembly 3 is connected to the lower end of the head support mounting frame 1, and the tail grasping mechanism 4 is sequentially connected to the lower end of the body flexible universal bending assembly 3. Four tendon rope rotation drive devices 6 are installed on the upper end of the head support mounting frame 1, namely a first tendon rope rotation drive device 601, a second tendon rope rotation drive device 602, a third tendon rope rotation drive device 603, a fourth tendon rope rotation drive device 604, a fifth tendon rope rotation drive device 605, a sixth tendon rope rotation drive device 606, a seventh tendon rope rotation drive device 606, a eleventh ... The drive device 602, the third tendon cord rotation drive device 603, and the fourth tendon cord rotation drive device 604 are all drive motors. Other hydraulic / pneumatic motors can also be used, but drive motors are more widely used and therefore have lower operating costs. In addition, two tendon cord rotation drive devices 6 are installed at the upper end of the head support mounting frame 1, which can also complete basic forward, backward, left and right bending control, but it is not enough to bend into more complex shapes such as S-shapes. Of course, more tendon cord rotation drive devices 6 can be set to form more degrees of freedom, but for grasping work, more degrees of freedom would be redundant, and the marginal benefit of their use would decrease while the cost would increase exponentially. Therefore, they are generally not used unless there are special requirements.

[0045] The flexible universal bending assembly 3 includes a central bendable support rod 31 and annular disc segment assembly 32. The central bendable support rod 31 is a gooseneck tube or a soft copper rod. The annular disc segment assembly 32 is fixedly mounted on the central bendable support rod 31 at its center. The annular disc segment assembly 32 is composed of several annular disc segments, which are evenly spaced on the central bendable support rod 31. The spacing between the annular disc segments can also be uneven, depending on the actual application requirements. The spacing and the number of annular disc segments determine the degree of bending and deflection it can achieve. Therefore, the outer diameter of all annular disc segments gradually decreases from top to bottom. The arrangement of the annular disc segments is such that the outer diameter of any upper annular disc segment is greater than or equal to that of the lower annular disc segment, thus achieving a lower maximum bending degree in the upper part and a higher maximum bending degree in the lower part. Four sets of tendon cord perforations 33 are provided at the edge of the annular disc segment group 32, located in four different directions: front, back, left, and right. Tendon cord perforations 33 in the same direction on all annular disc segments form a group; for example, all tendon cord perforations 33 on the right side of all annular disc segments constitute a group. More sets of tendon cord perforations 33 are also possible. The chord perforation 33 would result in control redundancy, and fewer sets of chord perforations 33 would lead to insufficient degrees of freedom, so it is not used. A winding wheel 61 is installed at the output end of the chord rotation drive device 6. A chord structure 62 is provided in the winding wheel 61. The middle part of the chord structure 62 is wound around the winding wheel 61. Both ends of the chord structure 62 pass through two sets of opposing chord perforations 33 and are fixedly connected to a ring section at the bottom or middle of the ring section assembly 32. By controlling the rotation of the winding wheel 61 through the chord rotation drive device 6, one end of the chord structure 62 will contract, and the other end will enter… The extension defense line, such as the tendon cord structure 62, passes through two sets of tendon cord perforations 33 in opposite directions. When the front end contracts, it controls the flexible universal bending component 3 of the body to bend in the front direction. The same applies to the contraction of the rear end and the control in the left and right directions. The front-back movement or the left-right movement are mutually exclusive and cannot occur simultaneously. However, the front-back movement and the left-right movement can be combined and carried out simultaneously. Therefore, the flexible universal bending component 3 of the body can move and grasp in all directions. At least two tendon cord rotation drive devices 6 are required to achieve this.

[0046] The aforementioned head support mounting frame 1 includes a support mounting skeleton 11, a drive mounting base 12, and an outer decorative shell assembly 13. The outer decorative shell assembly 13 covers and is installed on the four sides of the support mounting skeleton 11. The outer decorative shell assembly 13 is generally round with a larger top and a smaller bottom, and is an industrial appearance decorative part that does not affect any function. The topmost annular disc assembly 32 is fixedly installed at the bottom of the support mounting skeleton 11, and the drive mounting base 12 is installed at the top of the support mounting skeleton 11. The drive mounting base 12 and the support mounting skeleton 11 can be integrally formed, but currently the drive mounting base 12 is installed at the top of the support mounting skeleton 11 by bolts, and the outer periphery of the drive mounting base 12 has a protrusion relative to the outer periphery of the support mounting skeleton 11 for the tendon chord structure 62 to pass through.

[0047] Furthermore, the drive mounting base 12 has four mounting sides, each with an adjustable mounting slot 14 extending through the top of the drive mounting base 12. An adjustable mounting plate 15 is installed in the adjustable mounting slot 14, with its top extending out of the drive mounting base 12. The top of the adjustable mounting plate 15 has a set of mounting holes for installing the tendon cable rotation drive device 6. A set of strip-shaped holes is also provided in the lower part of the adjustable mounting plate 15, each containing a pre-tightening bolt 16. A set of threaded holes is provided at the bottom of the adjustable mounting slot 14, corresponding to the positions of the strip-shaped holes. The pre-tightening bolt 16 passes through the strip-shaped hole group and engages with the threaded hole group. At least one tensioning screw hole is provided on the lower side of the adjustable mounting slot 14, and a tensioning bolt 17 is installed in the tensioning screw hole. This tensioning bolt 17 acts on the lower side of the adjustable mounting plate 15. The pre-tightening bolt 16 causes the adjustable mounting plate 15 to be pre-tightly installed in the adjustable mounting slot 14. Rotating the tensioning bolt 17 pushes the adjustable mounting plate 15 upwards, and the strip-shaped hole group provides space for its movement. Thus, the tendon rope rotation drive 6 at the top of the adjustable mounting plate 15 is used to tighten the tendon rope structure 62. Finally, the pre-tightening bolt 16 is tightened. Alternatively, tensioning adjustment can be achieved by tightening the connection structure between the two ends of the tendon rope structure 62 and the annular disc sections. However, if the interval between the annular disc sections is too small, operation becomes inconvenient. The design in this case, with a tighter interval between the annular disc sections, is preferable.

[0048] A first winding wheel 611, a second winding wheel 612, a third winding wheel 613, and a fourth winding wheel 614 are respectively installed at the output ends of the first tendon rope rotation drive device 601, the second tendon rope rotation drive device 602, the third tendon rope rotation drive device 603, and the fourth tendon rope rotation drive device 604. A first tendon rope structure 621, a second tendon rope structure 622, a third tendon rope structure 623, and a fourth tendon rope structure 624 are respectively fitted into the first winding wheel 611, the second winding wheel 612, the third winding wheel 613, and the fourth winding wheel 614. The tendon rope structure 622, the third tendon rope structure 623, and the fourth tendon rope structure 624 are all composed of steel wire ropes and outer sheaths. The outer sheaths are sleeved on the steel wire ropes. The outer sheaths of the first tendon rope structure 621 and the second tendon rope structure 622 are clamped between the drive mounting base 12 and the topmost annular disc segment of the annular disc segment group 32. The outer sheaths of the third tendon rope structure 623 and the fourth tendon rope structure 624 are clamped between the drive mounting base 12 and the annular disc segment group 32 at the very center. Tension springs are provided between all the outer sheaths and the drive mounting base 12.

[0049] The first tendon cord structure 621 is fixedly connected to the bottom annular disc segment of the annular disc segment group 32 by passing through tendon cord perforations 33 in the front-back direction from top to bottom at both ends; the second tendon cord structure 622 is fixedly connected to the bottom annular disc segment of the annular disc segment group 32 by passing through tendon cord perforations 33 in the left-right direction from top to bottom at both ends; the third tendon cord structure 623 is fixedly connected to the annular disc segment at the middle position of the annular disc segment group 32 by passing through tendon cord perforations 33 in the front-back direction from top to bottom at both ends; and the fourth tendon cord structure 624 is fixedly connected to the annular disc segment at the middle position of the annular disc segment group 32 by passing through tendon cord perforations 33 in the left-right direction from top to bottom at both ends.

[0050] Therefore, the first universal bending component segment of the annular disc assembly 32, from the topmost annular disc segment to the middle annular disc segment, is controlled by the third tendon cable rotation drive device 603 and the fourth tendon cable rotation drive device 604 through the third tendon cable structure 623 and the fourth tendon cable structure 624, which control its forward, backward, left, right, and combined universal bending. The second universal bending component segment of the annular disc assembly 32, from the middle annular disc segment to the bottom annular disc segment, is controlled by the first tendon cable rotation drive device 601 and the second tendon cable rotation drive device 602 through the first tendon cable structure 621 and the second tendon cable structure 622, which control its forward, backward, left, right, and combined universal bending. The movements of the first universal bending component segment and the second universal bending component segment are independent, thus producing more complex movement types similar to an S-shape. The same principle applies to setting up more independent movement segments such as the third universal bending component segment.

[0051] A compression spring assembly 7 is also provided between the annular disc segments of the annular disc assembly 32. The compression spring assembly 7 is sleeved around the central bendable support rod 31 and / or symmetrically arranged on the two opposite sides of the annular disc segments. The compression spring assembly 7 mainly serves to make the annular disc segments bend uniformly according to the preset deformation. Because the tendon cable structure 62 only has a torque applied to the distal end of the flexible universal bending component 3, the deformation caused by this torque is generally irregular if it is not controlled. Therefore, the bending deformation of the flexible universal bending component 3 is also irregular and it is difficult to achieve the purpose of precise control. Unless the central bendable support rod 31 itself is an elastic rod with high elasticity and a constant and uniform coefficient, it will meet the requirements. However, currently, elastic materials with high elasticity and a constant and uniform coefficient cannot make the annular disc assembly 32 stably installed and meet the requirements of long service life, and will inevitably lead to increased costs. Therefore, it is generally not used. Setting up the compression spring group 7 is simpler and less costly. When uniform bending is required between all annular disc segments, the elastic coefficient of the compression spring group 7 can be the same for all segments, with the length and setting position being the same by default. When different degrees of bending are required between the annular disc segments, the elastic coefficients of the compression spring groups 7 can be different for all segments. For example, the bending degree between the upper annular disc segments generally needs to be lower than that between the lower annular disc segments to better form a biomimetic shape, so the elastic coefficient of the upper compression spring group 7 should be higher than that of the lower compression spring group 7. Of course, the compression spring group 7 also has the functions of auxiliary support and auxiliary reset, but these are not indispensable functions here, so they will not be described in detail.

[0052] The aforementioned vertical sliding control device 2 includes a vertical slide rail frame 21, a trolley platform 22, and a sliding drive motor 23. The trolley platform 22 is slidably mounted on the vertical slide rail frame 21. The sliding drive motor 23 is fixedly mounted on the upper or lower end of the vertical slide rail frame 21, and a lead screw structure 24 is provided at the output end of the sliding drive motor 23. A nut sleeve structure 25 is fixedly connected to the trolley platform 22. The nut sleeve structure 25 cooperates with the lead screw structure 24. The rotation of the lead screw structure 24 drives the nut sleeve structure 25 to move, thereby controlling the trolley platform 22 to slide relative to the vertical slide rail frame 21, thereby controlling the tail gripping mechanism 4 to move up and down quickly. In fact, the flexible universal bending component 3 of the body also has a vertical displacement after bending, but using this to achieve the vertical displacement after gripping will increase the control difficulty. Having an independent vertical displacement control system will make the control logic relatively simpler, and it can also compensate for the vertical displacement generated by the bending of the flexible universal bending component 3 of the body.

[0053] The aforementioned swing control mechanism 5 includes a rotary cover plate 51 and a swing rotation drive device 52. The swing rotation drive device 52 is fixedly installed on the rotary cover plate 51. A drive pinion 53 is installed at the output end of the swing rotation drive device 52. A fixed large gear 54 is fixedly installed on the trolley table 22. The drive pinion 53 meshes with the fixed large gear 54. The rotary cover plate 51 is rotatably installed on the trolley table 22. The drive pinion 53 is driven to rotate by the swing rotation drive device 52, thereby driving the drive pinion 53 to rotate and roll around the fixed large gear 54, driving the rotary cover plate 51 to rotate. Its head support mounting frame 1 is fixedly connected to the rotary cover plate 51. That is, the support mounting frame 11 is fixedly installed on the outer side of the rotary cover plate 51 by bolts, thereby driving the rotary cover plate 51 to drive the body flexible universal bending assembly 3 and the tail gripping mechanism 4 to rotate as a whole.

[0054] Among them, the fixed large gear 54 is an external gear slewing bearing, and its external gear ring is fixedly connected to the trolley table 22 by bolts arranged around it. The slewing cover plate 51 is an annular concave shell, and the inner side of the slewing cover plate 51 is fixedly connected to the inner ring of the external gear slewing bearing by bolts arranged around it. In this way, the slewing cover plate 51 can be installed more stably and has a better transition and connection with the trolley table 22.

[0055] The aforementioned tail gripping mechanism 4 is provided with a mounting base 41, and a telescopic drive device 42 is provided in the middle of the lower side of the mounting base 41. The upper side of the mounting base 41 is installed on the lower side of the bottommost annular disc section of the annular disc assembly 32 by bolts. A central translational hinge frame 43 is connected to the output end of the telescopic drive device 42. Finger clamp mounting assemblies 44 are hinged to both sides of the central translational hinge frame 43. A flexible finger clamp assembly structure 45 is mounted on the finger clamp mounting assembly 44. The flexible finger clamp assembly structure 45 consists of two flexible finger clamps 451, which are arranged side by side with a spacing of 1-5mm. The flexible finger clamp assembly structure 45 may include more flexible finger clamps 451 arranged side by side, but this is generally not necessary except in special use cases. A hinge support platform 46 is provided on both sides of the mounting base 41. An outer driven hinge frame 461 is hinged to the outer side of the hinge support platform 46. The other side of the outer driven hinge frame 461 and the outer side of the central translational hinge frame 43 are respectively hinged to the bottom sides of the finger clamp mounting assembly 44.

[0056] The aforementioned telescopic drive device 42 includes a drive motor 421, a lead screw structure 422, and a nut sleeve structure 423. The telescopic drive device 42 can also directly use an electric actuator, but generally, electric actuators have excessively long radial lengths. While they can achieve basic functions, they are not suitable for the robot's application scenarios. A drive mounting cavity 411 is provided at the center of the mounting base 41. The drive motor 421 is installed in the drive mounting cavity 411. The lead screw structure 422 cooperates with the nut sleeve structure 423, and the nut sleeve structure 423 and the lead screw structure 422 are respectively connected to the center of the central translational hinge frame 43 and the output end of the drive motor 421, i.e. Figure 9 As shown, this is a relatively straightforward setup. The nut sleeve structure 423 is fixedly installed at the center of the central translational hinge frame 43. The drive motor 421 controls the screw structure 422 to rotate, which in turn controls the nut sleeve structure 423 to drive the central translational hinge frame 3 to move up and down, thereby driving the two flexible finger clamp plate assembly structures 45 to open and close, achieving clamping or loosening. However, in this method, the screw part of the screw structure 422 is exposed and may still get stuck due to dust. But compared to the internal spring, the screw part can still roll over the dust and continue driving under strong drive, and it is relatively easier to clean. Regular cleaning does not affect the use.

[0057] Or, such as Figure 10 As shown, the lead screw structure 422 and the nut sleeve structure 423 are respectively connected to the center of the central translational hinge frame 43 and the output end of the drive motor 421. That is, the drive motor 421 is a hollow shaft motor or a hollow torque motor. Other motors may also have space in the middle for the lead screw structure 422 to pass through. The nut sleeve structure 423 is installed at the output end of the drive motor 421 and is set away from the central translational hinge frame 43. The lead screw structure 422 consists of a lead screw part and a smooth rod part. The lead screw part cooperates with the nut sleeve structure 423, and the lead screw part is sealed in the drive mounting cavity 411 throughout its entire stroke. The smooth rod part is fixedly connected to the center of the central translational hinge frame 43 and is driven by the motor. The 421 control nut sleeve structure 423 rotates, thereby enabling the lead screw structure 422 to extend and retract, driving the central translational hinge frame 43 to move, thereby driving the two flexible finger gripper assembly structures 45 to open and close, realizing clamping or loosening work. This method conceals the lead screw part of the lead screw structure 422 in the drive mounting cavity 411, thus ensuring smooth operation for a long time in any environment. Theoretically, other transmission structures could be used to place the nut sleeve structure 423 near the bottom of the drive mounting cavity 411, but such a structure would be too cumbersome and would increase the volume and mass of the two-finger gripper. The increased mass would cause the robot arm or mechanical arm to do more extra work when loading the two-finger gripper.

[0058] The aforementioned clamp mounting assembly 44 consists of a spacer mounting kit 441 and two limiting mounting side plates 442. The spacer kit 441 has a spacer protrusion and two finger clamp sleeves, with the two finger clamp sleeves located on both sides of the spacer protrusion. The flexible finger clamp 451 has a mounting cavity, which is fitted onto the finger clamp sleeve. The two limiting mounting side plates 442 are fixed to the sides of the finger clamp sleeve by screws, so that the flexible finger clamp 451 is clamped between the limiting mounting side plates 442 and the spacer protrusion. The limiting mounting side plates 442 are also provided with two opposing hinge mounting holes, with one side of the outer driven hinge frame 461 and the middle translational hinge frame 43 respectively hinged in the two hinge mounting holes.

[0059] Furthermore, the flexible finger clamp 451 is composed of a clamping plate, a supporting back plate, a gradually elastic supporting rib assembly, and an installation part. The installation part is an installation sleeve cavity. One end of the clamping plate and the supporting back plate are connected together by a flexible component or a hinge. The other end of the clamping plate and the supporting back plate are respectively connected to the two sides of the installation part. The clamping plate and the supporting back plate are in the shape of a triangular bracket. The gradually elastic supporting rib assembly is located between the clamping plate and the supporting back plate.

[0060] The aforementioned gradient elastic support rib assembly consists of several elastic support ribs, arranged in ascending order of length in their natural state, with the longer ribs positioned closer to the mounting portion. The elastic support ribs are made of elastic rubber, TPU, or polyurethane. Alternatively, the clamping plate, support back plate, gradient elastic support rib assembly, and mounting portion can all be integrally molded from rubber. However, the clamping plate, support back plate, and mounting portion require relatively more rigid construction. Furthermore, each elastic support rib has a strong support portion and two weak elastic portions, located on either side of the strong support portion and connected to the clamping plate and support back plate respectively. This ensures that the gradient elastic support rib assembly maintains its adaptive elasticity while preserving the overall shape of the flexible finger clamp 451.

[0061] 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.

Claims

1. A tendon-driven, multi-degree-of-freedom flexible grasping robot, characterized in that: It includes a head support mounting frame (1), a vertical sliding control device (2), a body flexible universal bending assembly (3), and a tail gripping mechanism (4). The head support mounting frame (1) is provided with a swing control mechanism (5) on its side. The head support mounting frame (1) is installed at the output end of the vertical sliding control device (2) through the swing control mechanism (5). The body flexible universal bending assembly (3) is connected to the lower end of the head support mounting frame (1). The tail gripping mechanism (4) is connected to the lower end of the body flexible universal bending assembly (3) in sequence. At least two tendon rope rotation drive devices (6) are also installed at the upper end of the head support mounting frame (1). The flexible universal bending assembly (3) includes a central bendable support rod (31) and an annular disc assembly (32). The annular disc assembly (32) is fixedly mounted on the central bendable support rod (31) at its center. At least four sets of tendon cord perforations (33) are provided on the edge of the annular disc assembly (32), and the four sets of tendon cord perforations (33) are located in four different directions. A winding wheel (61) is installed at the output end of the tendon cord rotation drive device (6). A tendon cord structure (62) is provided in the winding wheel (61). The tendon cord structure (62) is wound around the winding wheel (61) at its center. The two ends of the tendon cord structure (62) pass through two sets of tendon cord perforations (33) in opposite directions and are fixedly connected to a certain annular disc at the bottom or center of the annular disc assembly (32).

2. The tendon-driven multi-degree-of-freedom flexible grasping robot according to claim 1, characterized in that: The annular disk assembly (32) is composed of several annular disks, which are evenly spaced on the central bendable support rod (31), and the outer diameter of all the annular disks gradually decreases from top to bottom.

3. The tendon-driven multi-degree-of-freedom flexible grasping robot according to claim 1 or 2, characterized in that: A compression spring assembly (7) is provided between the annular disc segments of the annular disc assembly (32). The compression spring assembly (7) is sleeved around the central bendable support rod (31) and / or symmetrically arranged on the two opposite sides of the annular disc segments.

4. The tendon-driven multi-degree-of-freedom flexible grasping robot according to claim 3, characterized in that: The central bendable support rod (31) is a gooseneck tube or a soft copper rod, and the tendon rope rotation drive device (6) is a drive motor.

5. The tendon-driven multi-degree-of-freedom flexible grasping robot according to any one of claims 1, 2, or 4, characterized in that: The upper end of the head support mounting frame (1) is equipped with a first tendon rope rotation drive device (601), a second tendon rope rotation drive device (602), a third tendon rope rotation drive device (603), and a fourth tendon rope rotation drive device (604). The output ends of the first tendon rope rotation drive device (601), the second tendon rope rotation drive device (602), the third tendon rope rotation drive device (603), and the fourth tendon rope rotation drive device (604) are respectively equipped with a first winding wheel (611), a second winding wheel (612), a third winding wheel (613), and a fourth winding wheel (614). 611) The first tendon rope structure (621), the second tendon rope structure (622), the third tendon rope structure (623) and the fourth tendon rope structure (624) are respectively fitted in the second winding wheel (612), the third winding wheel (613) and the fourth winding wheel (614). The first tendon rope structure (621) is fixedly connected to the bottom ring disc of the ring disc assembly (32) by passing through tendon rope holes (33) in the front and back directions from top to bottom. The second tendon rope structure (622) is fixedly connected to the bottom ring disc of the ring disc assembly (32) by passing through tendon rope holes (33) in the left and right directions from top to bottom. The third tendon cord structure (623) is fixedly connected to the annular disc segment at the center of the annular disc segment group (32) by passing through tendon cord perforations (33) in the front and back directions from top to bottom at both ends. The fourth tendon cord structure (624) is fixedly connected to the annular disc segment at the center of the annular disc segment group (32) by passing through tendon cord perforations (33) in the left and right directions from top to bottom at both ends.

6. The tendon-driven multi-degree-of-freedom flexible grasping robot according to claim 5, characterized in that: The head support mounting frame (1) includes a support mounting frame (11), a drive mounting seat (12), and an outer decorative shell assembly (13). The outer decorative shell assembly (13) covers and is installed on the four sides of the support mounting frame (11). The drive mounting seat (12) is installed on the top of the support mounting frame (11). The topmost annular disc assembly (32) is fixedly installed at the bottom of the support mounting frame (11). The drive mounting base (12) has four mounting sides, each with an adjustable mounting slot (14). The adjustable mounting slot (14) extends through the top of the drive mounting base (12). An adjustable mounting plate (15) is installed in the adjustable mounting slot (14). The top of the adjustable mounting plate (15) extends out of the drive mounting base (12), and the top of the adjustable mounting plate (15) has a set of mounting holes for installing the tendon rope rotation drive device (6). 15) A strip-shaped hole group is also provided in the lower part. Each strip-shaped hole group is provided with a pre-tightening bolt (16). A threaded hole group is provided at the bottom of the adjustable mounting slot (14). The threaded hole group is located at the corresponding position of the strip-shaped hole group. The pre-tightening bolt (16) passes through the strip-shaped hole group and cooperates with the threaded hole group. At least one tensioning screw hole is provided on the lower side of the adjustable mounting slot (14). A tensioning bolt (17) is provided in the tensioning screw hole. The tensioning bolt (17) acts on the lower side of the adjustable mounting plate (15).

7. The tendon-driven multi-degree-of-freedom flexible grasping robot according to claim 6, characterized in that: The first tendon rope structure (621), the second tendon rope structure (622), the third tendon rope structure (623) and the fourth tendon rope structure (624) are all composed of steel wire ropes and outer sheaths. The outer sheaths are sleeved on the steel wire ropes. The outer sheaths of the first tendon rope structure (621) and the second tendon rope structure (622) are clamped between the drive mounting base (12) and the topmost annular disc segment of the annular disc segment group (32). The outer sheaths of the third tendon rope structure (623) and the fourth tendon rope structure (624) are clamped between the drive mounting base (12) and the annular disc segment group (32) at the middle position. Tension springs are provided between all the outer sheaths and the drive mounting base (12).

8. The tendon-driven multi-degree-of-freedom flexible grasping robot according to any one of claims 1, 2, 4, 6 or 7, characterized in that: The vertical sliding control device (2) includes a vertical slide rail frame (21), a trolley platform (22) and a sliding drive motor (23). The trolley platform (22) is slidably mounted on the vertical slide rail frame (21). The sliding drive motor (23) is fixedly mounted on the upper or lower end of the vertical slide rail frame (21). A lead screw structure (24) is provided at the output end of the sliding drive motor (23). A nut sleeve structure (25) is fixedly connected to the trolley platform (22). The nut sleeve structure (25) cooperates with the lead screw structure (24).

9. The tendon-driven multi-degree-of-freedom flexible grasping robot according to claim 8, characterized in that: The swing control mechanism (5) includes a rotary cover plate (51) and a swing rotation drive device (52). The swing rotation drive device (52) is fixedly installed on the rotary cover plate (51). A driving pinion (53) is installed at the output end of the swing rotation drive device (52). A fixed large gear (54) is fixedly installed on the trolley table (22). The driving pinion (53) meshes with the fixed large gear (54), and the rotary cover plate (51) is rotatably installed on the trolley table (22).

10. The tendon-driven multi-degree-of-freedom flexible grasping robot according to claim 9, characterized in that: The fixed large gear (54) is an external gear slewing bearing, and its external gear ring is fixedly connected to the trolley table (22) by bolts arranged around it. The slewing cover plate (51) is an annular concave shell, and the inner side of the slewing cover plate (51) is fixedly connected to the inner ring of the external gear slewing bearing by bolts arranged around it.

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