Reconfigurable variable diameter end effector, control method and robot

Abstract

The application belongs to the technical field of mechanical hands, and particularly relates to a reconfigurable variable-diameter end effector, a control method and a robot. The reconfigurable variable-diameter end effector comprises a finger unit, a variable-diameter underactuated unit, a bending underactuated unit, and coaxially arranged base unit and conversion unit; the variable-diameter underactuated unit and the bending underactuated unit are arranged on the base unit, and the finger unit is arranged on the variable-diameter underactuated unit and rotationally connected with the bending underactuated unit; wherein the variable-diameter underactuated unit has a structure capable of adjusting the distance between the finger unit and the axis of the base unit; the bending underactuated unit has a structure capable of adjusting the bending degree of the finger unit; and the conversion unit has a structure capable of selectively transmitting driving force to the variable-diameter underactuated unit or the bending underactuated unit.

Description

Technical Field

[0001] This invention belongs to the field of robotic arm technology, specifically relating to a reconfigurable variable diameter end effector and robot. Background Technology

[0002] Assembly robots play a crucial role in the construction of lunar research stations, and reconfigurable end effectors are the core components of these robots. The diverse types and specifications (sizes and shapes) of cables in the nuclear reactors or solar power plants of these research stations present challenges to the end effectors in their gripping, plugging, and assembling tasks.

[0003] Existing end effectors and dexterous hands, constrained by degrees of freedom, have numerous actuators and complex control mechanisms, making them unsuitable for tasks in special environments. For example, most existing research on reconfigurable end effectors focuses on increasing the controllable hand index and the number of degrees of freedom, with each increase requiring additional actuators. This necessitates placing more parts within a limited space, leading to increased system complexity. Furthermore, the complex structure resulting from this design leads to limitations in control difficulty and lifespan, making it unsuitable for unmanned lunar operations.

[0004] Furthermore, lunar operations require the connection and installation of various cables and cable harnesses with different interfaces. The varying cable sizes and interface types necessitate a high degree of flexibility in the end effector. Therefore, balancing increased flexibility with reduced complexity becomes a crucial challenge. This necessitates research into the design methods for the reconfigurable end effector's mechanism configuration and dimensions, and the innovative design of a variable-diameter, single-drive, and structurally simple reconfigurable passive end effector, overcoming the design difficulties of reconfigurable passive end effectors. Summary of the Invention

[0005] In view of the shortcomings of the prior art described above, the purpose of this invention is to provide a reconfigurable variable diameter end effector and robot, so as to provide a highly adaptable underactuated grasping method driven by a single drive unit that can be used in special environments.

[0006] To achieve the above objectives, a first aspect of the present invention provides a reconfigurable variable-diameter end effector, comprising a finger unit, a variable-diameter underactuated unit, a bending underactuated unit, and a base unit and a conversion unit coaxially arranged; the variable-diameter underactuated unit and the bending underactuated unit are disposed on the base unit, the finger unit is disposed on the variable-diameter underactuated unit and rotatably connected to the bending underactuated unit; wherein the variable-diameter underactuated unit has a structure capable of adjusting the distance between the finger unit and the axis of the base unit; the bending underactuated unit has a structure capable of adjusting the degree of bending of the finger unit; and the conversion unit has a structure capable of selectively transmitting driving force to the variable-diameter underactuated unit or the bending underactuated unit.

[0007] In one embodiment of the present invention, the conversion unit includes a slide key, a sliding control member, a transmission sleeve, and a conversion member, a diameter conversion part, and a bending conversion part coaxially sleeved on the transmission sleeve; the transmission sleeve has a structure capable of transmitting driving force; the diameter conversion part and the bending conversion part are respectively connected to the diameter under-driven unit and the bending under-driven unit; wherein the transmission sleeve is provided with a sliding groove that allows the slide key to move axially; the slide key passes through the sliding groove and is fixedly connected to the conversion member; the slide key is fixedly connected to the conversion member, and the sliding control member is configured to control the axial movement of the slide key to drive the conversion member to be connected to the diameter conversion part or the bending conversion part.

[0008] In one embodiment of the present invention, the base unit includes a base shell, a base base, a variable diameter support platform, and a curved cover plate; the base base, the variable diameter support platform, and the curved cover plate, which are parallel to each other, are detachably connected to the base shell, and the variable diameter support platform is disposed between the base base and the curved cover plate; the variable diameter under-actuated unit is provided on the side of the variable diameter support platform away from the base base, and the curved under-actuated unit is provided on the side of the curved cover plate near the base base; the transmission sleeve is at least disposed between the variable diameter support platform and the curved cover plate; wherein, the conversion unit further includes a driving member, the driving member is fixedly mounted on the base base, and the output shaft of the driving member is fixedly connected to the transmission sleeve; and / or, the sliding key is made of a magnet, and the sliding control member is an electromagnetic member capable of adjusting the magnetism according to the current; or the sliding control member is an electric push rod, or the sliding control member is a miniature cylinder.

[0009] In one embodiment of the present invention, the diameter conversion unit includes a diameter conversion ratchet and a diameter conversion driven gear coaxially fixed. The diameter conversion ratchet is disposed on the side near the conversion member and has a structure that can mesh with the conversion member. The diameter conversion driven gear is drivenly connected to the diameter under-actuated unit. The diameter conversion unit further includes a diameter conversion bearing for connecting the diameter conversion driven gear to the transmission sleeve. Alternatively, the bending conversion unit includes a bending conversion ratchet and a bending conversion gear coaxially fixed. The bending conversion ratchet is disposed on the side near the conversion member and has a structure that can mesh with the conversion member. The bending conversion gear is drivenly connected to the bending under-actuated unit. The bending conversion unit further includes a bending conversion bearing for connecting the bending conversion gear to the transmission sleeve.

[0010] In one embodiment of the present invention, the variable diameter underactuated unit includes a slide bar, a rack, and a pawl. The slide bar passes through the rack and is fixed to the variable diameter support platform of the base unit to limit the movement direction of the rack. The rack is drivenly connected to the variable diameter conversion part of the conversion unit. The pawl is provided with a guide groove on one side near the variable diameter support platform that meshes with the rack, and is rotatably connected to the finger unit on the other side. The guide groove of the pawl is configured such that when the rack moves under the drive of the variable diameter conversion part, the pawl moves radially relative to the variable diameter support platform.

[0011] In one embodiment of the present invention, the bending underactuated unit includes a bending transmission component, a telescopic assembly, a finger transmission component, a threaded sleeve, and a ball-head connecting rod; one end of the bending transmission component, located on the bending cover plate of the base unit, is drively connected to the bending conversion part, and the other end is universally connected to one end of the telescopic assembly; one end of the finger transmission component, located on the claw part, is threadedly connected to the threaded sleeve, and the other end is universally connected to the other end of the telescopic assembly; one end of the ball-head connecting rod is rotatably connected to the finger unit, and the other end is ball-jointed connected to the threaded sleeve; the bending transmission component has a structure capable of driving the threaded sleeve to perform linear motion.

[0012] In one embodiment of the present invention, the telescopic assembly includes a lower cross shaft portion, an active fork portion, a driven fork portion, and an upper cross shaft portion. One end of the active fork portion is universally connected to the bending transmission member through the lower cross shaft portion, and the other end is telescopically connected to one end of the driven fork portion. The other end of the driven fork portion is universally connected to the finger transmission member through the upper cross shaft portion.

[0013] In one embodiment of the present invention, the active fork has a cavity that can accommodate the driven fork, the cavity has a plurality of grooves that can be arranged in parallel, and the outer wall of the driven fork is provided with protrusions that match the grooves; and / or, a plurality of finger units, variable diameter underactuated units and bending underactuated units are provided, and the plurality of finger units correspond to the plurality of variable diameter underactuated units and bending underactuated units respectively.

[0014] In one embodiment of the present invention, the finger unit includes a fingertip member, a middle joint member, a first finger diameter-changing member, and a second finger diameter-changing member; the middle joint member is rotatably disposed on the side of the fingertip member near the center of the base unit and is rotatably connected to the bending underactuated unit; the first finger diameter-changing member is rotatably disposed on the side of the fingertip member away from the center of the base unit and is connected to the rotatable side of the second finger diameter-changing member; the second finger diameter-changing member is pivotally disposed on the middle joint member, and the other end of the second finger diameter-changing member is rotatably connected to the diameter-changing underactuated unit.

[0015] In one embodiment of the present invention, the second finger diameter changing component includes a right root crank and a left root crank respectively disposed on both sides of the middle finger joint component; the right root crank and the left root crank are parallel and identical in structure and are pivotally mounted on the middle finger joint component by a torsion spring, one end of which is rotatably connected to the first finger diameter changing component, and the other end of which is rotatably connected to the diameter changing underdrive unit.

[0016] A second aspect of this application provides a control method based on the reconfigurable variable-diameter end effector described in the first aspect of this application. The control method includes: determining the size of an object to be grasped, the size including at least a radial dimension; and controlling a finger unit to move to a set position based on the size of the object to be grasped, and then grasping the object.

[0017] A third aspect of this application provides a robot, including a controller unit, an information acquisition unit, and a robotic arm. The robotic arm includes a reconfigurable variable-diameter end effector based on the first aspect of this application. The controller unit, the information acquisition unit, and the robotic arm are communicatively connected. The information acquisition unit acquires information about an object to be grasped and transmits it to the controller unit. The controller unit controls the reconfigurable variable-diameter end effector based on the information about the object to be grasped, thereby enabling the grasping and releasing of the object. The object to be grasped is a medical component for surgical procedures, an installation component for a large-aperture space telescope, or a construction component for lunar exploration and construction.

[0018] A fourth aspect of this application provides a reconfigurable variable diameter end effector, comprising a finger module, a base unit, a drive module, and a conversion unit; the finger module is driven by a lifting screw composed of a finger transmission component of a bending underactuated unit and a screw sleeve, the finger module is connected to a pawl portion of a variable diameter underactuated unit, the pawl portion can move back and forth to change the diameter of the hand, the conversion unit is located at the spindle of the entire manipulator, and can transmit driving force to the bending underactuated unit or the variable diameter underactuated unit through mode switching, and the base housing of the base unit covers the drive module and the conversion unit.

[0019] In one embodiment of the present invention, the base unit further includes a base base, a variable diameter support platform, a bending cover plate, and a base housing; the base base is the support mechanism for the entire end effector, connected to the base housing, and together with the base housing, covers the drive module and conversion unit, and the base base can serve as a device for connecting the end effector to the robotic arm; the side of the variable diameter support platform away from the base base is the movement range of the variable diameter underactuated unit; wherein the variable diameter support platform is provided with mounting holes that can be detachably connected to the base housing for positioning the base housing; the bending cover plate limits and fixes the bending conversion gear and bending transmission component, providing conditions for their correct meshing; In one embodiment of the present invention, the finger module includes a first finger unit, a second finger unit, and a third finger unit with identical structures; the first finger unit has three phalanges; the side of the fingertip member closest to the center of the base unit is connected to the middle finger joint member, and the side of the fingertip member furthest from the center of the base unit is connected to the first finger diameter-changing member; the middle finger joint member rotates around the second finger diameter-changing member; the second finger diameter-changing member is located on both sides of the finger and connected to the middle finger joint member and the first finger diameter-changing member; the second finger diameter-changing member rotates around the finger fixing hole of the first claw portion; the middle finger joint member is connected to the first ball joint connecting rod; the first ball joint connecting rod and the first ball socket connecting member fixed on the screw sleeve form a ball joint; one end of the finger transmission member forms a screw structure with the screw sleeve through a screw, and the other end is rotatably mounted on the claw portion through a finger connecting fork, thereby ensuring the stability of the screw structure; In one embodiment of the present invention, the second finger unit and the third finger unit are exactly the same as the first finger unit, and the distance between each finger unit is 120°. In one embodiment of the present invention, the conversion unit is located on the central axis of the base unit; the diameter-changing conversion ratchet is fixedly connected to the diameter-changing driven gear; the bending conversion ratchet is fixedly connected to the bending conversion gear; the conversion component is located between the bending conversion ratchet and the diameter-changing conversion ratchet, and the conversion component is driven by a sliding key, which can move up and down to mesh with the upper and diameter-changing conversion ratchets respectively; wherein the upper and lower end face gears, the middle end face gear, the diameter-changing driven gear, and the bending conversion gear are all concentric with the output shaft, the transmission sleeve is sleeved on the outside of the output shaft, and its surface has a rectangular groove, in which the sliding key moves up and down; the transmission sleeve can fix the position of the bending conversion ratchet and the bending conversion gear; the sliding key cooperates with the output shaft to drive the movement of the conversion component; In one embodiment of the present invention, the variable diameter driven gear has a variable diameter conversion bearing, and the curved conversion gear has a curved conversion bearing; both the curved conversion ratchet and the variable diameter conversion ratchet have eight ratchet teeth on one end face; both end faces of the conversion component have eight ratchet teeth; the slide key has a magnetic attraction module, which can make the conversion component move up and down under the control of the sliding control component, so as to engage with the curved conversion ratchet and the variable diameter conversion ratchet respectively; In one embodiment of the present invention, when the sliding control component moves the sliding key downward, the intermediate end face ratchet meshes with the diameter conversion ratchet; the driving component drives the diameter conversion driven gear to move; the diameter conversion driven gear meshes with three racks; the racks drive the claw portion to move radially back and forth; that is, the diameter conversion of the finger grasping range is realized; In one embodiment of the present invention, when the sliding control component moves the sliding key upward, the intermediate end face ratchet engages with the bending conversion ratchet; the driving component drives the bending conversion gear to move; the bending conversion gear engages with three bending components; the bending components drive the finger components through a double universal joint structure; thus realizing the opening and closing of the fingers; A fifth aspect of this application provides a robot, including a body, a control unit and a reconfigurable variable-diameter end effector as described in the first aspect of this application, wherein the end of the body is connected to the reconfigurable variable-diameter end effector, and the control unit controls the conversion unit and the drive module based on operational requirements.

[0020] In summary, compared with the prior art, the present invention can provide a three-finger end effector with a single driving element, underactuated capability, variable diameter capability, and lower control system complexity, which is especially suitable for unmanned operation scenarios in space environments. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a three-dimensional view of the overall structure of a reconfigurable variable diameter end effector provided by the present invention; Figure 2 This is a schematic diagram of a reconfigurable variable diameter end effector with the base housing removed, provided by the present invention. Figure 3 This is a schematic diagram of the reconfigurable variable diameter end effector with the jaw section visible through the lens, provided by the present invention. Figure 4 This is a cross-sectional view of a reconfigurable variable diameter end effector conversion unit provided by the present invention; Figure 5 This is a schematic diagram of the reconfigurable variable diameter end effector conversion unit after perspective conversion of the conversion component provided by the present invention; Figure 6 This is a schematic diagram showing the connection between the conversion unit and the underactuated unit of a reconfigurable variable diameter end effector provided by the present invention; Figure 7 This is a top view of a variable diameter underactuated unit of a reconfigurable variable diameter end effector provided by the present invention; Figure 8 This is a structural diagram of the bending underactuated unit of a reconfigurable variable diameter end effector provided by the present invention; Figure 9 This is a schematic diagram of the structure of the finger unit of a reconfigurable variable diameter end effector provided by the present invention; Figure 10 This is a schematic diagram of another structure of the sliding groove and output shaft of a reconfigurable variable diameter end effector provided by the present invention; Figure 11 This is a perspective view of the base shell of a reconfigurable variable diameter end effector provided by the present invention after it has been made transparent.

[0023] Explanation of reference numerals in the attached figures: 100. Finger unit; 110. Finger tip component; 120. Middle finger joint component; 130. First finger diameter reducing component; 140. Second finger diameter reducing component; 141. Left crank at the root; 142. Right crank at the root; 200, Base unit; 210, Base shell; 220, Base base; 230, Variable diameter support platform; 240, Curved cover plate; 300. Variable diameter under-drive unit; 310. Slide bar section; 320. Rack section; 330. Claw section; 331. Guide groove; 400. Bending underactuated unit; 410. Bending transmission component; 411. Connecting gear section; 412. Connecting fork section; 420. Telescopic assembly; 421. Lower cross shaft section; 422. Driving fork section; 423. Driven fork section; 424. Upper cross shaft section; 430. Finger transmission component; 431. Finger connecting fork; 432. Screw; 440. Screw sleeve; 450. Ball joint connecting rod; 500, Conversion unit; 510, Transmission sleeve; 511, Sliding groove; 520, Variable diameter conversion part; 521, Variable diameter conversion ratchet; 522, Variable diameter conversion gear; 523, Variable diameter conversion bearing; 524, Variable diameter mounting hole; 530, Conversion component; 540, Bending conversion part; 541, Bending conversion ratchet; 542, Bending conversion gear; 543, Bending conversion bearing; 544, Bending mounting hole; 550, Sliding key; 560, Drive component; 561, Output shaft. Detailed Implementation

[0024] 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.

[0025] It should be understood that the specific embodiments described herein are for illustrative and explanatory purposes only and are not intended to limit the scope of the invention.

[0026] Please see Figures 1-11 The figure shows a reconfigurable variable diameter end effector, which is a reconfigurable end effector that operates an underactuated variable diameter finger through a single drive 560, preferably operating a finger unit 100 with multiple fingers.

[0027] The reconfigurable variable-diameter end effector includes a finger module, a base unit 200, a drive module, and a conversion unit 500. The finger module, drive module, and conversion unit 500 are fixedly mounted on the base unit 200. The drive module includes a variable-diameter underactuated unit 300 and a bending underactuated unit 400. The finger module is connected to both the variable-diameter underactuated unit 300 and the bending underactuated unit 400. The variable-diameter underactuated unit 300 drives the finger module to move radially along the base unit 200, and the bending underactuated unit 400 drives the finger module to bend. The conversion unit 500 is selectively connected to either the variable-diameter underactuated unit 300 or the bending underactuated unit 400 to selectively control the finger module via either unit.

[0028] The following is a further explanation.

[0029] Please continue reading. Figures 1-4 , Figure 11 The base unit 200 includes a base 220, a variable-diameter support platform 230, a curved cover plate 240, and a base housing 210. The base 220 serves as the support mechanism for the entire end effector and is connected to the base housing 210. The base housing 210 and the base 220 together form an open cavity. This allows the base 220, together with the base housing 210, to enclose the variable-diameter support platform 230, the curved cover plate 240, the drive module, and the conversion unit 500 of the base unit 200. Preferably, the base 220 can serve as a device for connecting the end effector to the robot's robotic arm or other components of the robot.

[0030] A variable-diameter support platform 230 and a curved cover plate 240 are sequentially and alternately arranged on the base 220. The variable-diameter support platform 230 is positioned between the curved cover plate 240 and the base 220, and the variable-diameter support platform 230, the curved cover plate 240, and the base 220 are coaxially arranged. The outer wall of the variable-diameter support platform 230 is detachably fixed to the base shell 210, preferably by a snap-fit ​​connection or a tenon-and-mortise connection, so that the variable-diameter support platform 230 is relatively fixed to the base 220 and the base shell 210. Similarly, the outer wall of the curved cover plate 240 is detachably fixed to the base shell 210, preferably by a snap-fit ​​connection or a tenon-and-mortise connection, so that the curved cover plate 240 is relatively fixed to the base 220 and the base shell 210. The side of the variable-diameter support platform 230 facing away from the base 220 (i.e., Figure 2 The upper side of the curved cover plate 240 is connected to the variable diameter underactuated unit 300, and the side of the curved cover plate 240 facing the base 220 (i.e., Figure 2 (The lower side of the middle) is connected to the bending underactuated unit 400.

[0031] Preferably, the variable diameter support platform 230 is provided with mounting holes that can be combined with the base housing 210 to position the base housing 210, so that the base housing 210 can be better installed with the base base 220.

[0032] The structure of the conversion unit 500 is described below.

[0033] Please see Figures 2-6 The conversion unit 500 includes a transmission sleeve 510, a diameter conversion section 520, a conversion component 530, a bending conversion section 540, a sliding key 550, a driving component 560, and a sliding control component (not shown in the figure). The driving component 560 is fixedly mounted on the base 220, and the output shaft 561 of the driving component 560 is coaxially arranged with the diameter conversion support 230, the bending cover plate 240, and the base 220. The diameter conversion section 520 includes a diameter conversion ratchet 521, a diameter conversion gear 522, and a diameter conversion bearing 523. The bending conversion section 540 includes a bending conversion gear 542, a bending conversion ratchet 541, and a bending conversion bearing 543.

[0034] The transmission sleeve 510 has a structure capable of receiving driving force. Specifically, the transmission sleeve 510 is sleeved on and fixedly connected to the output shaft 561 of the drive member 560, so that the transmission sleeve 510 can rotate with the rotation of the output shaft 561. The transmission sleeve 510 extends from the curved cover plate 240 toward the base 220, and is at least disposed between the curved cover plate 240 and the variable diameter support 230. One end of the transmission sleeve 510 is rotatably connected to the curved cover plate 240, and the other end is sleeved on and fixedly connected to the output shaft 561.

[0035] A diameter conversion ratchet 521, a conversion element 530, and a bending conversion ratchet 541 are sleeved on a transmission sleeve 510. The diameter conversion ratchet 521 is connected to the diameter under-driven unit 300 via a diameter conversion gear 522, which is relatively fixedly positioned at a first predetermined axial position on the transmission sleeve 510, near the diameter support 230 within the region between the diameter support 230 and the bending cover plate 240. Similarly, the bending conversion ratchet 541 is connected to the bending under-driven unit 400, thereby fixing it at a second predetermined axial position on the transmission sleeve 510, also near the bending cover plate 240 within the region between the diameter support 230 and the bending cover plate 240. The conversion element 530 is disposed between the diameter conversion ratchet 521 and the curved conversion ratchet 541, and is fixedly connected to the slide key 550 so that the conversion element 530 can move axially in the transmission sleeve 510 and engage with the diameter conversion ratchet 521 or the curved conversion ratchet 541.

[0036] Slide key 550 in Figure 5 The transmission sleeve 510 has a rectangular parallelepiped structure. The sliding key 550 engages with the sliding groove 511 on the transmission sleeve 510, allowing the sliding key 550 to move axially within the sliding groove 511. Specifically, the transmission sleeve 510 has a sliding groove 511 in a designated area along its axial direction. The sliding groove 511 is an elongated hole extending through the axial direction of the transmission sleeve 510. The sliding groove 511 accommodates the sliding key 550, allowing it to pass through and move axially along the transmission sleeve 510. The sliding key 550 is fixedly connected to the conversion member 530, enabling the conversion member 530 to move axially relative to the transmission sleeve 510 within the designated area under the influence of the sliding key 550, thus engaging with the diameter conversion ratchet 521 or the curved conversion ratchet 541. The designated area is configured to allow the conversion member 530 to be driven by both the diameter conversion ratchet 521 and the curved conversion ratchet 541.

[0037] The sliding control component (not shown in the figure) has a structure capable of controlling the axial movement of the slide key 550, thereby enabling the slide key 550 to move axially along the transmission sleeve 510 in conjunction with the slide key 550. There are many existing solutions for the sliding control component, which will not be detailed here. In one specific embodiment, the sliding control component is an electromagnetic component, and the slide key 550 is made of a magnet. The electromagnetic component is configured to adjust its magnetism according to the current, thereby driving the slide key 550 to move axially along the transmission sleeve 510 by adjusting the magnitude of the current in the electromagnetic component. In another specific embodiment, the sliding control component is an electric push rod, which enables the slide key 550 to move axially along the transmission sleeve 510. In yet another specific embodiment, the sliding control component is a miniature cylinder, which enables the slide key 550 to move axially along the transmission sleeve 510. It is naturally understood that the position of the sliding control component is only necessary to enable the slide key 550 to move axially along the transmission sleeve 510 by cooperating with it. It can be installed on the transmission sleeve 510, on the variable diameter support platform 230, or on the curved cover plate 240, and the specific details will not be elaborated further.

[0038] It is understandable that, under the control of the sliding control component, the slide key 550 can drive the conversion component 530 to move axially along the transmission sleeve 510 to a position where it engages with the diameter conversion ratchet 521, or to a position where it engages with the bending conversion ratchet 541. Since the transmission sleeve 510 is fixedly connected to the output shaft 561 of the drive component 560, when the drive component 560 drives the output shaft 561 to rotate, it drives the transmission sleeve 510 to rotate. Furthermore, since the slide key 550 is sleeved in the sliding groove 511 of the transmission sleeve 510, when the transmission sleeve 510 rotates, it can drive the slide key 550 to rotate, thereby transmitting the driving force of the drive component 560 to the slide key 550. Through the control of the sliding control component, the driving force of the slide key 550 is transmitted to the diameter conversion ratchet 521 or the bending conversion ratchet 541, thereby transmitting the driving force to the diameter under-driven unit 300 or the bending under-driven unit 400.

[0039] Preferred, in Figure 10 In this specific embodiment, both the bending conversion ratchet 541 and the diameter conversion ratchet 521 have eight ratchet teeth on their end faces; the conversion component 530 also has eight ratchet teeth on both end faces to cooperate with the bending conversion ratchet 541 and the diameter conversion ratchet 521. The advantage of providing eight ratchet teeth is that it can better achieve the cooperation between the conversion component 530 and the bending conversion ratchet 541 and the diameter conversion ratchet 521.

[0040] Please continue reading. Figure 4 The diameter conversion section 520 of the conversion unit 500 also includes a diameter conversion gear 522 and a diameter conversion bearing 523. A diameter conversion ratchet 521 is sleeved on and fixedly connected to the diameter conversion gear 522, and is connected to the diameter underdrive unit 300 via the diameter conversion gear 522. The diameter conversion gear 522 is spaced on the diameter support platform 230 and is coaxially arranged with the diameter support platform 230. A diameter conversion mounting hole 524, not smaller than the size of the transmission sleeve 510, is provided on the axis of the diameter conversion gear 522 to facilitate the passage of the transmission sleeve 510 through the diameter conversion gear 522. The diameter conversion gear 522 and the transmission sleeve 510 are connected via the diameter conversion bearing 523, allowing the diameter conversion gear 522 to be supported by the transmission sleeve 510 and not necessarily follow the rotation of the transmission sleeve 510.

[0041] As an example implementation, the inner diameter of the variable diameter conversion gear 522 is provided with a variable diameter mounting hole 524 that is narrower at the top and wider at the bottom. The lower region of the variable diameter mounting hole 524 is larger than the upper region, and the upper region is larger than the transmission sleeve 510 so as not to contact it. The variable diameter conversion bearing 523 is sleeved in the lower region of the mounting hole, with its inner wall fixedly connected to the transmission sleeve 510 and its outer wall fixedly connected to the inner wall of the variable diameter conversion gear 522, thereby realizing the connection between the transmission sleeve 510 and the variable diameter conversion gear 522. At the same time, since the inner diameter of the variable diameter conversion gear 522 is set to be narrower at the top and wider at the bottom, and the variable diameter conversion bearing 523 is located in the lower region of the variable diameter conversion gear 522, the transmission sleeve 510 can effectively support the variable diameter conversion gear 522.

[0042] Similarly, the bending conversion section 540 of the conversion unit 500 also includes a bending conversion gear 542 and a bending conversion bearing 543. A bending conversion ratchet 541 is sleeved on and fixedly connected to the bending conversion gear 542, and is connected to the bending underactuated unit 400 via the bending conversion gear 542. The bending conversion gear 542 is positioned with a clearance on the side of the bending cover plate 240 near the variable diameter support platform 230 (in... Figure 4 The lower part (in the middle) is fixedly connected to the bending conversion ratchet 541 and coaxially arranged with the diameter-changing support 230 and the transmission sleeve 510. Similar to the diameter-changing conversion gear 522, the axis of the bending conversion gear 542 is provided with a bending mounting hole 544 not smaller than the size of the transmission sleeve 510, so as to facilitate the transmission sleeve 510 to pass through the bending conversion gear 542. The bending conversion gear 542 and the transmission sleeve 510 are connected by a bending conversion bearing 543, so that the bending conversion gear 542 can be supported by the transmission sleeve 510 and does not necessarily follow the rotation of the transmission sleeve 510.

[0043] Specifically, the inner diameter of the curved conversion gear 542 is provided with a curved mounting hole 544 that is wider at the top and narrower at the bottom. The upper region of the curved mounting hole 544 is larger than the lower region, and the lower region is larger than the transmission sleeve 510 so as not to contact it. The curved conversion bearing 543 is sleeved in the upper region of the mounting hole, with its inner wall fixedly connected to the transmission sleeve 510 and its outer wall fixedly connected to the inner wall of the curved conversion gear 542, thereby realizing the connection between the transmission sleeve 510 and the curved conversion gear 542. At the same time, since the inner diameter of the curved conversion gear 542 is set to be narrower at the bottom and wider at the top, and the curved conversion bearing 543 is located in the upper region of the curved conversion gear 542, the transmission sleeve 510 can effectively support the curved conversion gear 542.

[0044] It should be noted that this application does not impose any limitations on the dimensions (axial length) of the output shaft 561 of the drive component 560. Figure 4In this specific embodiment, the size of the output shaft 561 is set so as not to interfere with the sliding groove 511. Figure 4 This is manifested in that the axial extension dimension of the output shaft 561 from one end of the drive member 560 is smaller than the distance from the end of the transmission sleeve 510 near the drive member 560 to the sliding groove 511. In this case, the output shaft 561 indirectly drives the slide key 550 to rotate. In an alternative embodiment, please refer to... Figure 10 The output shaft 561 extends axially from one end of the drive member 560, and its dimension is greater than the distance from the end of the transmission sleeve 510 near the drive member 560 to the sliding groove 511. The output shaft 561 has a groove of the same size as the sliding groove 511 at the position corresponding to the sliding groove 511 so that the slide key 550 can move axially relative to the sliding groove 511 and the output shaft 561. Of course, at this time, it can also be understood that the output shaft 561 directly drives the slide key 550 to rotate. Figure 10 The advantage of this method is that, compared to Figure 4 This provides greater support for the slide key 550.

[0045] It is understandable that the sliding groove 511 can be either a through groove or a non-through groove, as long as it can directly or indirectly drive the sliding key 550 to rotate when the output shaft 561 rotates. Figure 4 In this specific embodiment, the sliding groove 511 is a groove that passes through the transmission sleeve, so that the sliding key 550 passes through the transmission sleeve and is fixed to the conversion component 530. Figure 10 In this alternative embodiment, the sliding groove 511 is a non-through groove, allowing one end of the slide key 550 to be inserted into the sliding groove 511 and move axially relative to it. Preferably, the size of the output shaft 561 of the drive member 560 is larger than the distance from the end of the transmission sleeve 510 near the drive member 560 to the sliding groove 511, so that one end of the slide key is inserted into the groove on the output shaft 561 corresponding to the sliding groove 511, thereby improving the stability of the entire structure.

[0046] The variable diameter underactuated unit 300 will be explained and introduced below.

[0047] Please see Figures 1-7 The variable diameter underactuated unit 300 is used to adjust the radial distance from the finger module to the axis of the base unit 200. The variable diameter underactuated unit 300 includes a slide bar portion 310, a rack portion 320, and a pawl portion 330. The slide bar portion 310 is fixedly mounted on the base unit 200, for example, it can be fixedly mounted on the variable diameter support platform 230 or the base housing 210. Figure 1 In this embodiment, when the slide bar portion 310 is disposed on the base housing 210, for example, it can be configured such that the base housing 210 has a hole for fixing the slide bar portion 310 (in Figure 1 (The yellow circular hole on the outer casing 210 of the middle base). Additionally, in Figure 1 In the middle, the base shell 210 is also provided with a structure fixed to the variable diameter support platform 230 (in Figure 1 (Rectangular piece on the middle base housing 210).

[0048] In one embodiment, the slide bar portion 310 is configured to be parallel to the tangent of the variable diameter conversion gear 522. The rack portion 320 meshes with the variable diameter conversion gear 522 and is provided with a through hole so that the slide bar portion 310 can pass through the rack portion 320. Therefore, when the variable diameter conversion gear 522 rotates, the rack portion 320 meshing with the variable diameter conversion gear 522 moves linearly under the guidance of the slide bar portion 310, thereby converting the rotational motion of the variable diameter conversion gear 522 into linear motion of the rack portion 320 along the tangent direction of the variable diameter conversion gear 522. The pawl portion 330 is provided on the side of the rack portion 320 away from the variable diameter support platform 230 and meshes with the rack portion 320 through a guide groove 331, which is configured to guide the pawl portion 330 to move radially along the variable diameter conversion gear 522. The claw portion 330 engages with the rack portion 320 on one side near the variable diameter support 230, and is connected to the finger module on the other side.

[0049] Furthermore, when the variable diameter conversion gear 522 is driven to rotate, it drives the rack part 320 meshing with it to move linearly along the tangential direction of the variable diameter conversion gear 522, and drives the pawl part 330 to move radially, so that the pawl part 330 moves closer to or further away from the axis, thereby driving the finger module to change diameter.

[0050] It should be noted that the number of slide bars 310, racks 320, and claws 330 corresponds one-to-one with the number of finger units 100 in the finger module. In this specific embodiment shown in the figure, the finger module has one finger unit 100, therefore, there are also three slide bars 310, racks 320, and claws 330, each corresponding to a finger unit. Specifically, the slide bar 310 includes a first fixed slide bar corresponding to the first finger unit, a second fixed slide bar corresponding to the second finger unit, and a third fixed slide bar corresponding to the third finger unit. Correspondingly, the racks 320 includes a first rack corresponding to the first fixed slide bar, a second rack corresponding to the second fixed slide bar, and a third rack corresponding to the third fixed slide bar. Correspondingly, the claws 330 includes a first claw corresponding to the first rack, a second claw corresponding to the second rack, and a third claw corresponding to the third rack. Further details will not be elaborated further.

[0051] The bending underactuated unit 400 is described below.

[0052] Please see Figure 8 , Figure 9The bending underactuated unit 400 is used to adjust the degree of bending / tilting of the finger module relative to the axis of the base unit 200. The bending underactuated unit 400 includes a bending drive member 410, a telescopic assembly 420, a finger drive member 430, a threaded sleeve 440, and a ball joint connecting rod 450. The bending drive member 410 is used for transmission connection with the bending conversion section 540 of the conversion unit 500. The telescopic assembly 420 includes a lower cross shaft portion 421, a driving fork portion 422, a driven fork portion 423, and an upper cross shaft portion 424.

[0053] Please see Figure 4 The bending transmission component 410 is disposed around the bending conversion gear 542 and meshes with the bending conversion gear 542. The bending transmission component 410 is rotatably disposed on the bending cover plate 240 and extends through it. Specifically, the bending transmission component 410 includes a fixedly disposed connecting gear section 411 and a connecting fork section 412. The connecting gear section 411 is disposed on the side of the bending cover plate 240 near the reducing support platform 230 (in... Figure 4 The middle (lower side) meshes with the bending conversion gear 542, and the connecting fork 412 is located on the side of the bending cover plate 240 away from the variable diameter support platform 230 (in... Figure 4 The upper part (middle) is connected to the lower cross shaft 421. Furthermore, when the bending conversion gear 542 rotates under the drive of the bending conversion ratchet 541, it drives the bending transmission member 410 to rotate accordingly.

[0054] Please see Figure 8 The lower cross shaft portion 421 is rotatably connected to the connecting fork section 412 and the driving fork portion 422 of the bending transmission member 410, forming a universal joint structure with the bending transmission member 410 and the driving fork portion 422. The driven fork portion 423 is partially sleeved within the driving fork portion 422 and can extend and retract relative to the driving fork portion 422. Specifically, the driving fork portion 422 has a cavity that can accommodate the driven fork portion 423, and the cavity of the driving fork portion 422 is configured such that the driven fork portion 423 can only perform extension and retraction movements and cannot perform steering movements. Figure 8 In this specific embodiment, the cavity of the driving fork 422 has multiple parallel grooves, and the outer wall of the driven fork 423 is provided with protrusions that match the grooves. This allows the driving fork 422 and the driven fork 423 to only achieve relative extension and retraction, but not relative rotation. That is, during rotation, the driven fork 423 will rotate along with the driving fork 422. Similar to the lower cross shaft 421, the upper cross shaft 424 is rotatably connected to the driven fork 423 and the finger transmission member 430, and forms a universal joint structure with the finger transmission member 430.

[0055] The finger transmission component 430 is relatively fixedly mounted on the pawl portion 330 of the variable diameter underdrive unit 300, and includes a finger connecting fork 431 and a screw 432. The finger connecting fork 431 and the screw 432 are fixedly connected, preferably integrally formed. The finger connecting fork 431 is rotatably connected to the driven fork portion 423 via the upper cross shaft portion 424, forming a universal joint. The screw 432 and the threaded sleeve 440 are bolted movably connected.

[0056] Please see Figure 9 The threaded sleeve 440 is threadedly connected to the screw 432 of the finger transmission component 430 to form a lead screw structure, and is universally connected to the ball joint connecting rod 450. One end of the ball joint connecting rod 450 is universally connected to the threaded sleeve 440, and the other end is rotatably connected to the middle joint 120 of the finger unit 100. Preferably, the universal connection is achieved through a ball joint connection.

[0057] Therefore, when the bending conversion gear 542 rotates under the drive of the bending conversion ratchet 541, it drives the bending transmission member 410 to rotate, and after transmission through the active fork 422 and the driven fork 423, it drives the screw 432 of the finger transmission member 430 to rotate, thereby enabling the screw sleeve 440 to make linear motion under the rotation of the screw 432, and then drive the finger unit 100 to bend through the ball joint connecting rod 450.

[0058] The finger module will be explained further below.

[0059] Please see Figures 1-3 , Figure 9 The finger module has one or more finger units 100. It should be noted that when the finger module has multiple finger units 100, to improve manufacturing efficiency and reduce manufacturing costs, it is preferable that the structures of the multiple fingers are completely identical. Figure 9 In this specific embodiment, the finger module includes a first finger unit, a second finger unit, and a third finger unit, and the three finger units 100 have identical structures. Of course, in an alternative embodiment, the finger module may also have two fingers, four fingers, or other specific numbers of fingers, and the structures of each finger may be identical or different, as long as the concept of the present invention can be realized; further details will not be elaborated here.

[0060] The finger unit 100 includes a fingertip member 110, a middle finger joint member 120, a first finger diameter-changing member 130, and a second finger diameter-changing member 140. The fingertip member 110 is located on the side closest to the central axis of the base unit 200. Figure 2The middle finger joint 120 is rotatably connected to the base unit 200 (inner side), and the side away from the central axis of the base unit 200 is rotatably connected to the first finger diameter reducing component 130. The middle finger joint 120 is a frame formed by two "L"-shaped connecting rods, so that one end of the middle finger joint 120 is rotatably connected to the fingertip component 110, and the other end is rotatably connected to the bending underactuated unit 400.

[0061] The first finger diameter reducing component 130 is an L-shaped structure. The second finger diameter reducing component 140 includes a left root crank 141 and a right root crank 142. The right root crank 142 and the left root crank 141 are two identical L-shaped structures, and their middle portions are rotatably connected to the middle finger joint 120, i.e., the first right root crank and the first left root crank are pivotally mounted on the middle finger joint 120. More preferably, the middle portions of the right root crank 142 and the left root crank 141 are rotatably connected to the middle finger joint 120 via an elastic element, such as a torsion spring, so that when the force required for grasping is greater than the torsion spring limit, the finger unit 100 can envelop and grasp the object.

[0062] One end of the right crank 142 and the left crank 141 at the root are rotatably connected to the first finger diameter reducing component 130, and the other end is rotatably connected to the pawl portion 330 of the diameter reducing underdrive unit 300. The right crank 142 and the left crank 141 at the root can be fixedly connected or integrated into one component, or they can be set separately to take into account the difficulty of integration. This application does not impose any restrictions on this.

[0063] Therefore, in Figure 2 In this embodiment, the inner side of the bottom of the fingertip member 110 (the side closest to the central axis of the base unit 200 is the inner side) is connected to the middle finger joint member 120, and the outer end of the fingertip member 110 is rotatably connected to the first finger diameter reducing member 130. The middle finger joint member 120 is pivotally mounted on the second finger diameter reducing member 140, specifically through the right root crank 142 and the left root crank 141 located on both sides of the middle finger joint member 120, which achieve the rotatable connection between the middle finger joint member 120 and the second finger diameter reducing member 140. This allows the second finger diameter reducing member 140 to be rotatably connected to the middle finger joint member 120 in the bending area, while one end is rotatably connected to the first finger diameter reducing member 130, and the other end is rotatably connected to the finger fixing hole (not shown in the figure) on the claw portion 330 of the diameter reducing underdrive unit 300. One end of the middle joint 120 is rotatably connected to the fingertip 110, and the other end is rotatably connected to the ball joint connecting rod 450 of the bending underactuated unit 400.

[0064] When the conversion member 530 moves to the position matching the diameter conversion ratchet 521, the diameter conversion ratchet 521 drives the diameter conversion gear 522 to rotate, and drives the finger unit 100 to make radial movement through the pawl part 330, thereby realizing the diameter change movement of the finger unit 100 relative to the base unit 200. At this time, although the finger transmission member 430 of the bending underdriven unit 400 is fixed on the pawl part 330, the radial displacement when the pawl part 330 makes radial movement can be well counteracted because the driving fork part 422 and the driven fork part 423 can extend and retract.

[0065] When the conversion component 530 moves to the position matching the bending conversion ratchet 541, the bending conversion ratchet 541 drives the bending conversion gear 542 to rotate, and transmits the rotational force to the screw 432 of the finger transmission component 430 through components such as the bending transmission component 410, the driving fork 422 and the driven fork 423. The screw 432 and the screw sleeve 440 cooperate to realize the screw movement, and then under the action of the ball joint connecting rod 450, the finger joint component 120 of the finger unit 100 rotates around the second finger diameter changing component 140, thereby realizing the bending / opening movement of the finger unit 100.

[0066] Preferably, the finger module has three identical finger units 100, with a spacing of 120° between them. Correspondingly, three bending underactuated units 400 and three diameter-changing underactuated units 300 are also provided, each corresponding to one of the three finger units 100, and the specific details will not be elaborated further.

[0067] Therefore, the solution provided in this application allows for selective control of the diameter variation and bending of the finger unit 100 using a single drive unit 560, thus enabling better adaptation to various motion conditions. For example, when plugging and unplugging cables of different types and specifications, simply adjust the distance between the different finger units 100 according to the cable size requirements before grasping. Furthermore, since the solution uses only one power source, it is better suited for applications in special environments, such as the lunar surface. Its minimalist structure, lightweight design, and low failure points make it particularly suitable for the complex and difficult-to-maintain lunar environment, significantly reducing maintenance and troubleshooting difficulties. Additionally, the single drive source results in lower overall energy consumption and simpler control logic, effectively adapting to space energy constraints and communication latency, greatly reducing maintenance costs, and ensuring compatibility with extreme temperature and vacuum environments.

[0068] In addition, the present invention also provides a mobile robot for performing other construction tasks on the lunar surface or in space, or other space missions, wherein the robot's end is provided with a remote dual-joystick underactuated end effector provided in this application.

[0069] Another aspect of this application provides a control method for an end effector, which is based on the aforementioned reconfigurable variable diameter end effector, the control method comprising the following steps: S100: Determine the size of the object to be grasped, the size including at least the radial dimension.

[0070] The size of the object to be grasped can be confirmed directly through the cloud or through detectors such as vision cameras. There are many solutions in the existing technology, which will not be elaborated here.

[0071] S200: Based on the size of the object to be grasped, the finger unit is controlled to move to a set position and then grasps the object.

[0072] After determining the size of the object to be grasped, the first step is to control the conversion component 530 to move to a position that mates with the variable diameter underactuated unit 300. Then, the control drive component 560 provides driving force, which in turn drives the finger unit 100 to move to the set position via the variable diameter underactuated unit 300. Subsequently, the control conversion component 530 moves to a position that mates with the bending underactuated unit 400, and the control drive component 560 provides driving force again, enabling the finger unit 100 to grasp the object via the bending underactuated unit 400.

[0073] This application also provides a robot, including a controller unit, an information acquisition unit, and a robotic arm. The robotic arm includes the aforementioned reconfigurable variable-diameter end effector. The controller unit, the information acquisition unit, and the robotic arm are communicatively connected. The information acquisition unit acquires information about the object to be grasped and transmits it to the controller unit. The controller unit controls the reconfigurable variable-diameter end effector based on the information about the object to be grasped, thereby enabling the grasping and releasing of the object. The object to be grasped is a medical component used in surgical procedures, an installation component used for mounting a large-aperture space telescope, or a construction component used for lunar construction and exploration.

[0074] The above provides a detailed description of the present invention. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

[0075] Throughout this specification, the terms "an embodiment," "embodiment," or "specific embodiment" refer to a particular feature, structure, or characteristic described in connection with an embodiment that is included in at least one embodiment of the invention, but not necessarily in all embodiments. Therefore, the various representations of the phrases "in one embodiment," "in an embodiment," or "in a specific embodiment" in different places throughout the specification do not necessarily refer to the same embodiment. Furthermore, a particular feature, structure, or characteristic of any specific embodiment of the invention can be combined with one or more other embodiments in any suitable manner. It should be understood that other variations and modifications of the embodiments of the invention described and illustrated herein may be based on the teachings herein and will be considered part of the spirit and scope of the invention.

[0076] It should also be understood that one or more of the elements shown in the figures may be implemented in a more separate or more integrated manner, or may even be removed because they are inoperable in certain circumstances or provided because they may be useful for a particular application.

[0077] Furthermore, unless otherwise expressly stated, any arrows in the accompanying drawings should be considered illustrative only and not limiting. Additionally, unless otherwise stated, the term "or" as used herein is generally intended to mean "and / or". Where a term is anticipated to provide a separation or combination capability that is unclear, a combination of components or steps will also be considered as indicated.

Claims

1. A reconfigurable variable diameter end effector, characterized in that, It includes a finger unit, a variable diameter underactuated unit, a bending underactuated unit, and a base unit and a conversion unit arranged coaxially; the variable diameter underactuated unit and the bending underactuated unit are disposed on the base unit, and the finger unit is disposed on the variable diameter underactuated unit and rotatably connected to the bending underactuated unit. in The variable diameter underactuated unit has a structure that can adjust the distance between the finger unit and the axis of the base unit; The bending underactuated unit has a structure that can adjust the degree of bending of the finger unit; The conversion unit has a structure that allows it to selectively transmit driving force to the variable diameter underactuated unit or the bending underactuated unit.

2. The reconfigurable variable diameter end effector according to claim 1, characterized in that, The conversion unit includes a sliding key, a sliding control component, a transmission sleeve, and a conversion component, a diameter conversion part, and a bending conversion part coaxially sleeved on the transmission sleeve; the transmission sleeve has a structure capable of transmitting driving force; the diameter conversion part and the bending conversion part are respectively connected to the diameter underactuated unit and the bending underactuated unit. in The slide key is fixedly connected to the conversion component, and the sliding control component is configured to control the axial movement of the slide key to drive the conversion component to be connected to the diameter conversion part or the bending conversion part in a transmission connection; wherein The transmission sleeve is provided with a sliding groove that allows the slide key to move axially; the slide key passes through the sliding groove and is fixedly connected to the conversion component.

3. The reconfigurable variable diameter end effector according to claim 2, characterized in that, The base unit includes a base, a variable diameter support platform, and a curved cover plate that are parallel to each other. The variable diameter support platform is disposed between the base and the curved cover plate. The variable diameter under-drive unit is provided on the side of the variable diameter support platform away from the base, and the curved cover plate is provided on the side of the curved cover plate close to the base. The transmission sleeve is at least disposed between the variable diameter support platform and the curved cover plate. The conversion unit further includes a drive member, which is fixedly mounted on the base and its output shaft is fixedly connected to the transmission sleeve. And / or, the slide key is made of a magnet, and the sliding control is an electromagnetic component capable of adjusting the magnetism according to the current; or the sliding control is an electric push rod, or the sliding control is a miniature cylinder.

4. The reconfigurable variable diameter end effector according to claim 2, characterized in that, The diameter conversion unit includes a diameter conversion ratchet and a diameter conversion driven gear coaxially fixed. The diameter conversion ratchet is located on the side close to the conversion member and has a structure that can mesh with the conversion member. The diameter conversion driven gear is drivenly connected to the diameter underactuated unit. The diameter conversion unit also includes a diameter conversion bearing for connecting the diameter conversion driven gear to the transmission sleeve. And / or, the bending conversion unit includes a bending conversion ratchet and a bending conversion gear coaxially fixed, the bending conversion ratchet being disposed on the side near the conversion member and having a structure that can mesh with the conversion member, and the bending conversion gear being drively connected to the bending underactuated unit; wherein, the bending conversion unit further includes a bending conversion bearing, the bending diameter conversion bearing being used to connect the bending conversion gear to the transmission sleeve.

5. The reconfigurable variable diameter end effector according to any one of claims 1-4, characterized in that, The underactuated variable diameter unit includes a slide bar, a rack, and a pawl. The slide bar passes through the rack and is fixed to the variable diameter support platform of the base unit to limit the movement direction of the rack. The rack is drively connected to the variable diameter conversion part of the conversion unit. The claw portion is provided with a guide groove on one side near the variable diameter support platform that meshes with the rack portion, and the other side is rotatably connected to the finger unit; the guide groove of the claw portion is configured such that when the rack portion moves under the drive of the variable diameter conversion portion, the claw portion moves radially relative to the variable diameter support platform.

6. The reconfigurable variable diameter end effector according to claim 5, characterized in that, The bending underactuated unit includes a bending transmission component, a telescopic assembly, a finger transmission component, a threaded sleeve, and a ball-head connecting rod. One end of the bending transmission component, located on the bending cover plate of the base unit, is drively connected to the bending conversion part of the conversion unit, and the other end is universally connected to one end of the telescopic assembly. One end of the finger transmission component, located on the claw part, is threadedly connected to the threaded sleeve, and the other end is universally connected to the other end of the telescopic assembly. One end of the ball-head connecting rod is rotatably connected to the finger unit, and the other end is ball-jointed to the threaded sleeve. The bending transmission component has a structure capable of driving the threaded sleeve to perform linear motion.

7. The reconfigurable variable diameter end effector according to claim 6, characterized in that, The telescopic assembly includes a lower cross shaft, a driving fork, a driven fork, and an upper cross shaft. One end of the driving fork is universally connected to the bending transmission member via the lower cross shaft, and the other end is telescopically connected to one end of the driven fork. The other end of the driven fork is universally connected to the finger transmission member via the upper cross shaft.

8. The reconfigurable variable diameter end effector according to claim 7, characterized in that, The driving fork has a cavity that can accommodate the driven fork, and the cavity has a plurality of grooves that can be arranged in parallel. The outer wall of the driven fork is provided with protrusions that match the grooves. And / or, multiple finger units, variable diameter underactuated units, and bending underactuated units are provided, and multiple finger units correspond to multiple variable diameter underactuated units and bending underactuated units respectively.

9. The reconfigurable variable diameter end effector according to any one of claims 1-4, characterized in that, The finger unit includes a fingertip component, a middle joint component, a first finger diameter-changing component, and a second finger diameter-changing component. The middle joint component is rotatably disposed on the side of the fingertip component near the center of the base unit and is rotatably connected to the bending underactuated unit. The first finger diameter-changing component is rotatably disposed on the side of the fingertip component away from the center of the base unit and is connected to the rotatable side of the second finger diameter-changing component. The second finger diameter-changing component is pivotally disposed on the middle joint component, and the other end of the second finger diameter-changing component is rotatably connected to the diameter-changing underactuated unit.

10. The reconfigurable variable diameter end effector according to claim 9, characterized in that, The second component for changing the diameter of the finger includes a right crank and a left crank at the root, which are respectively disposed on both sides of the middle finger joint. The right crank and the left crank at the root are parallel and have the same structure and are pivotally mounted on the middle finger joint via torsion springs. One end of each crank is rotatably connected to the first component for changing the diameter of the finger, and the other end is rotatably connected to the underactuated unit for changing the diameter.

11. A control method, implemented based on the reconfigurable variable-diameter end effector according to any one of claims 1-10, characterized in that, The control method includes: Determine the dimensions of the object to be grasped, wherein the dimensions include at least the radial dimension; Based on the size of the object to be grasped, the finger unit moves to a set position and then grasps the object.

12. A robot, characterized in that, The device includes a controller unit, an information acquisition unit, and a robotic arm. The robotic arm includes a reconfigurable variable-diameter end effector based on any one of claims 1-10. The controller unit, the information acquisition unit, and the robotic arm are communicatively connected. The information acquisition unit is used to acquire information about the object to be grasped and transmit it to the controller unit. The controller unit is used to control the reconfigurable variable diameter end effector according to the information of the object to be grasped, so as to realize the picking and placing of the object to be grasped; wherein, the object to be grasped is a medical component for medical surgery, or an installation component for the installation of a large-aperture space telescope, or a construction component for lunar construction and exploration.

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