A flexible clamping mechanism for the end of a robot arm

Abstract

The application discloses a flexible clamping mechanism at the end of a mechanical arm of an intelligent robot, relates to the field of intelligent manufacturing equipment mechanical arms, and discloses the following technical scheme: a bearing docking assembly is arranged at the upper end of a preset base body, a preset driving assembly is arranged at the outer side of the lower end of the bearing docking assembly, a guide docking movable element is arranged at the lower end of the bearing docking assembly, and the outer side of the guide docking movable element is in mutual docking with the output end of the preset driving assembly. The flexible clamping mechanism at the end of the mechanical arm of the intelligent robot satisfies the composite support processing requirement through the bearing flexible locking mechanism, the abutting piece at the rear side of the arc-shaped flexible clamping jaw assembly moves forward to implement rigid support on the rear side of the arc-shaped flexible clamping jaw assembly which has been elastically deformed, and the problem that the gripping force of the arc-shaped flexible clamping jaw assembly is attenuated due to insufficient rigidity after deformation is solved, so that the clamping jaw has sufficient load support capacity while maintaining excellent shape adaptability.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology for intelligent manufacturing equipment, specifically a flexible gripping mechanism at the end of a robotic arm for use in intelligent robots. Background Technology

[0002] As industrial robots rapidly develop towards intelligence and flexibility, the performance of the end effector of the robotic arm, namely the gripping device that interacts directly with the work object, has become a key bottleneck restricting the overall capability of the robot system. In fields such as intelligent manufacturing, flexible assembly, and precision machining, the work objects of robots are increasingly showing diverse and irregular characteristics, which puts forward unprecedentedly stringent requirements on the shape adaptability, working load, and versatility of the end gripping mechanism. For example, the patent with announcement number CN206357230U describes a firmly clamping handling robotic arm, which includes a rotating base. A first robotic arm is mounted on the rotating base. A second robotic arm is connected to the end of the first robotic arm away from the rotating base via an electric rotating shaft. A clamping claw is mounted on the end of the second robotic arm away from the first robotic arm. The clamping claw includes a crossbeam. One side of the crossbeam is fixedly connected to the second robotic arm, and the other side has pin holes evenly spaced along the center line of its length. Both sides of the pin holes are provided with locking rails. The clamping arm is driven by a first cylinder, and the clamping force is stable, preventing the handling goods from falling due to unstable clamping force. For example, the patent with announcement number CN207139791U describes a clamping and transferring robotic arm, which includes a frame and a robotic arm. The frame is equipped with a horizontal rail for the robotic arm to move horizontally, and a pulley device for driving the robotic arm to move is provided on the horizontal rail. The robotic arm is equipped with a clamping device, a vertical guide rail for the clamping device to move vertically, a pulley device for driving the clamping device to move vertically, and a rotating device for driving the clamping device to rotate. It can completely replace manual operation, effectively save manpower, better and faster cooperate with automated production lines, has a wide lifting range, and strong adaptability. For example, a material tray clamping robotic arm disclosed in patent CN209954669U includes a base, a vertical rod connected to the top of the base, and a No. 1 motor installed on one side of the top of the base located on the vertical rod. The output end of the No. 1 motor is connected to a No. 1 helical gear, a No. 2 helical gear is provided on one side of the No. 1 helical gear, a lead screw is connected to the top of the No. 2 helical gear, and a sleeve rod is sleeved on the outer surface of the lead screw. Most of the aforementioned existing technologies improve the overall structure. However, in the operation of existing intelligent robot robotic arms, the existing gripping mechanisms generally suffer from the problem of mutual exclusion between gripping force and adaptability. To improve the shape adaptability of the gripper, it is often necessary to reduce the structural stiffness to increase the deformation, but this inevitably leads to a decrease in output load. Conversely, to meet the requirements of heavy-duty gripping, the stiffness is increased, but the adaptability to irregularly shaped parts is sacrificed. When the gripper reaches a large deformation during the deformation process, its back side, i.e., the non-contact surface, lacks effective rigid support, resulting in insufficient support stiffness in the deformation area. It is difficult to form a stable gripping force while maintaining the wrapping flexibility. This makes it easy for existing grippers to slip out when facing heavy or complex-shaped workpieces due to insufficient gripping force. Summary of the Invention

[0003] The purpose of this invention is to provide a flexible gripping mechanism at the end of a robotic arm for intelligent robots, in order to solve the problem mentioned in the background art that when the gripper reaches a large deformation during the deformation process, its back side, i.e., the non-contact surface, lacks effective rigid support, resulting in insufficient support stiffness in the deformation area. This makes it difficult to form a stable gripping force while maintaining the flexibility of the gripper, and causes existing grippers to slip off due to insufficient gripping force when facing heavy or complex-shaped workpieces.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a flexible gripping mechanism at the end of a robotic arm for an intelligent robot, comprising a preset base, a bearing docking component mounted on the upper end of the preset base, and a preset driving component mounted on the outer side of the lower end of the bearing docking component; a guide docking movable component nested at the lower end of the bearing docking component, the outer side of the guide docking movable component docking with the output end of the preset driving component; an arc-shaped flexible gripper component mounted on the lower end of the guide docking movable component, and a bearing flexible locking mechanism provided between the arc-shaped flexible gripper component and the guide docking movable component, thereby satisfying the composite support processing requirements.

[0005] Furthermore, the bearing flexible locking mechanism is provided with a wedge-shaped nested abutment, and the wedge-shaped nested abutment is provided through the middle of the guide docking movable member and the arc-shaped flexible gripper assembly. A transverse movable docking member is nested on the outer side of the guide docking movable member, and the outer side of the transverse movable docking member corresponds to the outer side of the wedge-shaped nested abutment.

[0006] Furthermore, a nested abutment component is nested on the outer side of the guide docking movable component, and a return spring is fixedly connected to the outer side of the nested abutment component. The return spring and the outer side of the guide docking movable component are mutually abutted, and the end side of the nested abutment component corresponds to the outer side of the transverse movable docking component.

[0007] Furthermore, when the arc-shaped flexible gripper assembly is pressed, it deforms and supports along the outer side of the guide docking movable member, and the wedge-shaped nested abutment member on the inner side of the guide docking movable member is displaced outward under force, and the wedge-shaped nested abutment member applies pressure and pushes the contacting transverse movable docking member.

[0008] Furthermore, the lateral movable docking member forms an outward abutment against the nested abutment assembly of the contacting inclined structure, and the nested abutment assembly is displaced along the internal stretching reset spring of the guide docking movable member, thereby abutting and supporting the outer end of the contacting arc-shaped flexible gripper assembly.

[0009] Furthermore, the arc-shaped flexible gripper assembly is provided with a wrapping and carrying mechanism on the side facing the workpiece, which improves the locking range of its flexible wrapping; the wrapping and carrying mechanism is provided with a fitting and nesting member, and the fitting and nesting member is connected to the outside of the wedge-shaped nesting abutment member; a built-in vertical corrugated liquid bladder assembly is nested on the inner side of the fitting and nesting member, and a supply hose is provided through the outer side of the built-in vertical corrugated liquid bladder assembly.

[0010] Furthermore, a spherical support liquid bladder assembly is provided on the inner side of the arc-shaped flexible gripper assembly, and the spherical support liquid bladder assembly is connected to the supply hose. A bearing movable docking component is provided through the inner wall of the arc-shaped flexible gripper assembly, and the outer side of the bearing movable docking component corresponds to the outer side of the spherical support liquid bladder assembly. The built-in vertical corrugated liquid bladder assembly, the supply hose, and the spherical support liquid bladder assembly form a closed liquid circuit. The liquid circuit is pre-filled with working medium, and the initial pre-filling pressure is 0.01 to 0.02 MPa.

[0011] Furthermore, as the wedge-shaped nested contact moves toward the workpiece, the fitting nested component applies pressure to the contacting built-in vertical corrugated liquid bladder assembly, and the built-in vertical corrugated liquid bladder assembly supplies liquid to the interior of the spherical support liquid bladder assembly through the supply hose, and the spherical support liquid bladder assembly is symmetrically distributed about the center point of the wedge-shaped nested contact.

[0012] Furthermore, during the process of the nested contact component being pressed outward, it applies pressure to the contacting bearing movable docking component, and the bearing movable docking component moves outward along the inner wall of the arc-shaped flexible gripper component, and the bearing movable docking component provides bearing support to the outer side of the contacting spherical support liquid bladder component.

[0013] Compared with the prior art, the beneficial effects of the present invention are: This flexible gripping mechanism at the end of a robotic arm for intelligent robots is equipped with a load-bearing flexible locking mechanism to meet the requirements of composite support processing. The whole uses two sets of arc-shaped flexible gripper assemblies as gripping elements. When the preset drive assembly drives the two sets of arc-shaped flexible gripper assemblies to approach each other and contact the workpiece, the arc-shaped flexible gripper assemblies undergo adaptive elastic deformation according to the shape and size of the workpiece, forming a flexible wrap around the workpiece. At the same time, during the deformation process, the wedge-shaped nested abutment on the inner side of the arc-shaped flexible gripper assembly will move inward to match the contact state between the nested abutment and the object. The wedge-shaped nested abutment contact and linkage with the lateral movable docking part. While the lateral movable docking part is pressed and moves, it pushes the nested abutment assembly forward, thereby moving the abutment on the rear side of the arc-shaped flexible gripper assembly forward, providing rigid support to the rear side of the arc-shaped flexible gripper assembly that has undergone elastic deformation. This solves the problem of insufficient stiffness leading to the decrease in gripping force in existing arc-shaped flexible gripper assemblies after deformation, so that the gripper has sufficient load support capacity while maintaining excellent shape adaptability. Furthermore, a wrapping and carrying mechanism is provided to improve the locking range of the flexible wrapping. A spherical support liquid bladder assembly is set inside the arc-shaped flexible gripper assembly. When the nested part contacts the clamped object and moves inward, this movement simultaneously squeezes the nested built-in vertical corrugated liquid bladder assembly. The pressure medium inside the built-in vertical corrugated liquid bladder assembly is driven through the supply hose to the spherical support liquid bladder assembly inside the arc-shaped flexible gripper assembly. This causes the spherical support liquid bladder assembly to deform and expand. After expansion, the spherical support liquid bladder assembly further adheres to the surface of the workpiece, filling the gap between the inside of the arc-shaped flexible gripper assembly and the workpiece. This achieves flexible supplementary wrapping of the outside of the workpiece. After the arc-shaped flexible gripper assembly completes the initial deformation wrapping, the clamping mechanism can use the expansion of the spherical support liquid bladder assembly for secondary flexible wrapping. This significantly increases the contact area between the arc-shaped flexible gripper assembly and the workpiece, making the clamping force distribution more uniform and avoiding workpiece damage caused by stress concentration. Furthermore, during the process of the nested contact component being pressed outward, it will pre-apply pressure to the contacting load-bearing movable docking component, allowing the load-bearing movable docking component to move outward along the inner wall of the arc-shaped flexible gripper component. In this way, the load-bearing movable docking component with a strip-shaped structure on the outside will support the outer side of the contacting spherical support liquid bladder component, ensuring its deformation coverage range, avoiding excessive outward expansion of deformation, and ensuring the support strength and area of ​​the contacting workpiece. Attached Figure Description

[0014] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a three-dimensional structural diagram of the load-bearing docking component of the present invention; Figure 3 This is a schematic diagram of the three-dimensional structure of the pre-designed driving component of the present invention; Figure 4 This is a three-dimensional structural diagram of the guiding docking movable component of the present invention; Figure 5 This is a three-dimensional structural diagram of the built-in vertical corrugated liquid bladder assembly of the present invention; Figure 6 For the present invention Figure 5 A magnified schematic diagram of the central part of the structure; Figure 7 This is a three-dimensional structural diagram of the movable docking component of the present invention; Figure 8 This is a schematic diagram of the three-dimensional structure of the wedge-shaped nested abutment component of the present invention; Figure 9 This is a schematic diagram of the three-dimensional structure of the flexible hose supplied by the present invention; Figure 10 This is a schematic diagram of the deformation structure of the arc-shaped flexible gripper assembly at the workpiece contact end of the present invention; Figure 11 This is a schematic diagram of the contact structure between the nested component and the workpiece in this invention.

[0015] In the diagram: 1. Preset base; 2. Bearing docking component; 3. Preset drive component; 4. Guide docking movable component; 5. Arc-shaped flexible gripper component; 6. Wedge-shaped nested abutment component; 7. Lateral movable docking component; 8. Nested abutment component; 9. Return spring; 10. Built-in vertical corrugated liquid bladder component; 11. Supply hose; 12. Spherical support liquid bladder component; 13. Bearing movable docking component; 14. Fitting nesting component. Detailed Implementation

[0016] 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.

[0017] Example 1: Please refer to Figures 1-11This invention provides the following technical solution: a flexible gripping mechanism at the end of a robotic arm for intelligent robots. To address the problem that when the gripper undergoes significant deformation, its back side (non-contact surface) lacks effective rigid support, resulting in insufficient support stiffness in the deformation area. This makes it difficult to maintain flexible gripping while forming a stable gripping force, causing existing grippers to slip due to insufficient gripping force when facing heavy or complex-shaped workpieces. The invention discloses a mechanism comprising: a bearing docking component 2 mounted on the upper end of a preset base 1; a preset driving component 3 mounted on the outer side of the lower end of the bearing docking component 2; a guide docking movable component 4 nested at the lower end of the bearing docking component 2, with the outer side of the guide docking movable component 4 docking with the output end of the preset driving component 3; an arc-shaped flexible gripper component 5 mounted on the lower end of the guide docking movable component 4; and a bearing flexible locking mechanism between the arc-shaped flexible gripper component 5 and the guide docking movable component 4, thereby meeting the requirements for composite support processing.

[0018] The flexible locking mechanism is equipped with a wedge-shaped nested abutment 6, which runs through the middle of the guide docking movable part 4 and the arc-shaped flexible gripper assembly 5. A transverse movable docking part 7 is nested on the outer side of the guide docking movable part 4, and the outer side of the transverse movable docking part 7 corresponds to the outer side of the wedge-shaped nested abutment 6. A nested abutment assembly 8 is nested on the outer side of the guide docking movable part 4, and a return spring 9 is fixedly connected to the outer side of the nested abutment assembly 8. The return spring 9 abuts with the outer side of the guide docking movable part 4, and the end of the nested abutment assembly 8 corresponds to the outer side of the transverse movable docking part 7. When pressed, the arc-shaped flexible gripper assembly 5 deforms and supports along the outer side of the guide docking movable part 4, and the guide docking... The wedge-shaped nested abutment 6 inside the movable part 4 is displaced outward under force, and the wedge-shaped nested abutment 6 applies pressure and pushes the contacting transverse movable docking part 7. The transverse movable docking part 7 forms an outward abutment against the contacting inclined structure nested abutment assembly 8, and the nested abutment assembly 8 moves along the internal tension return spring 9 of the guide docking movable part 4, thereby abutting and supporting the outer end of the contacting arc-shaped flexible gripper assembly 5. Two sets of arc-shaped flexible gripper assemblies 5 are used as clamping elements. When the preset drive assembly 3 drives the two sets of arc-shaped flexible gripper assemblies 5 to approach each other and contact the workpiece (the preset drive assembly 3 can be a combination structure of cylinder, hydraulic cylinder or motor and screw drive, and its output end is connected to the guide docking movable part 4 for driving the two sets of arc-shaped flexible gripper assemblies 5 to move towards each other), the two sets of arc-shaped flexible gripper assemblies 5 are driven to move towards each other. (Moving closer or further away from each other), the arc-shaped flexible gripper assembly 5 undergoes adaptive elastic deformation according to the shape and size of the workpiece, forming a flexible wrap around the workpiece. Simultaneously, during the deformation process, the wedge-shaped nested abutment member 6 on its inner side moves inward, engaging with the nested member 14 and the object. This wedge-shaped nested abutment member 6 contacts and moves in conjunction with the lateral movable docking member 7. As the lateral movable docking member 7 is pressed and moves, it propels the nested abutment assembly 8 forward, causing the abutment member on the rear side of the arc-shaped flexible gripper assembly 5 to move forward, providing rigid support to the rear side of the elastically deformed arc-shaped flexible gripper assembly 5. When the arc-shaped flexible gripper assembly 5 is in operation, only the elastic portion on its end side can deform according to the outer contact state of the material. After its end deforms, the spherical support liquid bladder assembly 12 inside will contact the workpiece to provide synchronous support. Next, the deformed arc-shaped flexible gripper assembly 5 will be positioned behind the middle-end nested component 14. At this point, the nested component 14 will begin to contact the workpiece and receive synchronous force, thereby driving the inner fixed wedge-shaped nested contact component 6 to move inward synchronously. When the nested component 14 moves, it will apply pressure to the outer nested internal vertical corrugated liquid bladder assembly 10, thereby achieving the supply and pressure guidance of the internal fluid. Simultaneously, the nested contact component 8 abuts against the back of the arc-shaped flexible gripper assembly 5 to provide support, preventing excessive deformation and instability. Overall, this achieves a composite support mechanism of front elastic wrapping and rear rigid reinforcement.This addresses the problem of insufficient stiffness leading to decreased gripping force in existing curved flexible gripper assemblies 5 after deformation.

[0019] Example 2: Based on Example 1, a package carrying mechanism is also disclosed, the specific structure of which is as follows: The arc-shaped flexible gripper assembly 5 is provided with a wrapping and carrying mechanism on the side facing the workpiece, which improves the locking range of its flexible wrapping. The package-carrying mechanism is equipped with a fitting nesting member 14, which is abutted against the outer side of the wedge-shaped nesting contact member 6. A built-in vertical corrugated liquid bladder assembly 10 is nested inside the fitting nesting member 14, and a supply hose 11 is provided through the outer side of the built-in vertical corrugated liquid bladder assembly 10. A spherical support liquid bladder assembly 12 is provided inside the arc-shaped flexible gripper assembly 5, and the spherical support liquid bladder assembly 12 is connected to the supply hose 11. A carrying movable docking member 13 is provided through the inner wall of the arc-shaped flexible gripper assembly 5, and the outer side of the carrying movable docking member 13 corresponds to the outer side of the spherical support liquid bladder assembly 12. The corrugated liquid bladder assembly 10, the supply hose 11, and the spherical support liquid bladder assembly 12 form a closed liquid circuit. The liquid circuit is pre-filled with working medium, and the initial pre-filling pressure is 0.01 to 0.02 MPa. As the wedge-shaped nested contact member 6 moves towards the workpiece, the fitting nesting member 14 applies pressure to the contacting built-in vertical corrugated liquid bladder assembly 10. The built-in vertical corrugated liquid bladder assembly 10 supplies working medium to the interior of the spherical support liquid bladder assembly 12 through the supply hose 11. The spherical support liquid bladder assembly 12 is symmetrically distributed about the center point of the wedge-shaped nested contact member 6. The spherical support liquid bladder assembly 12 structure is provided on the inner side of the arc-shaped flexible gripper assembly 5.

[0020] When the nested part 14 contacts the clamped object and moves inward, this movement simultaneously compresses the nested built-in vertical corrugated liquid bladder assembly 10. This causes the pressure medium inside the built-in vertical corrugated liquid bladder assembly 10 to be driven through the supply hose 11 to the spherical support liquid bladder assembly 12 located inside the arc-shaped flexible gripper assembly 5. This causes the spherical support liquid bladder assembly 12 to deform and expand. The expanded spherical support liquid bladder assembly 12 further conforms to the surface of the workpiece, filling the gap between the inner side of the arc-shaped flexible gripper assembly 5 and the workpiece. This achieves flexible supplementary wrapping of the outer side of the workpiece, enabling the clamping mechanism to utilize the spherical support after the arc-shaped flexible gripper assembly 5 has completed its initial deformation wrapping. The expansion of the liquid bladder assembly 12 enables secondary flexible bonding, significantly increasing the contact area between the arc-shaped flexible gripper assembly 5 and the workpiece. This results in a more uniform distribution of clamping force, significantly reducing localized pressure on fragile and precision workpieces and preventing workpiece damage caused by stress concentration. Through the stroke design of the inclined contact structure, the elastic deformation of the arc-shaped flexible gripper assembly 5 and the expansion of the spherical support liquid bladder assembly 12 are naturally separated in sequence. At the initial contact of the arc-shaped flexible gripper assembly 5 with the workpiece, the contact structure has not yet reached the trigger position. The arc-shaped flexible gripper assembly 5 relies on its own elastic deformation to complete the initial flexible wrapping of the workpiece. At this time, the spherical support liquid bladder assembly 12 inside the gripper is still... Without expansion, it will not interfere with the adaptive deformation process of the arc-shaped flexible gripper assembly 5. When the arc-shaped flexible gripper assembly 5 deforms to a predetermined degree, the fitting nesting part 14 and the wedge-shaped nesting abutment part 6 are displaced to the trigger position. The spherical support liquid bladder assembly 12 begins to expand and perform secondary flexible fitting on the workpiece. This ensures that the arc-shaped flexible gripper assembly 5 has good shape adaptability in the initial contact stage and also achieves contact surface optimization and clamping force enhancement in the subsequent clamping process. During the process of the nesting abutment part 8 being pressed outward, it will pre-apply pressure to the contacting bearing movable docking part 13, causing the bearing movable docking part 13 to move along the inner wall of the arc-shaped flexible gripper assembly 5 towards... The external movement allows the outer support of the spherical support liquid bladder assembly 12 to be supported by the outer strip-shaped support docking component 13, ensuring the deformation coverage range and preventing excessive outward expansion. This ensures the support strength and area of ​​the contacting workpiece. The built-in vertical corrugated liquid bladder assembly 10, supply hose 11, and two spherical support liquid bladder assemblies 12 form a closed liquid circuit. The working medium can be silicone oil or water-glycol hydraulic fluid, specifically silicone oil with a kinematic viscosity of 50 cSt. Air is expelled from the liquid circuit during filling. The initial pre-charge pressure p0 after sealing is 0.01-0.02 MPa, and the working pressure during normal clamping is 0.03-0.At 0.08 MPa, a low-pressure closed-loop liquid circuit ensures stable volume transfer while preventing excessive local pressure on vulnerable workpieces. Two spherical support liquid bladder assemblies 12 are connected to the same closed-loop liquid circuit, resulting in relatively uniform internal pressure. However, the volume increments are not required to be equal. When contacting an eccentric workpiece, if the expansion restriction on one of the spherical support liquid bladder assemblies 12 is significant, the working medium preferentially enters the side with less restriction and larger gap, until both sides are in contact with the workpiece and provide supplementary contact force under common pressure. Thus, the mechanical branch is passively triggered according to the contact sequence, and the liquid bladder branch passively distributes volume according to the gap size. It is not necessary for both sides to have the same instantaneous amplitude of movement. The final clamping strength corresponding to the workpiece weight and material is determined by the termination displacement or upper limit of the output force of the preset drive assembly 3. Shape differences are passively compensated by the elastic deformation of the left and right grippers, the back-side contact stroke, and the local expansion of the spherical support liquid bladder assembly 12, achieving auxiliary wrapping and increasing the contact area.

[0021] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0022] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A flexible gripping mechanism at the end of a robotic arm for an intelligent robot, comprising a preset base (1), wherein a bearing docking component (2) is mounted on the upper end of the preset base (1), and a preset driving component (3) is mounted on the outer side of the lower end of the bearing docking component (2). Its features are: The lower end of the bearing docking component (2) is nested with a guide docking movable component (4), and the outer side of the guide docking movable component (4) is docked with the output end of the preset drive component (3). The lower end of the guide docking movable component (4) is equipped with an arc-shaped flexible gripper component (5), and a bearing flexible locking mechanism is provided between the arc-shaped flexible gripper component (5) and the guide docking movable component (4). The bearing flexible locking mechanism meets the composite support processing requirements.

2. The flexible gripping mechanism at the end of a robotic arm for an intelligent robot according to claim 1, characterized in that: The bearing flexible locking mechanism is provided with a wedge-shaped nested abutment (6), and the wedge-shaped nested abutment (6) is provided through the middle of the guide docking movable part (4) and the arc-shaped flexible gripper assembly (5). A transverse movable docking part (7) is nested on the outside of the guide docking movable part (4), and the outer side of the transverse movable docking part (7) corresponds to the outer side of the wedge-shaped nested abutment (6).

3. The flexible gripping mechanism at the end of a robotic arm for an intelligent robot according to claim 2, characterized in that: The outer side of the guide docking movable part (4) is nested with a nested abutment component (8), and a return spring (9) is fixedly connected to the outer side of the nested abutment component (8). The return spring (9) and the outer side of the guide docking movable part (4) are connected to each other. The end side of the nested abutment component (8) corresponds to the outer side of the transverse movable docking part (7).

4. A flexible gripping mechanism at the end of a robotic arm for an intelligent robot according to claim 3, characterized in that: When the arc-shaped flexible gripper assembly (5) is pressed, it deforms and supports along the outside of the guide docking movable part (4), and the wedge-shaped nested abutment (6) on the inside of the guide docking movable part (4) is displaced outward by force, and the wedge-shaped nested abutment (6) applies pressure and pushes the contacting transverse movable docking part (7).

5. A flexible gripping mechanism at the end of a robotic arm for an intelligent robot according to claim 4, characterized in that: The transverse movable docking member (7) forms an outward abutment against the nested abutment component (8) of the contacting inclined structure, and the nested abutment component (8) is displaced along the internal tension return spring (9) of the guide docking movable member (4), thereby abutting and supporting the outer end of the contacting arc-shaped flexible gripper component (5).

6. A flexible gripping mechanism at the end of a robotic arm for an intelligent robot according to claim 3, characterized in that: The arc-shaped flexible gripper assembly (5) is provided with a wrapping and carrying mechanism on the side facing the workpiece, which improves the locking range of its flexible wrapping. The package carrying mechanism is provided with a fitting nesting part (14), and the fitting nesting part (14) is connected to the outside of the wedge-shaped nesting abutment part (6). The inner side of the fitting nesting part (14) is nested with a built-in vertical corrugated liquid bladder assembly (10), and the outer side of the built-in vertical corrugated liquid bladder assembly (10) is provided with a supply hose (11).

7. A flexible gripping mechanism at the end of a robotic arm for an intelligent robot according to claim 6, characterized in that: The inner side of the arc-shaped flexible gripper assembly (5) is provided with a spherical support liquid bladder assembly (12), and the spherical support liquid bladder assembly (12) is connected to the supply hose (11). The inner wall of the arc-shaped flexible gripper assembly (5) is provided with a bearing movable docking component (13), and the outer side of the bearing movable docking component (13) and the outer side of the spherical support liquid bladder assembly (12) are positioned to correspond to each other. The built-in vertical corrugated liquid bladder assembly (10), the supply hose (11) and the spherical support liquid bladder assembly (12) constitute a closed liquid circuit. The liquid circuit is pre-filled with working medium, and the initial pre-filling pressure is 0.01~0.02MPa.

8. A flexible gripping mechanism at the end of a robotic arm for an intelligent robot according to claim 7, characterized in that: As the wedge-shaped nested contact (6) moves toward the workpiece, the fitting nested member (14) applies pressure to the contacting built-in vertical corrugated liquid bladder assembly (10), and the built-in vertical corrugated liquid bladder assembly (10) supplies work into the interior of the spherical support liquid bladder assembly (12) through the supply hose (11), and the spherical support liquid bladder assembly (12) is symmetrically distributed about the center point of the wedge-shaped nested contact (6).

9. A flexible gripping mechanism at the end of a robotic arm for an intelligent robot according to claim 8, characterized in that: During the process of the nested contact component (8) being pressed outward, it applies pressure to the contact bearing movable docking component (13), and the bearing movable docking component (13) moves outward along the inner wall of the arc-shaped flexible gripper component (5), and the bearing movable docking component (13) supports the outer side of the contact spherical support liquid bladder component (12).

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