Self-sensing variable-rigidity elastic unit based on air tendon coupling driving and manipulator

Abstract

The utility model discloses a self-sensing variable-rigidity elastic unit based on air tendon coupling driving and a manipulator, the elastic unit comprises a first telescopic frame, and the first telescopic frame comprises a first end plate, a sliding rod and a first force application plate; the second telescopic frame comprises a second end plate, a traction bundle and a second force application plate, and the second end plate is in sliding connection with the sliding rod; the air bag is arranged between the first end plate and the second end plate; and the air pressure sensor is mounted in the air bag. The rigidity of the air bag is changed by adjusting the initial air pressure input into the air bag, and the elastic requirements in different application scenes are met. The interior of the air bag is a closed space, deformation of the air bag can cause air pressure change, the pressure in the air bag is monitored in real time through the air pressure sensor, and sensing and feedback control over the working state of the elastic unit can be achieved. And the pulling force for driving the first force application plate and the second force application plate to be far away from each other can be converted into the pressure on the air bag, so that the impact force generated by the external pulling force is absorbed. The utility model relates to the technical field of manipulators.

Description

Technical Field

[0001] This application relates to the technical field of manipulators, and particularly to a self-sensing variable stiffness elastic unit and a manipulator based on pneumatic tendon coupling drive. Background Art

[0002] When facing a complex external environment, traditional rigid robots have poor adaptability and cannot meet various task requirements. To endow robots with compliance, an elastic unit can be added to the joint driver to make it a series elastic driver. Compared with traditional rigid drivers, elastic elements endow the series elastic driver with unique advantages, such as high compliance, high adaptability, safety, etc. These performance advantages have enabled it to be applied in fields such as rehabilitation robots, exoskeletons, and service robots.

[0003] However, the elastic elements in series elastic drivers usually have a fixed stiffness and cannot be adjusted arbitrarily. Even when using non-linear elastic elements, their stiffness values cannot adapt to complex interaction tasks. To improve the adaptability of elastic drivers, variable stiffness drivers can be used. A variable stiffness elastic unit is provided in the variable stiffness driver, which can dynamically adjust its own stiffness according to task requirements, so as to achieve a balance between flexibility and precision. This structure enables the variable stiffness driver to have advantages such as high force control accuracy, impact resistance, and passive mechanical energy storage.

[0004] Currently, traditional variable stiffness elastic units are mainly applied to absorb the impact force of pressure, but lack the absorption of the impact force of tension. The variable stiffness elastic unit on the manipulator still faces problems such as complex structure, high control difficulty, and poor adaptability. Moreover, in order to avoid excessive grasping force of the manipulator during the grasping process from damaging the grasped object, additional sensors need to be set to sense the acting force, which makes the structure of the entire manipulator more redundant and not conducive to miniaturization and lightweight. Summary of the Utility Model

[0005] This application aims to solve at least one of the technical problems existing in the prior art. For this purpose, this application proposes a self-sensing variable stiffness elastic unit based on pneumatic tendon coupling drive, which can absorb the impact force of tension, has a simpler structure, reduces the control difficulty, improves the adaptability, and has a sensing function for the acting force.

[0006] This application also proposes a manipulator having the above-mentioned self-sensing variable stiffness elastic unit based on pneumatic tendon coupling drive.

[0007] The self-sensing variable stiffness elastic unit based on pneumatic tendon coupling drive according to the first aspect embodiment of this application includes:

[0008] A first telescopic frame, which includes a first end plate, a sliding rod, and a first force-applying plate, and both ends of the sliding rod are respectively connected to the first end plate and the first force-applying plate;

[0009] A second telescopic frame, which includes a second end plate, a traction beam, and a second force-applying plate. The second end plate is slidably connected to the sliding rod, and two ends of the traction beam are respectively connected to the second end plate and the second force-applying plate;

[0010] An airbag, which is installed between the first end plate and the second end plate;

[0011] A pressure sensor, which is installed in the airbag and is used to detect the gas pressure inside the airbag;

[0012] Wherein, the first force-applying plate and the second force-applying plate can move away from each other under an external force, so that the first end plate and the second end plate can squeeze the airbag.

[0013] The self-sensing variable stiffness elastic unit based on pneumatic tendon coupling drive according to the embodiment of the present application has at least the following beneficial effects: By adjusting the initial air pressure input into the airbag, the stiffness of the airbag can be changed to meet the elastic requirements in different application scenarios. The stiffness adjustment method is simple and can meet different scenario requirements. The inside of the airbag is a closed space, and its deformation will cause a corresponding change in the internal air pressure. By monitoring the pressure inside the airbag in real time with a pressure sensor, the deformation amount of the airbag can be inferred, so as to realize the perception and feedback control of the working state of the elastic unit. Moreover, the pulling force that drives the first force-applying plate and the second force-applying plate to move away from each other can be converted into the pressure on the airbag, so as to absorb the impact force generated by the external pulling force.

[0014] According to some embodiments of the present application, the first end plate is provided with a through hole through which the traction beam can pass.

[0015] According to some embodiments of the present application, the airbag is a corrugated pipe, and two ends of the corrugated pipe are respectively tightly connected to the first end plate and the second end plate, and a closed space capable of accommodating gas is formed inside the corrugated pipe.

[0016] According to some embodiments of the present application, the self-sensing variable stiffness elastic unit based on pneumatic tendon coupling drive further includes a limiting ring, the limiting ring is sleeved outside the corrugated pipe, and the limiting ring is slidably connected to the sliding rod.

[0017] According to some embodiments of the present application, the corrugated pipe is provided with air holes, and an air delivery pipe connected to a gas source device is installed at the air holes.

[0018] According to some embodiments of the present application, an air valve is provided on the air delivery pipe, and the air valve is used to control the on-off of the air delivery pipe.

[0019] A manipulator according to the second aspect embodiment of the present application includes:

[0020] Two self-sensing variable stiffness elastic units based on pneumatic tendon coupling drive;

[0021] A driven rotating shaft with a driven pulley mounted on its rotating shaft;

[0022] A driving rotating shaft with a driving pulley mounted on its rotating shaft;

[0023] A first traction rope wound around the driven pulley of the driven rotating shaft, and both ends of the first traction rope are respectively connected to the first force application plates of the two self-sensing variable stiffness elastic units based on pneumatic tendon coupling drive;

[0024] A second traction rope wound around the driving pulley of the driving rotating shaft, and both ends of the second traction rope are respectively connected to the second force application plates of the two self-sensing variable stiffness elastic units based on pneumatic tendon coupling drive.

[0025] The mechanical hand according to the embodiment of the present application has at least the following beneficial effects: By inflating the airbags in the two self-sensing variable stiffness elastic units based on pneumatic tendon coupling drive, the rotating joints of the mechanical hand can achieve a large range of variable stiffness adjustment; moreover, when the mechanical hand interacts with the external environment, it can combine with a pressure sensor to achieve output force control and collision perception.

[0026] The mechanical hand according to the third aspect embodiment of the present application includes:

[0027] A self-sensing variable stiffness elastic unit based on pneumatic tendon coupling drive;

[0028] A housing;

[0029] A motor mounted on the housing, and a driving pulley is mounted on the rotating shaft of the motor;

[0030] A mechanical claw hinged to the housing;

[0031] A third traction rope, one end of which is fixed to the driving pulley, and the other end of the third traction rope is fixed to the first force application plate of the self-sensing variable stiffness elastic unit based on pneumatic tendon coupling drive;

[0032] A fourth traction rope, one end of which is fixed to the second force application plate of the self-sensing variable stiffness elastic unit based on pneumatic tendon coupling drive, and the other end of the fourth traction rope is fixed to the end of the mechanical claw. Pulling the fourth traction rope can drive the mechanical claw to close.

[0033] The robotic arm according to the embodiments of the present application has at least the following beneficial effects: By pulling a self-sensing variable stiffness elastic unit driven by pneumatic tendon coupling with a motor, and then pulling the robotic claw to close, it can grasp an object; moreover, when clamping objects of different sizes, the compression amount and air pressure change amount of the self-sensing variable stiffness elastic unit driven by pneumatic tendon coupling will be different. Therefore, the size of the clamped object can also be sensed by measuring the change in air pressure.

[0034] Additional aspects and advantages of the present application will be given in part in the following description, become apparent in part from the following description, or be understood through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The drawings are used to provide a further understanding of the technical solutions disclosed in the present application, and constitute a part of the specification. Together with the embodiments disclosed in the present application, they are used to explain the technical solutions of the present disclosure, and do not constitute a limitation to the technical solutions disclosed in the present application.

[0036] Figure 1 It is a three-dimensional view of the self-sensing variable stiffness elastic unit driven by pneumatic tendon coupling according to the first aspect embodiment of the present application;

[0037] Figure 2 It is a cross-sectional view of the robotic arm according to the second aspect embodiment of the present application;

[0038] Figure 3 It is a cross-sectional view of the robotic arm according to the third aspect embodiment of the present application.

[0039] Reference numerals: 100 - first telescopic frame, 110 - first end plate, 120 - sliding rod, 130 - first force-applying plate, 200 - second telescopic frame, 210 - second end plate, 220 - traction beam, 230 - second force-applying plate, 300 - airbag, 400 - limiting ring, 500 - air delivery pipe, 610 - driven rotating shaft, 620 - driving rotating shaft, 630 - first traction rope, 640 - second traction rope, 710 - housing, 720 - motor, 730 - robotic claw, 740 - third traction rope, 750 - fourth traction rope, 760 - adapter, 770 - fifth traction rope. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0040] The embodiments of the present application will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions from beginning to end. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present application, and should not be construed as a limitation to the present application.

[0041] In the description of the present application, it should be understood that for the orientation description, such as the orientation or positional relationship indicated by up, down, front, back, left, right, etc., it is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present application.

[0042] In the description of the present application, the meaning of "several" is more than one, the meaning of "multiple" is more than two, and understandings such as "greater than", "less than", "exceeding", etc. do not include the corresponding number, while understandings such as "above", "below", "within", etc. include the corresponding number. If there is a description of "first", "second", etc., it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence relationship of the indicated technical features.

[0043] In the description of the present application, unless otherwise clearly defined, terms such as "set", "installed", "connected", etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meaning of the above terms in the present application in combination with the specific content of the technical solution.

[0044] In the description of the present application, the descriptions with reference to terms such as "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0045] In the face of a complex external environment, traditional rigid robots have poor adaptability and cannot meet various task requirements. In order to endow the robot with compliance, an elastic unit can be added to the joint driver to make it a series elastic driver. Compared with traditional rigid drivers, the elastic element endows the series elastic driver with unique advantages, such as high compliance, high adaptability, safety, etc. These performance advantages enable it to be applied in the fields of rehabilitation robots, exoskeletons, service robots, etc.

[0046] However, the elastic element in a series elastic actuator usually has a fixed stiffness and cannot be adjusted arbitrarily. Even if a non-linear elastic element is used, its stiffness value cannot adapt to complex interaction tasks. To improve the adaptability of elastic actuators, variable stiffness actuators can be used. A variable stiffness actuator has a variable stiffness elastic unit that can dynamically adjust its own stiffness according to task requirements, thereby achieving a balance between flexibility and precision. This structure endows the variable stiffness actuator with advantages such as high force control accuracy, impact resistance, and passive mechanical energy storage. Currently, the variable stiffness elastic units on robotic arms still face problems such as complex structure, high control difficulty, and poor adaptability. Moreover, traditional variable stiffness elastic units are mainly applied to absorb the impact force of pressure and lack the absorption of the impact force of tension.

[0047] In response to this, the present application proposes a self-sensing variable stiffness elastic unit based on pneumatic tendon coupling drive. The airbag 300 absorbs the impact force generated when the first force application plate 130 and the second force application plate 230 are subjected to tensile forces. Moreover, when the airbag 300 is further compressed, the air pressure therein will gradually increase to provide a greater reaction force, thereby adjusting the stiffness of the joint. The entire structure is more concise and the control difficulty is low.

[0048] In addition, the present application also proposes two robotic arms employing the above-mentioned self-sensing variable stiffness elastic unit based on pneumatic tendon coupling drive.

[0049] Referring to Figure 1 , the self-sensing variable stiffness elastic unit based on pneumatic tendon coupling drive in the first aspect embodiment of the present application includes a first telescopic frame 100, a second telescopic frame 200, an airbag 300, and a pressure sensor. The first telescopic frame 100 and the second telescopic frame 200 together constitute the main structure of the self-sensing variable stiffness elastic unit based on pneumatic tendon coupling drive, and the two can slide relative to each other to form a telescopic relationship. The airbag 300 is disposed between the first telescopic frame 100 and the second telescopic frame 200. The pressure sensor is used to detect the air pressure change in the airbag 300, so as to deduce the deformation amount of the airbag 300 from the air pressure change value and sense the magnitude of the external acting force.

[0050] Specifically, the first telescopic frame 100 includes a first end plate 110, a slide rod 120, and a first force application plate 130. The two ends of the slide rod 120 are respectively connected to the first end plate 110 and the first force application plate 130, and the three are connected as a whole. The second telescopic frame 200 includes a second end plate 210, a traction bundle 220, and a second force application plate 230. The two ends of the traction bundle 220 are respectively connected to the second end plate 210 and the second force application plate 230, and the three are connected as a whole.

[0051] The second end plate 210 is slidably connected to the sliding rod 120, so that the second telescopic frame 200 can form a relative sliding relationship with the first telescopic frame 100. Thus, when the first force-applying plate 130 and the second force-applying plate 230 are respectively subjected to tensile forces in opposite directions, the first telescopic frame 100 and the second telescopic frame 200 can slide relative to each other, and the first end plate 110 and the second end plate 210 can approach each other.

[0052] The airbag 300 is installed between the first end plate 110 and the second end plate 210. When the first force-applying plate 130 and the second force-applying plate 230 are subjected to tensile forces, the first force-applying plate 130 and the second force-applying plate 230 can move away from each other under the action of external forces, so that the first end plate 110 and the second end plate 210 can squeeze the airbag 300, and the airbag 300 absorbs the impact force and the acting force generated when the first end plate 110 and the second end plate 210 move away from each other.

[0053] The air pressure sensor is installed in the airbag 300 to detect the internal gas pressure. Combining the detection results of the air pressure sensor, on the one hand, the input gas volume can be accurately adjusted during inflation, and on the other hand, when the self-sensing variable stiffness elastic unit driven by tendon-air coupling is compressed, the magnitude of the acting force and the compression amount can be deduced by measuring the change value of the air pressure, realizing pressure detection.

[0054] Among them, the first force-applying plate 130 is used to connect to an external device to transmit the acting force on the one hand, and together with the first end plate 110, it restricts the second end plate 210 on the sliding rod 120 to prevent the second end plate 210 from slipping off the sliding rod 120.

[0055] The second force-applying plate 230 is used to connect to an external device to transmit the acting force. The function of the traction beam 220 is to transmit the acting force to the second end plate 210, so that the second end plate 210 can slide on the sliding rod 120 under the action of external forces.

[0056] Furthermore, the first end plate 110 is provided with a through hole through which the traction beam 220 can pass, so as to avoid interference of the first end plate 110 with the traction beam 220.

[0057] Specifically, in some embodiments, the airbag 300 can be a spherical or cylindrical airbag, and its function is to store gas and undergo elastic deformation under the action of external forces. In this embodiment, the airbag 300 is a corrugated pipe. The two ends of the corrugated pipe are respectively tightly connected to the first end plate 110 and the second end plate 210, so that a closed space capable of accommodating gas is formed inside the corrugated pipe. The purpose of using the corrugated pipe is to make the elastic deformation direction of the corrugated pipe tend to be consistent with the axis direction of the sliding rod 120, and to avoid excessive lateral expansion of the airbag 300 when compressed, which may damage the first telescopic frame 100 or the second telescopic frame 200.

[0058] Furthermore, the self-sensing variable stiffness elastic unit based on pneumatic-tendon coupling drive further includes a limiting ring 400. The limiting ring 400 is sleeved outside the bellows. The limiting ring 400 is slidably connected to the sliding rod 120 and is used to limit the deformation direction of the bellows, so as to prevent the bellows from laterally offsetting when compressed and interfering with the first telescopic frame 100 or the second telescopic frame 200.

[0059] Furthermore, the bellows is provided with air holes, and an air delivery pipe 500 connected to the gas source device is installed at the air holes. The gas source device can deliver gas to the bellows through the air delivery pipe 500 to expand the bellows, and the rigidity of the self-sensing variable stiffness elastic unit based on pneumatic-tendon coupling drive can be adjusted by changing the volume of the input gas.

[0060] Next, two manipulator structures using the self-sensing variable stiffness elastic unit based on pneumatic-tendon coupling drive are introduced.

[0061] Refer to Figure 2 In a manipulator according to an embodiment of the second aspect of the present application, it includes two self-sensing variable stiffness elastic units based on pneumatic-tendon coupling drive, a driven rotating shaft 610, a driving rotating shaft 620, a first traction rope 630, and a second traction rope 640. Among them, a driven pulley is installed on the rotating shaft of the driven rotating shaft 610, and a driving pulley is installed on the rotating shaft of the driving rotating shaft 620. The first traction rope 630 is wound around the driven pulley of the driven rotating shaft 610, and both ends of the first traction rope 630 are respectively connected to the first force application plates 130 of the two self-sensing variable stiffness elastic units based on pneumatic-tendon coupling drive. The second traction rope 640 is wound around the driving pulley of the driving rotating shaft 620, and both ends of the second traction rope 640 are respectively connected to the second force application plates 230 of the two self-sensing variable stiffness elastic units based on pneumatic-tendon coupling drive.

[0062] Thus, when the output shaft of the driving rotating shaft 620 rotates, the driving pulley rotates and pulls the second traction rope 640 to move. One of the self-sensing variable stiffness elastic units based on pneumatic-tendon coupling drive is stretched, and the other is compressed. The first traction rope 630 is also pulled to move, thereby driving the driven rotating shaft 610 to rotate. In the self-sensing variable stiffness elastic unit based on pneumatic-tendon coupling drive, the first end plate 110 and the second end plate 210 compress the airbag 300, so as to absorb the impact force when the output shaft of the driven rotating shaft 610 rotates. By adjusting the inflation amount of the airbag 300, the stiffness of the joint can be adjusted, so as to adapt to different loads. At the same time, the air pressure sensor detects the gas pressure of the airbag 300, calculates the compression amount of the airbag 300, and thus can sense the magnitude of the acting force and the torque of the driving rotating shaft 620.

[0063] Refer to Figure 3, a manipulator in the third aspect embodiment of the present application includes a self-sensing variable stiffness elastic unit driven by pneumatic tendon coupling, a housing 710, a motor 720, a mechanical claw 730, a third towing rope 740, and a fourth towing rope 750. The motor 720 is installed in the housing 710, and a driving pulley is installed on the rotating shaft of the motor 720. The mechanical claw 730 is hinged to the housing and can be flipped around the hinge axis. A plurality of mechanical claws 730 together form a claw-shaped structure that can open and close to grip an object.

[0064] One end of the third towing rope 740 is fixed to the driving pulley, and the other end of the third towing rope 740 is fixed to the first force application plate 130 of the self-sensing variable stiffness elastic unit driven by pneumatic tendon coupling. One end of the fourth towing rope 750 is fixed to the second force application plate 230 of the self-sensing variable stiffness elastic unit driven by pneumatic tendon coupling, and the other end of the fourth towing rope 750 is fixed to the end of the mechanical claw 730. Pulling the fourth towing rope 750 can drive the mechanical claw 730 to close, thereby completing the gripping of an object.

[0065] In some other embodiments, the manipulator further includes an adapter 760 and a fifth towing rope 770. One end of the fourth towing rope 750 is connected to the adapter 760. There are multiple fingers in the manipulator, and the number of the fifth towing ropes 770 is the same as the number of the fingers and they are arranged in one-to-one correspondence. One end of the fifth towing rope 770 is fixed to the end of the finger, and the other end is fixed to the adapter 760. Thus, when the fourth towing rope 750 pulls the adapter 760, the adapter 760 can pull each of the fifth towing ropes 770, and further drive each finger to bend and close to complete the gripping of an object.

[0066] Therefore, when the motor 720 is started to make the driving pulley rotate, the third towing rope 740 pulls the whole self-sensing variable stiffness elastic unit driven by pneumatic tendon coupling to lift upward, and the fourth towing rope 750 drives the mechanical claw 730 to close to grip an object. The volume of the object during gripping will affect the opening and closing amplitude of the mechanical claw 730, thereby affecting the air pressure change value in the airbag 300. By detecting the air pressure change situation in the airbag 300, the size of the grasped object can be sensed through a simple calibration strategy.

[0067] The above has described the embodiments of the present application in detail with reference to the drawings, but the present application is not limited to the above embodiments. Within the knowledge scope of those of ordinary skill in the art to which the present application pertains, various changes can be made without departing from the purpose of the present application. In addition, without conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.

Claims

1. A self-sensing variable stiffness elastic unit based on gas-tendon coupling drive, characterized in that: include: A first telescopic frame, comprising a first end plate, a sliding rod and a first force application plate, wherein two ends of the sliding rod are respectively connected to the first end plate and the first force application plate; A second telescopic frame, comprising a second end plate, a traction beam and a second force application plate, wherein the second end plate is slidably connected to the sliding rod, and two ends of the traction beam are respectively connected to the second end plate and the second force application plate; an air bag mounted between the first end plate and the second end plate; An air pressure sensor installed in the airbag to detect the gas pressure in the airbag; The first force applying plate and the second force applying plate can move away from each other under external force, so that the first end plate and the second end plate can squeeze the airbag.

2. The self-sensing variable stiffness elastic unit based on gas-tendon coupling drive according to claim 1 is characterized in that: The first end plate is provided with a through hole through which the traction beam can pass.

3. The self-sensing variable stiffness elastic unit based on gas-tendon coupling drive according to claim 1 is characterized in that: The airbag is a bellows, and both ends of the bellows are tightly connected to the first end plate and the second end plate respectively, and a closed space capable of accommodating gas is formed inside the bellows.

4. The self-sensing variable stiffness elastic unit based on gas-tendon coupling drive according to claim 3 is characterized in that: The self-sensing variable stiffness elastic unit based on gas-tendon coupling drive also includes a limiting ring, which is sleeved on the outside of the bellows and is slidably connected to the sliding rod.

5. The self-sensing variable stiffness elastic unit based on gas-tendon coupling drive according to claim 3 is characterized in that: The bellows is provided with air holes, and an air pipe connected to an air source device is installed at the air holes.

6. The self-sensing variable stiffness elastic unit based on gas-tendon coupling drive according to claim 5 is characterized in that: The gas pipeline is provided with a gas valve, and the gas valve is used to control the on-off of the gas pipeline.

7. A robot, characterized in that: include: The self-sensing variable stiffness elastic unit based on gas-tendon coupling drive as described in any one of claims 1 to 6; A driven rotating shaft, a driven pulley is mounted on the rotating shaft; A driving shaft, the rotating shaft of which is equipped with a driving pulley; A first traction rope, which is wound around the driven pulley of the driven rotating shaft, and two ends of the first traction rope are respectively connected to the first force application plates of the two self-sensing variable stiffness elastic units driven based on gas-tendon coupling; A second traction rope is wound around the active pulley of the active rotating shaft, and both ends of the second traction rope are respectively connected to the second force application plates of the two self-sensing variable stiffness elastic units driven based on gas-tendon coupling.

8. A robot, characterized in that: include: The self-sensing variable stiffness elastic unit based on gas-tendon coupling drive as described in any one of claims 1 to 6; case; A motor, which is mounted on the housing, and a driving pulley is mounted on the rotating shaft of the motor; A mechanical claw, which is hinged to the housing; A third traction rope, one end of which is fixed to the driving pulley, and the other end of the third traction rope is fixed to the first force application plate of the self-sensing variable stiffness elastic unit driven based on gas-tendon coupling; A fourth traction rope, one end of which is fixed to the second force plate of the self-sensing variable stiffness elastic unit driven based on gas-tendon coupling, and the other end of the fourth traction rope is fixed to the end of the mechanical claw, and pulling the fourth traction rope can drive the mechanical claw to close.

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