A ball game robot based on high flexibility gripper

Abstract

The utility model relates to robot technical field especially, it is the utility model of the utility model of a kind of ball game robot based on high flexibility gripper, it adopts rudder wheel movement chassis with shock-absorbing support and shock-absorbing spring, can effectively absorb the impact brought by uneven ground, improve the stability and passability of robot on complex terrain, and adopt multi-degree-of-freedom motion mechanism, combine lifting mechanism, stroke amplification mechanism and swing mechanism, so that gripper manipulator can be flexibly adjusted the position and posture of gripper in three-dimensional space, adapt to complex gripping task;Gripper manipulator is also through the combination structure of hollow flexible finger and rigid plate, to automatically adapt the shape of ball object, provide soft and stable clamping force, avoid damaging object.

Description

Technical Field

[0001] This utility model relates to the field of mechanical transmission technology, and in particular to a ball-moving robot based on a highly flexible gripper. Background Technology

[0002] In the field of ball-handling robots, traditional gripper robots typically employ rigid structures. While they can achieve basic grasping functions, they suffer from problems such as unstable gripping and easy damage when grasping irregularly shaped and easily deformable objects like balls. Furthermore, existing robots lack sufficient flexibility and adaptability during movement and grasping, especially in complex terrains or dynamic environments, where stability and operational precision are difficult to guarantee. Utility Model Content

[0003] To solve the above-mentioned technical problems, this utility model provides a ball-moving robot based on a highly flexible gripper, comprising: a steering wheel moving chassis, a lifting mechanism on the steering wheel moving chassis, a stroke amplification mechanism on the output end of the lifting mechanism, and a flexible gripper manipulator on the output end of the stroke amplification mechanism.

[0004] In some possible embodiments, the flexible gripper robot includes a robot mounting frame and two sets of flexible grippers. One end of the robot mounting frame is connected to the output end of the stroke amplification mechanism via a swing mechanism, and the other end of the robot mounting frame is provided with an opening and closing mechanism. The two sets of flexible grippers are respectively mounted on the two opening and closing ends of the opening and closing mechanism.

[0005] In some possible embodiments, both sets of flexible grippers include a mounting plate and a plurality of hollow flexible fingers disposed on the mounting plate. The two sets of mounting plates are respectively mounted on the two opening and closing ends of the opening and closing mechanism. The hollow flexible fingers are each provided with a hollow area inside. The hollow area contains a plurality of rigid plates disposed perpendicular to the length direction of the hollow flexible fingers. The two ends of the plurality of rigid plates are respectively hinged to the inner walls on both sides of the hollow area.

[0006] In some possible embodiments, the swing mechanism includes a turbine shaft, a turbine, and a worm. The turbine shaft is rotatably mounted on the drive end of the stroke amplification mechanism. One end of the manipulator mounting bracket is connected to the turbine shaft. The turbine is coaxially mounted on the turbine shaft. The output end of the stroke amplification mechanism is provided with a worm mounting bracket. The worm is rotatably mounted on the worm mounting bracket and can mesh with the turbine. The worm mounting bracket is provided with a geared motor whose drive end is connected to the worm.

[0007] In some possible embodiments, the opening and closing mechanism includes two sets of telescopic cylinders disposed on the bottom of the robot arm mounting frame, the drive ends of the two sets of telescopic cylinders are arranged facing each other, the two sets of flexible grippers are respectively disposed on the drive ends of the two sets of telescopic cylinders, the robot arm mounting frame is provided with guide rails along the driving direction of the telescopic cylinders, and each set of flexible grippers is provided with a second slider that can cooperate with the guide rails.

[0008] In some possible embodiments, the steering wheel moving chassis includes a chassis body, on which a plurality of shock-absorbing brackets are mounted. Each shock-absorbing bracket is provided with a shock-absorbing spring, and a steering wheel mechanism is slidably mounted on each shock-absorbing bracket. Each steering wheel mechanism is hinged to one movable end of the shock-absorbing spring on the corresponding shock-absorbing bracket. The sliding direction of each steering wheel mechanism relative to the corresponding shock-absorbing bracket is parallel to the deformation direction of the shock-absorbing spring. The lifting mechanism is mounted on the chassis body.

[0009] In some possible embodiments, the chassis body is provided with a plurality of mounting positions, and each mounting position is provided with a shock-absorbing bracket on two adjacent sides. Each shock-absorbing bracket is provided with at least one sliding rail, and the adjacent sides of the steering wheel mechanism are slidably mounted on the sliding rails on the corresponding shock-absorbing brackets by sliders.

[0010] In some possible embodiments, the lifting mechanism includes a lifting frame and a lifting machine frame mounted on a steering wheel moving chassis. Synchronous pulleys are rotatably mounted on both ends of the lifting machine frame. A lifting synchronous belt is wound between the two sets of synchronous pulleys. The lifting machine frame is equipped with a drive motor whose drive end is connected to either of the synchronous pulleys. The lifting frame is connected to one side of the lifting synchronous belt via a fixing locking member. A lifting slide rail is provided on the lifting machine frame along the height direction. A first slider capable of cooperating with the lifting slide rail is provided on the lifting frame. The stroke amplification mechanism is mounted on the lifting frame.

[0011] In some possible embodiments, the stroke amplification mechanism includes a telescopic slide rail assembly, a rack and pinion drive assembly, a drive gear, and a synchronous belt amplification assembly. The telescopic slide rail assembly includes a fixed guide rail and a sliding rail. The fixed guide rail is mounted on a lifting frame, and one end of the sliding rail is slidably mounted within the fixed guide rail. The rack and pinion drive assembly is mounted on the sliding rail and can slide synchronously with the sliding rail. The drive gear is rotatably mounted on the lifting frame and can mesh with the rack and pinion drive assembly to drive the rack and pinion drive assembly to slide. The synchronous belt amplification assembly includes a synchronous belt and two sets of synchronous pulleys. The two sets of synchronous pulleys are rotatably mounted on both ends of the rack and pinion drive assembly, and the synchronous belt is wound around the two sets of synchronous pulleys. One side of the synchronous belt is fixedly connected to the fixed guide rail. The flexible gripper robot is movably mounted on one side of the rack and pinion drive assembly, and the other side of the synchronous belt is fixedly connected to the flexible gripper robot.

[0012] In some possible embodiments, the rack and pinion drive assembly includes a base plate mounted on the outer surface of the slide rail, a drive rack that meshes with a drive gear on the lower end of the base plate, a linear slide rail mounted on the outer surface of the base plate, and the flexible gripper robot being mounted on the linear slide rail via a slider.

[0013] Compared with existing technologies, the advantages of this utility model are as follows: This utility model adopts a steering wheel mobile chassis equipped with shock-absorbing brackets and shock-absorbing springs, which can effectively absorb the impact caused by uneven ground, improve the stability and passability of the robot on complex terrain, and adopts a multi-degree-of-freedom motion mechanism, combined with a lifting mechanism, a stroke amplification mechanism and a swing mechanism, so that the gripper manipulator can flexibly adjust the position and posture of the gripper in three-dimensional space to adapt to complex grasping tasks; The gripper manipulator also uses a combination structure of hollow flexible fingers and rigid plates to automatically adapt to the shape of spherical objects, providing a soft and stable gripping force and avoiding damage to the objects. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 A front view provided for an embodiment of this utility model;

[0016] Figure 2 Schematic diagram of the flexible gripper robot provided in the embodiments of this utility model Figure 1 ;

[0017] Figure 3Schematic diagram of the flexible gripper robot provided in the embodiments of this utility model Figure 2 ;

[0018] Figure 4 A schematic diagram of the structure of the steering wheel moving chassis provided in this embodiment of the utility model;

[0019] Figure 5 This is a schematic diagram of the lifting mechanism and stroke amplification mechanism provided in an embodiment of the present utility model;

[0020] Figure 6 This is a schematic diagram of the stroke amplification mechanism provided in an embodiment of the present utility model.

[0021] Figure label:

[0022] Steering wheel moving chassis 100, chassis body 110, mounting position 111, shock absorber bracket 120, shock absorber spring 121, sliding rail 122, steering wheel mechanism 130;

[0023] Lifting mechanism 200, lifting frame 210, synchronous pulley 211, lifting synchronous belt 212, drive motor 213, lifting slide rail 214, lifting frame 220, fixing locking component 221, first slider 222;

[0024] The stroke amplification mechanism 300, telescopic slide rail assembly 310, fixed guide rail 311, sliding rail 312, rack and pinion transmission assembly 320, base plate 321, transmission rack 322, linear slide rail 323, drive gear 330, synchronous belt amplification assembly 340, synchronous belt 341, and synchronous pulley 342.

[0025] Flexible gripper robot 400, robot mounting frame 410, two sets of flexible grippers 420, mounting plate 421, hollow flexible fingers 422, hollow area 423, rigid plate 424, second slider 425, swing mechanism 430, turbine shaft 431, turbine 432, worm gear 433, worm gear mounting frame 434, geared motor 435, opening and closing mechanism 440, telescopic cylinder 441, guide rail 442. Detailed Implementation

[0026] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model. Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of this disclosure, unless otherwise stated, "a plurality of" means two or more.

[0027] Reference Figures 1 to 5 The robot, shown, is a ball-handling robot based on a highly flexible gripper. It includes a steering wheel-mounted chassis 100, a lifting mechanism 200 mounted on the chassis 100, a stroke amplification mechanism 300 at the output end of the lifting mechanism 200, and a flexible gripper manipulator 400 at the output end of the stroke amplification mechanism 300. This invention utilizes a steering wheel-mounted chassis 100 equipped with a shock-absorbing bracket 120 and a shock-absorbing spring 121, which effectively absorbs the impact from uneven ground, improving the robot's stability and maneuverability on complex terrain. By employing a multi-degree-of-freedom motion mechanism, combined with the lifting mechanism 200, the stroke amplification mechanism 300, and the swing mechanism 430, the flexible gripper manipulator 400 can flexibly adjust the position and posture of the gripper in three-dimensional space to adapt to complex grasping tasks. Furthermore, the flexible gripper manipulator 400 uses a combination structure of hollow flexible fingers 422 and a rigid plate 424 to automatically adapt to the shape of spherical objects, providing a soft and stable gripping force and preventing damage to the object.

[0028] In some possible embodiments, refer to Figure 4As shown, the steering wheel mobile chassis 100 includes a chassis body 110, on which a plurality of shock-absorbing brackets 120 are mounted. Each shock-absorbing bracket 120 is provided with a shock-absorbing spring 121, and a steering wheel mechanism 130 is slidably mounted on each shock-absorbing bracket 120. Each steering wheel mechanism 130 is hinged to one movable end of the shock-absorbing spring 121 on the corresponding shock-absorbing bracket 120. The sliding direction of each steering wheel mechanism 130 relative to the corresponding shock-absorbing bracket 120 is parallel to the deformation direction of the shock-absorbing spring 121. A lifting mechanism 200 is mounted on the chassis body 110. The chassis body 110 has a frame structure, which helps to reduce the weight of the entire chassis while ensuring the overall ease of installation. The steering wheel mechanism 130 is a modular structure in this application and can adopt existing technologies, such as the technical solutions in patent CN202210408395.3 - an independent adaptive steering wheel structure or CN202021951621.5 - an auxiliary steering mechanism for a steering wheel drive assembly, which will not be described in detail here.

[0029] In some possible embodiments, the chassis body 110 is provided with a plurality of mounting positions 111, and each mounting position 111 has a shock-absorbing bracket 120 on two adjacent sides. Each shock-absorbing bracket 120 is provided with at least one sliding rail 122. The steering wheel mechanism 130 is slidably mounted on the sliding rail 122 on the corresponding shock-absorbing bracket 120 on both adjacent sides via sliders. That is, the spring absorbs the impact from the ground, and the steering wheel mechanism 130 can float up and down along the sliding rail 122 to prevent vibration from being transmitted to the robotic arm and ensure gripping stability.

[0030] In some possible embodiments, refer to Figure 5 As shown, the lifting mechanism 200 includes a lifting frame 220 and a lifting machine frame 210 mounted on the steering wheel moving chassis 100. Synchronous pulleys 211 are rotatably mounted on both ends of the lifting machine frame 210. A lifting synchronous belt 212 is wound around the two sets of synchronous pulleys 211 for transmission. The lifting machine frame 210 is provided with a drive motor 213 whose drive end is connected to either synchronous pulley 211. The lifting frame 220 is connected to one side of the lifting synchronous belt 212 through a fixing locking member 221. A lifting slide rail 214 is provided on the lifting machine frame 210 along the height direction. A first slider 222 that can cooperate with the lifting slide rail 214 is provided on the lifting frame 220. The stroke amplification mechanism 300 is mounted on the lifting frame 220. The lifting frame 210 is vertically fixed on the chassis body 110, with synchronous pulleys 211 installed at both ends and a lifting synchronous belt 212 wound around it. The drive motor 213 drives the synchronous belt 212 to rotate, thereby causing the lifting frame 220 to move up and down along the lifting slide rail 214. Of course, a screw and nut mechanism can also be used instead of synchronous belt drive to improve load-bearing capacity.

[0031] In some possible embodiments, refer to Figure 6As shown, to amplify the lateral movement of the gripper, the stroke amplification mechanism 300 includes a telescopic slide rail assembly 310, a rack and pinion drive assembly 320, a drive gear 330, and a synchronous belt amplification assembly 340. The telescopic slide rail assembly 310 includes a fixed guide rail 311 and a sliding rail 312. The fixed guide rail 311 is mounted on the lifting frame 220, and one end of the sliding rail 312 is slidably mounted inside the fixed guide rail 311. The rack and pinion drive assembly 320 is mounted on the sliding rail 312 and can slide synchronously with the sliding rail 312. The drive gear 330 is rotatably mounted on the lifting frame 220, and... The system can mesh with the rack and pinion drive assembly 320 to drive the rack and pinion drive assembly 320 to slide; the synchronous belt amplification assembly 340 includes a synchronous belt 341 and two sets of synchronous pulleys 342, which are rotatably mounted on both ends of the rack and pinion drive assembly 320. The synchronous belt 341 is wound around the two sets of synchronous pulleys 342. One side of the synchronous belt 341 is fixedly connected to the fixed guide rail 311. The flexible gripper robot 400 is movably mounted on one side of the rack and pinion drive assembly 320, and the other side of the synchronous belt 341 is fixedly connected to the flexible gripper robot 400. The drive gear 330 includes a gear and a drive motor; the rack and pinion drive assembly 320 includes a base plate 321 mounted on the outer surface of the slide rail 312. The lower end of the base plate 321 is provided with a transmission rack 322 that meshes with the drive gear 330. A linear slide rail 323 is mounted on the outer surface of the base plate 321, and the flexible gripper robot 400 is mounted on the linear slide rail 323 through a slider engagement.

[0032] Specifically, the telescopic slide rail assembly 310 can be a three-section ball bearing slide rail to increase the travel distance, which is existing technology. For details, refer to the three-section fully extendable ball bearing slide rail reinforcement structure disclosed in patent number CN200320118926.8. The travel amplification mechanism 300 is first driven by a motor to rotate the gears, pushing the rack and pinion drive assembly 320 and the two sets of synchronous pulleys 342 to move as a whole into the fixed guide rail 311. Because one side of the synchronous belt 341 is fixedly connected to the fixed guide rail 311, the synchronous belt 51 will rotate simultaneously, causing the flexible gripper robot 400 to slide further along the linear slide rail 323. At this time, the displacement of the flexible gripper robot 400 is twice the displacement of the rack and pinion drive assembly 320.

[0033] In some possible embodiments, refer to Figure 2 and 3 As shown, the flexible gripper robot 400 includes a robot mounting frame 410 and two sets of flexible grippers 420. One end of the robot mounting frame 410 is connected to the output end of the stroke amplification mechanism 300 through a swing mechanism 430, i.e., it is mounted on the substrate 321. The other end of the robot mounting frame 410 is provided with an opening and closing mechanism 440, and the two sets of flexible grippers 420 are respectively mounted on the two opening and closing ends of the opening and closing mechanism 440.

[0034] Specifically, both sets of flexible grippers 420 include a mounting plate 421 and a plurality of hollow flexible fingers 422 disposed on the mounting plate 421. The two sets of mounting plates 421 are respectively mounted on the two opening and closing ends of the opening and closing mechanism 440. Each of the plurality of hollow flexible fingers 422 has a hollow area 423 inside. The hollow area 423 contains a plurality of rigid plates 424 disposed perpendicular to the length direction of the hollow flexible fingers 422. The two ends of the plurality of rigid plates 424 are respectively hinged to the inner walls of the two sides of the hollow area 423. The hollow flexible finger 422 of this application has an acute-angled triangular cross-section, which can simulate the tip of a finger and is able to grip smaller balls. The two sides of the hollow flexible finger 422 are made of flexible materials such as soft silicone. When gripping a ball, the hollow flexible finger 422 will deform under pressure to wrap around the ball surface. At the same time, the internal rigid plate 424 will bend adaptively through the hinge point to evenly distribute the gripping force. The flexible contact avoids scratching the ball and is suitable for balls of different sizes and materials.

[0035] In some possible embodiments, to achieve pitch angle adjustment of the flexible gripper 420, the swing mechanism 430 includes a turbine shaft 431, a turbine 432, and a worm gear 433. The turbine shaft 431 is rotatably mounted on the drive end of the stroke amplification mechanism 300. One end of the robot arm mounting bracket 410 is connected to the turbine shaft 431. The turbine 432 is coaxially mounted on the turbine shaft 431. The output end of the stroke amplification mechanism 300 is provided with a worm gear mounting bracket 434. The worm gear 433 is rotatably mounted on the worm gear mounting bracket 434 and can mesh with the turbine 432. The worm gear mounting bracket 434 is provided with a geared motor 435 whose drive end is connected to the worm gear 433. The turbine shaft 431 can be rotatably mounted on the base plate 321 via bearings. The geared motor 435 drives the worm gear 433 to rotate, thereby rotating the turbine 432 and the turbine shaft 431, achieving pitch angle adjustment of the robot arm.

[0036] Furthermore, the opening and closing mechanism 440 includes two sets of telescopic cylinders 441 mounted on the bottom of the robotic arm mounting frame 410. The drive ends of the two sets of telescopic cylinders 441 are arranged facing each other. Two sets of flexible grippers 420 are respectively mounted on the drive ends of the two sets of telescopic cylinders 441. A guide rail 442 is provided on the robotic arm mounting frame 410 along the driving direction of the telescopic cylinders 441. Each set of flexible grippers 420 is provided with a second slider 425 that can cooperate with the guide rail 442. The two sets of telescopic cylinders 441 can drive the two sets of flexible grippers 420 to move towards or relative to each other to adapt to the size of the ball and adjust the gripping force.

[0037] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any changes or substitutions within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the protection scope of the claims.

Claims

1. A ball-movement robot based on a highly flexible gripper, characterized in that, include: A steering wheel moving chassis (100) is provided with a lifting mechanism (200), a stroke amplification mechanism (300) is provided at the output end of the lifting mechanism (200), and a flexible gripper manipulator (400) is provided at the output end of the stroke amplification mechanism (300).

2. The ball-playing robot based on a highly flexible gripper according to claim 1, characterized in that, The flexible gripper robot (400) includes a robot mounting frame (410) and two sets of flexible grippers (420). One end of the robot mounting frame (410) is connected to the output end of the stroke amplification mechanism (300) through a swing mechanism (430). The other end of the robot mounting frame (410) is provided with an opening and closing mechanism (440). The two sets of flexible grippers (420) are respectively installed on the two opening and closing ends of the opening and closing mechanism (440).

3. A ball-playing robot based on a highly flexible gripper according to claim 2, characterized in that, Both sets of flexible grippers (420) include a mounting plate (421) and a plurality of hollow flexible fingers (422) provided on the mounting plate (421). The two sets of mounting plates (421) are respectively installed on the two opening and closing ends of the opening and closing mechanism (440). A hollow area (423) is provided inside each of the plurality of hollow flexible fingers (422). A plurality of rigid plates (424) are arranged perpendicular to the length direction of the hollow flexible fingers (422) in the hollow area (423). The two ends of the plurality of rigid plates (424) are respectively hinged to the inner walls of the two sides of the hollow area (423).

4. A ball-playing robot based on a highly flexible gripper according to claim 2, characterized in that, The swing mechanism (430) includes a turbine shaft (431), a turbine (432), and a worm (433). The turbine shaft (431) is rotatably mounted on the drive end of the stroke amplification mechanism (300). One end of the manipulator mounting bracket (410) is connected to the turbine shaft (431). The turbine (432) is coaxially mounted on the turbine shaft (431). The output end of the stroke amplification mechanism (300) is provided with a worm mounting bracket (434). The worm (433) is rotatably mounted on the worm mounting bracket (434) and can mesh with the turbine (432). The worm mounting bracket (434) is provided with a geared motor (435) whose drive end is connected to the worm (433).

5. A ball-playing robot based on a highly flexible gripper according to claim 2, characterized in that, The opening and closing mechanism (440) includes two sets of telescopic cylinders (441) on the bottom of the robot arm mounting frame (410). The driving ends of the two sets of telescopic cylinders (441) are arranged facing each other. The two sets of flexible grippers (420) are respectively arranged on the driving ends of the two sets of telescopic cylinders (441). The robot arm mounting frame (410) is provided with a guide rail (442) along the driving direction of the telescopic cylinders (441). The two sets of flexible grippers (420) are each provided with a second slider (425) that can cooperate with the guide rail (442).

6. A ball-playing robot based on a highly flexible gripper according to claim 1, characterized in that, The steering wheel mobile chassis (100) includes a chassis body (110), on which a plurality of shock-absorbing brackets (120) are mounted. Each shock-absorbing bracket (120) is provided with a shock-absorbing spring (121), and a steering wheel mechanism (130) is slidably mounted on each shock-absorbing bracket (120). Each steering wheel mechanism (130) is hinged to one movable end of the shock-absorbing spring (121) on the corresponding shock-absorbing bracket (120). The sliding direction of each steering wheel mechanism (130) relative to the corresponding shock-absorbing bracket (120) is parallel to the deformation direction of the shock-absorbing spring (121). The lifting mechanism (200) is mounted on the chassis body (110).

7. A ball-playing robot based on a highly flexible gripper according to claim 6, characterized in that, The chassis body (110) is provided with a number of mounting positions (111). Each mounting position (111) is provided with a shock-absorbing bracket (120) on two adjacent sides. Each shock-absorbing bracket (120) is provided with at least one sliding rail (122). The steering wheel mechanism (130) is slidably mounted on the sliding rail (122) on the corresponding shock-absorbing bracket (120) on both adjacent sides by a slider.

8. A ball-playing robot based on a highly flexible gripper according to claim 1, characterized in that, The lifting mechanism (200) includes a lifting frame (220) and a lifting machine frame (210) mounted on a steering wheel moving chassis (100). Both ends of the lifting machine frame (210) are rotatably mounted with synchronous pulleys (211). A lifting synchronous belt (212) is wound around the two sets of synchronous pulleys (211). The lifting machine frame (210) is provided with a drive motor (213) whose drive end is connected to any of the synchronous pulleys (211). The lifting frame (220) is connected to one side of the lifting synchronous belt (212) through a fixing locking member (221). A lifting slide rail (214) is provided on the lifting machine frame (210) along the height direction. The lifting frame (220) is provided with a first slider (222) that can cooperate with the lifting slide rail (214). The stroke amplification mechanism (300) is mounted on the lifting frame (220).

9. A ball-playing robot based on a highly flexible gripper according to claim 8, characterized in that, The stroke amplification mechanism (300) includes a telescopic slide rail assembly (310), a rack and pinion drive assembly (320), a drive gear (330), and a synchronous belt amplification assembly (340). The telescopic slide rail assembly (310) includes a fixed guide rail (311) and a sliding rail (312). The fixed guide rail (311) is mounted on the lifting frame (220), and one end of the sliding rail (312) is slidably mounted inside the fixed guide rail (311). The rack and pinion drive assembly (320) is mounted on the sliding rail (312) and can slide synchronously with the sliding rail (312). The drive gear (330) is rotatably mounted on the lifting frame (220) and can drive the rack and pinion drive assembly synchronously with the sliding rail (312). The components (320) engage to drive the rack and pinion drive assembly (320) to slide; the synchronous belt amplification assembly (340) includes a synchronous belt (341) and two sets of synchronous pulleys (342), the two sets of synchronous pulleys (342) are respectively rotatably mounted on both ends of the rack and pinion drive assembly (320), the synchronous belt (341) is driven around the two sets of synchronous pulleys (342), one side of the synchronous belt (341) is fixedly connected to the fixed guide rail (311), the flexible gripper manipulator (400) is movably mounted on one side of the rack and pinion drive assembly (320), and the other side of the synchronous belt (341) is fixedly connected to the flexible gripper manipulator (400).

10. A ball-playing robot based on a highly flexible gripper according to claim 9, characterized in that, The rack and pinion drive assembly (320) includes a base plate (321) mounted on the outer side of the slide rail (312). The lower end of the base plate (321) is provided with a transmission rack (322) that meshes with the drive gear (330). A linear slide rail (323) is mounted on the outer side of the base plate (321). The flexible gripper manipulator (400) is mounted on the linear slide rail (323) through a slider.

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