CN220922415U - Three-pump paper folding-based capture robot - Google Patents

Abstract

The utility model discloses a three-pump paper folding-based capture robot which comprises a bending mechanism, a bending control mechanism, a control mechanism and a capture mechanism. The tightness of the bending control rope is regulated by the bending control mechanism to control the bending direction and the bending degree of the bending arm, and the tightness of the driving rope is regulated by the control mechanism to control the bending direction and the bending degree of the mechanical claw; the bending arm and the mechanical claw are of cylindrical three-pump paper folding main body structures, so that the bending arm and the mechanical claw can keep self structural stability, the three-pump paper folding main body structure is good in recovery performance, the reconfigurability of movement can be realized, the bending arm and the mechanical claw can not change the width of the three-pump paper folding main body structure in the stretching and bending processes, the three-pump paper folding main body structure is small in size, is convenient to adapt to a narrow space environment, and is controlled in a rope driving mode, the bearing capacity of the paper folding structure is enhanced, and the high degree of freedom of the paper folding arm can not be damaged.

Description

Three-pump paper folding-based capture robot

Technical Field

The utility model relates to the technical field of robots, in particular to a capture robot based on three-pump paper folding.

Background

The traditional rigid capture robot consists of discrete joints with single degree of freedom and rigid connecting rods, and the pose change of the end operation actuator of the robot in an operation space is realized by controlling the motion of the degree of freedom of each joint in a driving space. But such robots have a relatively small number of degrees of freedom, typically 6 or less, and are typically used to perform simple, free-space, operational tasks. With the increasing popularity of robots, the traditional robots are simplified in operation, are only suitable for completing operation tasks in free space without barriers, only end effectors are in contact with the environment, and do not have the capability of working in narrow and limited space. The capture robot on the market at present has the problems of complex structure, huge size, high cost and incapability of adapting to the environment in a narrow space.

Disclosure of utility model

Therefore, the utility model aims to solve the technical problems that the capture robot in the prior art is complex in structure, huge in size and incapable of adapting to the environment in a narrow space, and provides the capture robot based on the three-pump paper folding.

In order to solve the technical problems, the technical scheme of the utility model is as follows:

A capture robot based on three-pump paper folding comprises a bending mechanism, a bending control mechanism, a control mechanism and a capture mechanism connected with the bending mechanism; the bending mechanism comprises a bending arm and a bending control rope connected to the bending arm and connected with the bending control mechanism, and the bending control mechanism is suitable for adjusting the tightness of the bending control rope so as to control the bending direction and the bending degree of the bending arm; the capturing mechanism comprises at least two mechanical claws and two driving ropes which are respectively connected to the two mechanical claws and are connected with the control mechanism, and the control mechanism is suitable for adjusting the tightness of the driving ropes so as to control the bending direction and the bending degree of the mechanical claws; the bending arm and the mechanical claw are cylindrical three-pump paper folding main bodies.

Further, the three-ply paper folding main body comprises a plurality of crease units which are connected in an array mode, wherein horizontal straight-line creases at one side of connecting vertexes of every crease unit are mountain lines, horizontal straight-line creases at the other side of connecting vertexes are valley lines, the remaining two straight-line creases which are connected with the vertexes and obliquely intersect with the horizontal creases are oblique valley lines, each crease unit takes the horizontal straight-line creases as symmetry axes, and the crease units are rectangular after being unfolded.

Further, at least 1 vertex of the vertical straight line crease in the middle of the three-pump paper folding main body of the mechanical claw is provided with a threading hole, and the bending control rope and the driving rope are respectively correspondingly arranged on the threading holes of the three-pump paper folding main body of the mechanical claw.

Further, a first mounting seat is arranged at the top end of the bending arm, and the bending control mechanism is mounted on the first mounting seat; the bending control mechanism comprises a first driving piece fixedly mounted on the first mounting seat and a first wire spool connected with a driving shaft of the first driving piece, the head end of the bending control rope is connected to the first wire spool, and the tail end of the bending control rope is fixed to the bottom end of the bending arm.

Further, an upper spacing disc positioned between the first mounting seat and the bending arm is fixed at the top end of the bending arm, and a lower spacing disc is fixed at the bottom end of the bending arm; the upper spacing disc is provided with a fixed pulley positioned below the wire spool, a rope body at the head end of the bending control rope is arranged between the outer side wall of the wire spool and the inner side wall of the fixed pulley, and the tail end of the bending control rope is fixed on the lower spacing disc.

Further, the bending control mechanism is arranged at least four at intervals on the upper periphery Xiang Junyun of the first mounting seat, and the fixed pulleys and the bending control ropes are at least four and are respectively arranged in one-to-one correspondence with the four bending control mechanisms.

Further, the capturing mechanism is arranged at the bottom of the bending arm through a second mounting seat, the control mechanism is arranged between the second mounting seat and the mechanical claw through a connecting disc, and the control mechanism comprises a second driving piece fixedly arranged on the connecting disc and a second wire spool connected with a driving shaft of the second driving piece; threading holes are formed in two opposite side walls of the mechanical claw, the driving rope is wound on the second wire spool, and two ends of the driving rope penetrate through the threading holes in the two side walls of the mechanical claw and are fixed to the bottom end of the mechanical claw.

Further, three mechanical claws are circumferentially and uniformly arranged below the second mounting seat at intervals.

Further, a silica gel head is arranged at the bottom end of the mechanical claw.

Further, polyimide films are arranged on the inner side wall and the outer side wall of the cylindrical three-ply paper folding main body, and the bending control ropes and the driving ropes are nickel-titanium memory alloy wires.

The technical scheme of the utility model has the following advantages:

1. According to the capture robot based on the three-pump paper folding, the tightness of the bending control rope is regulated through the bending control mechanism to control the bending direction and the bending degree of the bending arm, when the bending control rope is tensioned, the bending arm bends towards the tensioned bending control rope, and the bending degree of the bending arm is larger when the bending control rope is tensioned more tightly; the tightness of the driving rope is regulated by the control mechanism to control the bending direction and the bending degree of the mechanical claw, when the driving rope is tensioned, the mechanical claw bends towards the tensioned driving rope, and the tighter the driving rope is pulled, the larger the bending degree of the mechanical claw is; the bending arm and the mechanical claw are of cylindrical three-pump paper folding main body structures, so that the bending arm and the mechanical claw can keep self structural stability, the three-pump paper folding main body structure is good in recovery performance, the reconfigurability of movement generation can be realized, the bending arm and the mechanical claw can not change the width of the three-pump paper folding main body structure in the stretching and bending processes of the three-pump paper folding main body structure, the three-pump paper folding main body structure is small in size, is convenient to adapt to a narrow space environment, the rope driving mode is adopted for operation, the bearing capacity of the paper folding structure is enhanced, the high degree of freedom of the paper folding arm is not damaged, the mechanical claw part utilizes the high flexibility of the paper folding continuous body, flexible capturing of objects captured by the objects can be realized, and the problem that the rigid mechanical claw can not capture fragile objects is solved.

2. The utility model provides a three-pump paper folding based capture robot, wherein 1 vertex of a vertical line crease in the middle of a three-pump paper folding main body of a folding arm and a mechanical claw is provided with threading holes, and a bending control rope and a driving rope are respectively correspondingly arranged on the threading holes of the three-pump paper folding main body of the folding arm and the mechanical claw in a penetrating way. By the arrangement, the stability of controlling bending by the doubling bending arm and the mechanical claw can be ensured.

3. The utility model provides a three-pump paper folding-based capture robot, wherein the top end of a bending arm is provided with a first mounting seat, and a bending control mechanism is arranged on the first mounting seat; the bending control mechanism comprises a first driving piece fixedly mounted on the first mounting seat and a first wire spool connected with a driving shaft of the first driving piece, the head end of the bending control rope is connected to the first wire spool, and the tail end of the bending control rope is fixed to the bottom end of the bending arm. By the arrangement, the control part can be concentrated at the tail end of the bending arm, so that the bending arm is lighter and more flexible in bending.

4. According to the three-pump paper folding-based capture robot provided by the utility model, the top end of the bending arm is fixed with the upper spacing disc positioned between the first mounting seat and the bending arm, and the bottom end of the bending arm is fixed with the lower spacing disc; the upper spacing disc is provided with a fixed pulley positioned below the wire spool, a rope body at the head end of the bending control rope is arranged between the outer side wall of the wire spool and the inner side wall of the fixed pulley, and the tail end of the bending control rope is fixed on the lower spacing disc. The device is arranged in such a way, the pretightening force on the bending control rope is improved through the fixed pulley, and the control force for realizing bending motion of the folding bending arm can be improved.

5. The utility model provides a three-pump paper folding-based capture robot, wherein at least four bending control mechanisms are arranged at intervals on the upper periphery Xiang Junyun of a first mounting seat, at least four fixed pulleys and at least four bending control ropes are respectively arranged, and the fixed pulleys and the bending control ropes are respectively arranged in one-to-one correspondence with the four bending control mechanisms. So set up, set up 4 at least accuse bending mechanisms, can control the bending rope simultaneously through 4 accuse bending mechanisms and extend and shorten in order to realize the extension and the shortening control of fifty percent discount bent arm, realize its crooked control through respectively extending and shortening the relative both sides accuse bending rope of bent arm simultaneously, guaranteed the accurate control of mechanical movements such as fifty percent discount bent arm bending, compression, extension.

6. According to the three-pump paper folding-based capture robot provided by the utility model, three mechanical claws are circumferentially and uniformly arranged at intervals below the second mounting seat. Through the arrangement, the three mechanical claws can ensure the catching stability of the catching mechanism.

7. According to the three-pump paper folding-based capture robot, the silica gel head is arranged at the bottom end of the mechanical claw, so that a captured object on the capture mechanism can be placed to slide out of the mechanical claw, and the capture stability can be further improved.

8. According to the capture robot based on the three-pump paper folding, polyimide films are arranged on the inner side wall and the outer side wall of the cylindrical three-pump paper folding main body, so that the rigidity of the bending arm and the mechanical claw can be improved, the structural recovery capability of the continuous body of the bending arm and the mechanical claw is enhanced, the durability of the bending arm and the mechanical claw can be improved, and the service life of the robot is prolonged.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present utility model, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural diagram of a capturing robot based on three-pump paper folding according to an embodiment of the present utility model;

fig. 2 is a perspective view of a capturing robot based on three-pump paper folding according to an embodiment of the present utility model;

FIG. 3 is a schematic diagram of a three-ply paper folding main body according to the present utility model;

Fig. 4 is a schematic structural view of a single unit of the three-ply paper folding body in the present utility model.

Reference numerals illustrate: 1. a bending mechanism; 11. a bending arm; 12. a bending control rope; 13. an upper spacer plate; 14. a lower spacer plate; 2. a bend control mechanism; 21. a first mount; 22. a first driving member; 23. a first wire spool; 24. a fixed pulley; 3. a catching mechanism; 31. a mechanical claw; 32. a drive rope; 33. a silica gel head; 4. a control mechanism; 41. a second mounting base; 42. a second driving member; 43. a second wire spool; 44. a connecting disc; 5. a three-pump paper folding main body; 51. mountain line; 52. a rice noodle; 53. oblique valley lines.

Detailed Description

The following description of the embodiments of the present utility model will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the utility model are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

In the description of the present utility model, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

In addition, the technical features of the different embodiments of the present utility model described below may be combined with each other as long as they do not collide with each other.

The capture robot based on three-pump paper folding as shown in figures 1-4 comprises a bending mechanism 1, a bending control mechanism 2, a control mechanism 4 and a capture mechanism 3 connected with the bending mechanism 1; the bending mechanism 1 comprises a bending arm 11 and a bending control rope 12 connected to the bending arm 11 and connected with the bending control mechanism 2, and the bending control mechanism 2 is suitable for adjusting the tightness of the bending control rope 12 to control the bending direction and the bending degree of the bending arm 11; the capturing mechanism 3 comprises two mechanical claws 31 and two driving ropes 32 which are respectively connected with the two mechanical claws 31 and are connected with the control mechanism 4, and the control mechanism 4 is suitable for adjusting the tightness of the driving ropes 32 so as to control the bending direction and the bending degree of the mechanical claws 31; both the bending arm 11 and the gripper 31 are cylindrical three-pump paper folding bodies 5.

According to the capture robot based on the three-pump paper folding, the tightness of the bending control rope 12 is regulated through the bending control mechanism 2 so as to control the bending direction and the bending degree of the bending arm 11, when the bending control rope 12 is tensioned, the bending arm 11 bends towards the tensioned bending control rope 12, and the bending curvature of the bending arm 11 is larger when the bending control rope 12 is tensioned more tightly; the tightness of the driving rope 32 is regulated by the control mechanism 4 to control the bending direction and the bending degree of the mechanical claw 31, when the driving rope 32 is tensioned, the mechanical claw 31 bends towards the tensioned driving rope 32, and the tighter the driving rope 32 is pulled, the larger the bending degree of the mechanical claw 31 is; the bending arm 11 and the mechanical claw 31 are of cylindrical three-pump paper folding main body 5 structures, so that the bending arm 11 and the mechanical claw 31 can keep self structural stability, the three-pump paper folding main body 5 structure is good in recovery performance, the reconfigurability of movement can be achieved, the bending arm 11 and the mechanical claw 31 can not change the width of the three-pump paper folding main body in the stretching and bending process of the bending arm in the movement process, the three-pump paper folding main body is small, the three-pump paper folding main body is convenient to adapt to a narrow space environment, the rope driving mode is adopted for control, the bearing capacity of the paper folding structure is enhanced, the high degree of freedom of the paper folding arm is not damaged, the mechanical claw 31 can achieve flexible capturing of a target captured object by partially utilizing the high flexibility of the paper folding continuous body, and the problem that the rigid mechanical claw 31 can not capture a fragile target is solved.

In this embodiment, the three-ply paper folding main body 5 includes a plurality of crease units distributed and connected in an array, wherein a horizontal straight crease on one side of each vertex connected by adjacent crease units is a mountain line 51, a horizontal straight crease on the other side connected by the vertex is a valley line 52, the remaining two straight creases connected by the vertex and obliquely intersecting with the horizontal crease are oblique valley lines 53, each crease unit takes the horizontal straight crease as a symmetry axis, and the crease units are rectangular after being unfolded.

Specifically, the bending arm 11 and the gripper 31 are respectively provided with threading holes at 1 vertex of the vertical line crease in the middle of the three-pump paper folding main body 5, and the bending control rope 12 and the driving rope 32 are respectively correspondingly threaded on the threading holes of the three-pump paper folding main body 5 of the bending arm 11 and the gripper 31. By providing a plurality of perforations at the apex of the vertical line of the three-ply paper folding body 5, the stability of controlling bending of the folding arm 11 and the gripper 31 can be ensured. In an alternative embodiment, 3 or more than 3 threading holes can be formed at the vertex of the same vertical line crease of the three-ply paper folding main body 5, so that multi-point control is realized on the folding bent arm 11 and the mechanical claw 31, and the bending control accuracy of the folding bent arm 11 and the mechanical claw 31 is improved. In an alternative embodiment, 2 or more threading holes can be arranged on the three-ply paper folding main body 5 according to the requirement, so that the bending stability and the accuracy are improved.

Specifically, both the bend control line 12 and the drive line 32 are nickel titanium memory alloy wires. By the arrangement, the bending control rope 12 and the driving rope 32 can adapt to complex environments by utilizing the shape memory characteristics, super elasticity, corrosion resistance, biocompatibility and good shock absorption of the nickel-titanium memory alloy wires, and the service lives of the bending control rope 12 and the driving rope 32 can be effectively prolonged.

Specifically, polyimide films are arranged on the inner side wall and the outer side wall of the cylindrical three-pump paper folding main body 5, so that the rigidity of the folding arm 11 and the mechanical claw 31 can be improved, the continuous structure recovery capability of the folding arm 11 and the mechanical claw 31 is enhanced, the durability of the folding arm 11 and the mechanical claw 31 can be improved, and the service life is prolonged. Compared with a mechanical arm with a rigid structure, the three-pump paper folding main body 5 structure provided with the polyimide film is remarkably reduced in manufacturing cost and easy to realize mass production.

In the embodiment, the top end of the bending arm 11 is provided with a first mounting seat 21, and the bending control mechanism 2 is mounted on the first mounting seat 21; the bending control mechanism 2 comprises a first driving piece 22 fixedly mounted on a first mounting seat 21 and a first wire spool 23 connected with a driving shaft of the first driving piece 22, the head end of the bending control rope 12 is connected to the first wire spool 23, and the tail end of the bending control rope 12 is fixed at the bottom end of the bending arm 11. By this arrangement, the control part can be concentrated at the end of the bending arm 11, so that the bending arm 11 is lighter and more flexible in bending.

In the embodiment, an upper spacing disc 13 positioned between the first mounting seat 21 and the bending arm 11 is fixed at the top end of the bending arm 11, and a lower spacing disc 14 is fixed at the bottom end of the bending arm 11; the upper spacing disc 13 is provided with a fixed pulley 24 positioned below the wire spool, a rope body at the head end of the bending control rope 12 is arranged between the outer side wall of the wire spool and the inner side wall of the fixed pulley 24, and the tail end of the bending control rope 12 is fixed on the lower spacing disc 14. By arranging the fixed pulley 24, the pretightening force of the bending control rope 12 is improved, and the control force of the bending control arm 11 for realizing bending motion can be improved.

In this embodiment, 4 bending control mechanisms 2 are circumferentially and uniformly arranged on the first mounting seat 21 at intervals, and the fixed pulleys 24 and the bending control ropes 12 are respectively provided with 4 bending control mechanisms and are respectively arranged in one-to-one correspondence with the 4 bending control mechanisms 2. So set up, set up 4 accuse bending mechanism 2, can control simultaneously through 4 accuse bending mechanism 2 and control the extension and shorten in order to realize the extension and the shorten control of fifty percent discount bent arm 11, simultaneously realize its crooked control through respectively extending and shortening the relative both sides accuse bent rope 12 of bent arm 11, realize the multi-direction multi-angle bending of bent arm 11, guaranteed the accurate control of mechanical movements such as bent, compression, extension of fifty percent discount bent arm 11.

In this embodiment, the capturing mechanism 3 is mounted at the bottom of the bending arm 11 through a second mounting seat 41, the control mechanism 4 is mounted between the second mounting seat 41 and the mechanical gripper 31 through a connecting disc 44, and the control mechanism 4 includes a second driving piece 42 fixedly mounted on the connecting disc 44 and a second wire spool 43 connected with a driving shaft of the second driving piece 42; threading holes are formed in two opposite side walls of the mechanical claw 31, the driving rope 32 is wound on the second wire spool 43, and two ends of the driving rope 32 penetrate through the threading holes in the two side walls of the mechanical claw 31 respectively and are fixed to the bottom end of the mechanical claw 31. Specifically, three grippers 31 are circumferentially and uniformly spaced below the second mount 41. By this arrangement, the three grippers 31 can ensure the catching stability of the catching mechanism 3. Specifically, the bottom of the gripper 31 is provided with the silica gel head 33, so that the captured object on the capturing mechanism 3 can be placed to slide out of the gripper 31, and capturing stability can be further improved.

In the initial state of the capturing mechanism 3, the mechanical claw 31 is in an extended state, the second driving piece 42 drives the corresponding second wire spool 43 to move anticlockwise and circularly, the driving rope 32 close to the axial end of the second mounting seat 41 is loosened, and in principle, the driving rope 32 close to the axial end of the second mounting seat 41 is tightened, so that the mechanical claw 31 is controlled to bend in the axial direction far away from the second mounting seat 41, and the state to be captured is achieved. After the capturing mechanism 3 approaches the target captured object, the second driving piece 42 drives the corresponding second wire spool 43 to move clockwise in a circular manner, the driving rope 32 close to the axial end of the second mounting seat 41 is tightened, the driving rope 32 far away from the axial end of the second mounting seat 41 is loosened, and then the three mechanical claws 31 are controlled to bend towards the axial direction close to the second mounting seat 41, so that the capturing mechanism is in an initial state. Through the operation, the capturing motion is realized.

In this embodiment, the first driving member 22 and the second driving member 42 are both electric steering engines.

In summary, according to the capturing robot based on the three-pump paper folding, the tightness of the bending control rope 12 is adjusted through the bending control mechanism 2 to control the bending direction and the bending degree of the bending arm 11, when the bending control rope 12 is tensioned, the bending arm 11 bends towards the tensioned bending control rope 12, and the tighter the bending control rope 12 is pulled, the greater the bending curvature of the bending arm 11 is; the tightness of the driving rope 32 is regulated by the control mechanism 4 to control the bending direction and the bending degree of the mechanical claw 31, when the driving rope 32 is tensioned, the mechanical claw 31 bends towards the tensioned driving rope 32, and the tighter the driving rope 32 is pulled, the larger the bending degree of the mechanical claw 31 is; the bending arm 11 and the mechanical claw 31 are of cylindrical three-pump paper folding main body 5 structures, so that the bending arm 11 and the mechanical claw 31 can keep self structural stability, the three-pump paper folding main body 5 structure is good in recovery performance, the reconfigurability of movement can be achieved, the bending arm 11 and the mechanical claw 31 can not change the width of the three-pump paper folding main body in the stretching and bending process of the bending arm in the movement process, the three-pump paper folding main body is small, the three-pump paper folding main body is convenient to adapt to a narrow space environment, the rope driving mode is adopted for control, the bearing capacity of the paper folding structure is enhanced, the high degree of freedom of the paper folding arm is not damaged, the mechanical claw 31 can achieve flexible capturing of a target captured object by partially utilizing the high flexibility of the paper folding continuous body, and the problem that the rigid mechanical claw 31 can not capture a fragile target is solved.

It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. While still being apparent from variations or modifications that may be made by those skilled in the art are within the scope of the utility model.

Claims (10)

1. The capture robot based on the three-pump paper folding is characterized by comprising a bending mechanism (1), a bending control mechanism (2), a control mechanism (4) and a capture mechanism (3) connected with the bending mechanism (1); the bending mechanism (1) comprises a bending arm (11) and a bending control rope (12) which is connected to the bending arm (11) and is connected with the bending control mechanism (2), and the bending control mechanism (2) is suitable for adjusting the tightness of the bending control rope (12) so as to control the bending direction and the bending degree of the bending arm (11); the capturing mechanism (3) comprises at least two mechanical claws (31) and two driving ropes (32) which are respectively connected to the two mechanical claws (31) and are connected with the control mechanism (4), and the control mechanism (4) is suitable for adjusting the tightness of the driving ropes (32) so as to control the bending direction and the bending degree of the mechanical claws (31); the bending arm (11) and the mechanical claw (31) are both cylindrical three-pump paper folding main bodies (5).

2. The capturing robot based on three-ply paper folding according to claim 1, wherein the three-ply paper folding main body (5) comprises a plurality of crease units which are connected in an array, wherein a horizontal straight crease on one side of a connecting vertex of each crease unit is a mountain line (51), a horizontal straight crease on the other side of the connecting vertex is a valley line (52), straight creases which are connected with the remaining two connecting vertices and are oblique to the horizontal crease are oblique valley lines (53), each crease unit takes the horizontal straight crease as a symmetry axis, and the crease units are rectangular after being unfolded.

3. The three-pump paper folding-based capture robot according to claim 2, wherein at least 1 vertex of a vertical line crease in the middle of the three-pump paper folding main body (5) of the bending arm (11) and the mechanical claw (31) is provided with a threading hole, and the bending control rope (12) and the driving rope (32) are respectively correspondingly threaded on the threading holes of the three-pump paper folding main body (5) of the bending arm (11) and the mechanical claw (31).

4. The three-pump paper folding-based capture robot according to claim 1, wherein a first mounting seat (21) is arranged at the top end of the bending arm (11), and the bending control mechanism (2) is mounted on the first mounting seat (21); the bending control mechanism (2) comprises a first driving piece (22) fixedly mounted on the first mounting seat (21) and a first wire spool (23) connected with a driving shaft of the first driving piece (22), the head end of the bending control rope (12) is connected to the first wire spool (23), and the tail end of the bending control rope (12) is fixed to the bottom end of the bending arm (11).

5. The three-pump paper folding-based capture robot according to claim 4, wherein an upper spacing disc (13) positioned between the first mounting seat (21) and the bending arm (11) is fixed at the top end of the bending arm (11), and a lower spacing disc (14) is fixed at the bottom end of the bending arm (11); the upper spacing disc (13) is provided with a fixed pulley (24) positioned below the wire winding disc, a rope body at the head end of the bending control rope (12) is arranged between the outer side wall of the wire winding disc and the inner side wall of the fixed pulley (24), and the tail end of the bending control rope (12) is fixed on the lower spacing disc (14).

6. The three-pump paper folding-based capture robot according to claim 5, wherein at least four bending control mechanisms (2) are circumferentially and uniformly arranged on the first mounting seat (21) at intervals, and the fixed pulleys (24) and the bending control ropes (12) are at least four and are respectively arranged in one-to-one correspondence with the four bending control mechanisms (2).

7. A three-ply paper folding-based capture robot according to claim 3, characterized in that the capture mechanism (3) is mounted at the bottom of the bending arm (11) through a second mounting seat (41), the control mechanism (4) is mounted between the second mounting seat (41) and the mechanical claw (31) through a connecting disc (44), and the control mechanism (4) comprises a second driving piece (42) fixedly mounted on the connecting disc (44) and a second winding disc (43) connected with a driving shaft of the second driving piece (42); threading holes are formed in two opposite side walls of the mechanical claw (31), the driving rope (32) is wound on the second wire spool (43), and two ends of the driving rope (32) penetrate through the threading holes in the two side walls of the mechanical claw (31) respectively and are fixed to the bottom ends of the mechanical claw (31).

8. The three-pump paper folding-based capture robot according to claim 7, wherein three mechanical claws (31) are circumferentially and uniformly arranged at intervals below the second mounting seat (41).

9. The three-pump paper folding-based capture robot according to claim 1, wherein a silicone head (33) is arranged at the bottom end of the mechanical claw (31).

10. The capture robot based on three-pump paper folding according to claim 1, wherein polyimide films are arranged on the inner side wall and the outer side wall of the cylindrical three-pump paper folding main body (5), and the bending control rope (12) and the driving rope (32) are nickel-titanium memory alloy wires.