A flexible manipulator and its adaptive grasping method
Through the design of flexible robots, combined with the depth camera and pneumatic module, the adaptive deformation of flexible jaws solves the problem of low efficiency of traditional robots when grabbing objects of different shapes and materials, and achieves efficient and accurate grasping tasks.
Patent Information
- Application Number
- CN202211715808.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2022-12-29
- Publication Date
- 2025-01-03
- Estimated Expiration
- 2042-12-29
AI Technical Summary
Traditional robots are inefficient and prone to damage workpieces when grabbing objects of different shapes and materials, making it impossible to achieve fast and accurate grasping.
A flexible robot is designed, adopting a structure including a mechanical mobile phone stand, a roulette end cap, a rigid jaw and a flexible jaw. Combined with a depth camera, a pneumatic module and a motor module, it realizes adaptive gripping through a varistor and a control module. The flexible jaw adjusts the air flow rate and speed through the pneumatic module to adapt to the hardness and shape of the object.
It realizes fast and precise grasping of objects of different shapes and materials, improves the grasping efficiency of the robot, adapts to complex grasping tasks, and reduces damage to the workpiece.
Smart Images
Figure CN115816505B_ABST
Abstract
Description
Technical Field
[0001] The invention relates to a flexible manipulator, in particular to a flexible manipulator and an adaptive grasping method thereof. Background Art
[0002] In traditional industrial production processes, due to the limitations of working conditions, the objects that robots grasp are mostly hard solids with fixed shapes, and it is impossible to quickly grasp objects of different shapes. Since the size of the robot's grasping force cannot be accurately controlled, it is very easy to damage the surface of the workpiece when grasping the object. With the development of industry, people have higher requirements for production efficiency on the production line. In order to successfully grasp the grasped object, the grasped object needs to be placed in a specific position. The placement process greatly reduces the grasping efficiency. Summary of the invention
[0003] In order to solve the problems existing in the background technology, the present invention provides a flexible manipulator and an adaptive grasping method thereof, which are used to grasp objects of different shapes and materials, and realize the random grasping work on the production line, which is of great significance to improve the grasping efficiency.
[0004] The technical solution adopted by the present invention is:
[0005] 1. A flexible manipulator:
[0006] The flexible manipulator includes a mechanical mobile phone frame body, a roulette end cover, a rigid clamp and a flexible clamp. The roulette end cover is installed at the bottom of the mechanical mobile phone frame body, the rigid clamp is installed on the bottom surface of the roulette end cover, the root end of the rigid clamp is connected to the bottom surface periphery of the roulette end cover, and the end of the rigid clamp is connected to the root end of the flexible clamp.
[0007] It also includes several piezoresistors, depth cameras, pneumatic modules, motor modules and control modules, each of which is installed on the ventral surface of the rigid gripper; the depth camera is installed at the bottom center of the wheel end cover and faces directly downward; the pneumatic module, motor module and control module are all installed inside the main body of the mechanical mobile phone holder, the motor module includes several motors, the fuselage of each motor is installed inside the main body of the mechanical mobile phone holder, and the output shaft of each motor is meshed with the root end of the rigid gripper through a gear; the depth camera and the control module are connected to an external computer, and each piezoresistors, pneumatic modules and motor modules are electrically connected to the control module, and the pneumatic module is connected to the flexible gripper after passing through the rigid gripper through several air pipes. The pneumatic module can adapt to the hardness of the grasped object, and realize the magnitude of the grasping force and the speed of opening and closing by controlling the magnitude and speed of the air flow.
[0008] The rigid clamp comprises a plurality of rigid clamping fingers, the root ends of each rigid clamping finger are evenly spaced along the circumference of the bottom of the wheel disc end cover, each rigid clamping finger is a hollow rectangular strip, and half gear structures are arranged on the symmetrical sides of the root end of the rigid clamping finger, and the two half gear structures are arranged in parallel and parallel to the symmetric plane of the root end of each rigid clamping finger, and the center of the two half gear structures is provided with a through hole, and each rigid clamping finger is movably installed at the bottom of the wheel disc end cover through a roller passing through its two through holes, and the symmetric plane of the two half gear structures of each rigid clamping finger is arranged along the radial direction of the wheel disc end cover; the two half gear structures of each rigid clamping finger are meshed with a gear, and the gear surface of the gear is arranged along the radial direction of the wheel disc end cover, and the center of the gear is synchronously connected to the output shaft of a respective motor; a varistor is installed on the finger belly surface of each rigid clamping finger, and the end of each rigid clamping finger is connected to the root end of the flexible clamping claw. The roller can be disassembled to install different rigid clamping claws, and the rigid clamping claw can specifically adopt four rigid clamping fingers. According to the signal given by the control module, the motor module performs three actions: forward rotation to open the rigid gripper, reverse rotation to shrink the rigid gripper, and stop; the four motors of the motor module rotate four different rigid grippers respectively, and the rotation speed can be adjusted. According to the signal given by the control module, the motor module issues a rotation command to the motor to control the rotation direction and speed of the rigid gripper. Each motor controls different rigid grippers respectively, enhancing the flexibility of the manipulator.
[0009] The flexible clamping claw comprises a plurality of flexible clamping fingers, each of which comprises a plurality of hollow rectangular single-section hoses, each of which is connected in series in sequence along the direction of its own penetration and is interconnected, the root end and the end of the flexible clamping finger are sealed, the root end of each flexible clamping finger is connected to the end of a respective rigid clamping finger, and the pneumatic module is connected to the interior of a respective flexible clamping finger of a respective rigid clamping claw after each air pipe passes through the interior of a respective rigid clamping finger of the rigid clamping claw.
[0010] The back side of each single-section hose of each flexible clamp finger is provided with an opening, and grooves are provided at the bottom end of the upper wall of the hose at the upper end of the opening of the single-section hose and the top end of the lower wall of the hose at the lower end of the opening, and a slide is arranged between the two grooves. The slide is an I-shaped long piece, and the upper end of the slide is slidably installed in the groove of the upper wall of the hose, and the lower end of the slide is slidably installed in the groove of the lower wall of the hose; the width of the groove of the lower wall of the hose is equal to the notch width of the groove of the upper wall of the hose.
[0011] Each flexible clamp finger can specifically adopt five hollow rectangular hoses. The slide is embedded between the upper and lower walls of the hose, and the upper and lower walls of the hose have the same needle tube structure. When inhaling, the lower wall of the hose and the slide will slide into the upper wall of the hose. When inflating, the slide will pull the upper and lower walls of the hose to prevent them from separating. The size of the bending deformation of the flexible clamp is mainly achieved by the deformation structure of the hose, and the length of the slide, the upper wall and the lower wall of the hose can be adjusted.
[0012] 2. Adaptive grasping method of flexible manipulator:
[0013] When the flexible manipulator grasps an object, it first captures the depth information of the object to be grasped through a depth camera and sends it to an external computer, thereby determining the position information of the object to be grasped and the moving position information of the flexible manipulator, and the external computer sends an opening instruction to each motor of the motor module through the control module so that the output shaft of each motor rotates forward, and then drives each rigid clamping finger of the rigid clamp to open to the maximum position through each gear, and then the control module sends an inflation command to the pneumatic module, and the pneumatic module inflates each flexible clamping finger of the flexible clamp and makes each flexible clamping finger in an open state; the flexible manipulator moves to the top of the object to be grasped according to the position information and the moving position information of the object to be grasped, at which time the object to be grasped is in the middle of each flexible clamping finger, and the external computer sends a contraction instruction to each motor of the motor module through the control module so that the output shaft of each motor reverses, and then drives each rigid clamping finger of the rigid clamp to open to the maximum position through each gear. The fingers contract and grasp the object to be grasped. When the piezoresistors on the fingertips of each rigid clamping finger contact the object to be grasped, each piezoresistors send feedback signals to the control module. The control module controls the motors of the motor module to stop. Then the control module sends an air suction command to the pneumatic module. The pneumatic module absorbs the gas from each flexible clamping finger of the flexible clamping claw, so that each flexible clamping finger begins to deform and contract and grasps the object to complete the grasping. Then the flexible manipulator is controlled to move the grasped object to a preset position. The control module sends an inflation command to the pneumatic module. The pneumatic module inflates each flexible clamping finger of the flexible clamping claw and makes each flexible clamping finger open. Then, the control module sends an opening instruction to each motor of the motor module to make the output shaft of each motor rotate forward, and then drive each rigid clamping finger of the rigid clamping claw to open to the maximum position through each gear, release the grasped object, make the grasped object fall at the preset position, and complete the grasping task.
[0014] The motor module drives the rigid jaws to open and close, and the pneumatic module opens and contracts the flexible jaws by filling and sucking gas into them. According to the signal given by the control system, the pneumatic module performs three actions: suction, inflation, and holding. Flexible clamp I is in a contracted state, flexible clamp II is in an open state, and flexible clamp III is in an upright state. When the pneumatic module inhales air, since the flexible clamp is overall closed, under the action of air pressure, the slide will slide into the lower wall of the hose, and the lower wall of the hose will slide into the upper arm of the hose. The flexible clamp bends toward the contact surface to make the flexible clamp IV bend inward. During grasping, due to the resistance of the grasped object, the flexible clamp will shrink and deform along the periphery of the grasped object, wrap the grasped object, and realize the grasping of the robot; when the pneumatic module is inflated, each single-section hose is inflated, the upper wall and the lower wall of the hose are separated, and the middle is connected by a slide, and the flexible clamp V is in an open state, realizing the opening of the robot; the size of the bending deformation of the flexible clamp is mainly realized by the deformation structure of each single-section hose, and the bending change of the hose at different angles can be achieved by adjusting the length of the slide, the upper arm and the lower wall of the hose.
[0015] The beneficial effects of the present invention are:
[0016] The present invention can adaptively analyze the position information of the grasped target through the depth camera, and can adaptively shrink and deform the rigid gripper and the flexible gripper without restricting the shape and material of the object, thereby realizing adaptive and rapid grasping of different objects, greatly facilitating industrial grasping, being able to adapt to complex grasping targets, and effectively improving the grasping efficiency of the robot arm. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] Figure 1 It is a schematic diagram of the structure of the flexible manipulator in the contracted state;
[0018] Figure 2 It is a schematic diagram of the structure of the flexible manipulator in the open state;
[0019] Figure 3 It is a structural schematic diagram of a rigid gripper;
[0020] Figure 4 Schematic diagram of the structure of the flexible gripper in different states;
[0021] Figure 5 It is a schematic diagram of the deformation structure of a single-section hose;
[0022] In the figure: 1. main body of the mechanical mobile phone holder, 2. wheel end cover, 3. rigid clamp, 4. flexible clamp I, 5. flexible clamp II, 6. single-section hose, 7. varistor, 8. flexible clamp III, 9. flexible clamp IV, 10. flexible clamp V, 11. slide, 12. upper wall of hose, 13. lower wall of hose. DETAILED DESCRIPTION
[0023] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.
[0024] The flexible manipulator of the present invention comprises a manipulator frame body 1, a roulette end cover 2, a rigid clamp 3 and flexible clamps 4, 5, 8, 9, 10, the roulette end cover 2 is installed at the bottom of the manipulator frame body 1, the rigid clamp 3 is installed on the bottom surface of the roulette end cover 2, the root end of the rigid clamp 3 is connected to the bottom surface periphery of the roulette end cover 2, and the end of the rigid clamp 3 is connected to the root end of the flexible clamp 4, 5, 8, 9, 10.
[0025] The flexible manipulator also includes a number of piezoresistors 7, a depth camera, a pneumatic module, a motor module and a control module. Each piezoresistors 7 are installed on the ventral surface of the rigid clamp 3; the depth camera is installed at the bottom center of the wheel end cover 2 and faces directly downward; the pneumatic module, the motor module and the control module are all installed inside the main body 1 of the mechanical mobile phone frame, the motor module includes a number of motors, the fuselage of each motor is installed inside the main body 1 of the mechanical mobile phone frame, and the output shaft of each motor is meshed with the root end of the rigid clamp 3 through a gear; the depth camera and the control module are connected to an external computer, each piezoresistors 7, the pneumatic module and the motor module are electrically connected to the control module, and the pneumatic module is connected to the flexible clamps 4, 5, 8, 9, 10 after passing through the rigid clamp 3 through a number of air pipes. The pneumatic module can adapt to the hardness of the grasped object, and realize the magnitude of the grasping force and the speed of opening and closing by controlling the magnitude and speed of the air flow.
[0026] The rigid clamping jaw 3 includes a plurality of rigid clamping fingers, the root ends of each rigid clamping finger are evenly spaced along the circumference of the bottom of the wheel end cover 2, each rigid clamping finger is a hollow rectangular strip, and half gear structures are arranged on the symmetrical sides of the root end of the rigid clamping finger, and the two half gear structures are arranged in parallel and parallel to the symmetric plane of the root end of each rigid clamping finger, and the center of the two half gear structures is provided with a through hole, and each rigid clamping finger is movably installed on the bottom of the wheel end cover 2 through a roller passing through its two through holes, and the symmetric plane of the two half gear structures of each rigid clamping finger is arranged along the radial direction of the wheel end cover 2; the two half gear structures of each rigid clamping finger are meshed with a gear, and the gear surface of the gear is arranged along the radial direction of the wheel end cover 2, and the center of the gear is synchronously connected to the output shaft of a respective motor; a varistor 7 is installed on the finger belly surface of each rigid clamping finger, and the end of each rigid clamping finger is connected to the root end of the flexible clamping jaw 4, 5, 8, 9, 10. The roller can be removed to install different rigid clamping jaws 3, and the rigid clamping jaw 3 can specifically adopt four rigid clamping fingers. According to the signal given by the control module, the motor module performs three actions: forward rotation to open the rigid gripper, reverse rotation to shrink the rigid gripper 3, and stop; the four motors of the motor module rotate four different rigid grippers respectively, and the rotation speed can be adjusted. According to the signal given by the control module, the motor module issues a rotation command to the motor to control the rotation direction and speed of the rigid gripper 3. Each motor controls different rigid grippers respectively, enhancing the flexibility of the manipulator.
[0027] The flexible clamping jaws 4, 5, 8, 9, and 10 include a plurality of flexible clamping fingers, each of which includes a plurality of hollow rectangular single-section hoses 6. The single-section hoses 6 are connected in series and interconnected in the direction in which they penetrate. The root end and the end end of the flexible clamping fingers are sealed. The root end of each flexible clamping finger is connected to the end of a respective rigid clamping finger. The pneumatic module is connected to the interior of a respective flexible clamping finger of a respective rigid clamping jaw 3 through each air pipe.
[0028] An opening is provided on the back side of each single-section hose 6 of each flexible clamping finger, and grooves are provided at the bottom end of the hose upper wall 12 at the upper end of the opening of the single-section hose 6 and the top end of the hose lower wall 13 at the lower end of the opening, and a slide 11 is arranged between the two grooves. The slide 11 is an I-shaped long piece, and the upper end of the slide 11 is slidably installed in the groove of the hose upper wall 12, and the lower end of the slide 11 is slidably installed in the groove of the hose lower wall 13; the width of the groove of the hose lower wall 13 is equal to the notch width of the groove of the hose upper wall 12.
[0029] Each flexible clamp finger can specifically adopt five hollow rectangular hoses. The slide 11 is embedded between the upper and lower walls of the hose, and the upper and lower walls of the hose have the same needle tube structure. When inhaling, the lower wall 13 of the hose and the slide will slide into the upper wall 12 of the hose. When inflating, the slide will pull the upper and lower walls of the hose to prevent them from separating. The bending deformation of the flexible clamping jaws 4, 5, 8, 9, 10 is mainly achieved by the deformation structure of the hose. The lengths of the slide 11, the upper wall 12 and the lower wall 13 of the hose can be adjusted.
[0030] In the specific implementation, the four rigid jaws 3 are independent of each other, and the upper end of the rigid jaws 3 is designed with a half gear structure, which is connected to the four motors through gear transmission respectively; the rotation angle between the rigid jaws 3 and the wheel end cover 2 is designed to be 20 to 70 degrees. The flexible jaws 4, 5, 8, 9, 10 play the main role of grasping. The flexible jaws 4, 5, 8, 9, 10 are 3D printed, and are specifically composed of five single-section hoses 6 connected in series. The sections of the hoses are interconnected, and the flexible jaws 4, 5, 8, 9, 10 are sealed as a whole.
[0031] The adaptive grasping method of the flexible manipulator of the present invention is as follows:
[0032] When the flexible manipulator grasps an object, it first uses a depth camera to capture the depth information of the object to be grasped and sends it to an external computer, thereby determining the position information of the object to be grasped and the moving position information of the flexible manipulator. The external computer sends an opening instruction to each motor of the motor module through the control module to make the output shaft of each motor rotate forward, thereby driving each rigid clamping finger of the rigid clamp 3 to open to the maximum position through each gear, and then the control module sends an inflation command to the pneumatic module, and the pneumatic module inflates each flexible clamping finger of the flexible clamp 4, 5, 8, 9, and 10 and makes each flexible clamping finger in an open state; the flexible manipulator moves to the top of the object to be grasped according to the position information and moving position information of the object to be grasped, at which time the object to be grasped is in the middle of each flexible clamping finger, and the external computer sends a contraction instruction to each motor of the motor module through the control module to make the output shaft of each motor reverse, thereby driving each rigid clamping finger of the rigid clamp 3 to contract through each gear and grasp the object to be grasped. To grasp an object, when each piezoresistor 7 on the fingertip surface of each rigid clamping finger contacts the object to be grasped, each piezoresistor 7 sends a feedback signal to the control module, and the control module controls each motor of the motor module to stop, and then the control module sends an air suction command to the pneumatic module, and the pneumatic module absorbs the gas of each flexible clamping finger of the flexible clamping jaws 4, 5, 8, 9, and 10, so that each flexible clamping finger begins to deform and contract and grasps the object, thereby completing the grasping; then the flexible manipulator is controlled to move the grasped object to a preset position, and the control module sends an inflation command to the pneumatic module, and the pneumatic module inflates each flexible clamping finger of the flexible clamping jaws 4, 5, 8, 9, and 10 and makes each flexible clamping finger in an open state, and then the control module sends an opening instruction to each motor of the motor module so that the output shaft of each motor rotates forward, and then drives each rigid clamping finger of the rigid clamping jaw 3 to open to the maximum position through each gear, releases the grasped object, and makes the grasped object fall at the preset position, thereby completing the grasping task.
[0033] The motor module drives the rigid jaws 3 to open and close, and the pneumatic module opens and contracts the flexible jaws by filling and sucking gas into the flexible jaws. According to the signal given by the control system, the pneumatic module performs three actions: suction, inflation, and holding. The flexible jaws I4 are in a contracted state, the flexible jaws II5 are in an open state, and the flexible jaws III8 are in an upright state. When the pneumatic module inhales air, the flexible jaws 4, 5, 8, 9, and 10 are sealed as a whole. Under the action of air pressure, the slide 11 will slide into the lower wall 13 of the hose, and the lower wall 13 of the hose will slide into the upper arm 12 of the hose. The flexible jaws 4, 5, 8, 9, and 10 bend toward the contact surface so that the flexible jaws IV9 is bent inward. When grasping, due to the resistance of the grasped object, the flexible jaws 4, 5, 8, 9, and 10 will move along the grasped object. The periphery of the flexible clamping jaws 4, 5, 8, 9, 10 contracts and deforms to wrap the grasped object, thereby realizing the grasping of the robot; when the pneumatic module is inflated, each single-section hose 6 is inflated and expanded, the upper wall 12 of the hose and the lower wall 13 of the hose are separated, and the middle is connected by a slide 11, and the flexible clamping jaws V10 are in an open state, thereby realizing the opening of the robot; the size of the bending deformation of the flexible clamping jaws 4, 5, 8, 9, 10 is mainly realized by the deformation structure of each single-section hose 6, and the bending changes of the hose at different angles can be realized by adjusting the length of the slide 11, the upper arm 12 and the lower wall 13 of the hose.
Claims
1. A flexible manipulator, characterized in that: The mechanical mobile phone holder comprises a main body (1), a wheel end cover (2), a rigid clamping claw (3) and flexible clamping claws (4, 5, 8, 9, 10), wherein the wheel end cover (2) is mounted on the bottom of the main body (1) of the mechanical mobile phone holder, the rigid clamping claw (3) is mounted on the bottom surface of the wheel end cover (2), the root end of the rigid clamping claw (3) is connected to the periphery of the bottom surface of the wheel end cover (2), and the end of the rigid clamping claw (3) is connected to the root end of the flexible clamping claw (4, 5, 8, 9, 10); It also includes a plurality of piezoresistors (7), a depth camera, a pneumatic module, a motor module and a control module, each piezoresistors (7) being mounted on the ventral surface of the rigid clamp (3); the depth camera being mounted at the center of the bottom surface of the wheel end cover (2) and facing directly downward; the pneumatic module, the motor module and the control module being mounted inside the mechanical mobile phone frame body (1), the motor module including a plurality of motors, each motor body being mounted inside the mechanical mobile phone frame body (1), and the output shaft of each motor being meshed with the root end of the rigid clamp (3) through a gear; the depth camera and the control module being connected to an external computer, each piezoresistors (7), the pneumatic module and the motor module being electrically connected to the control module, and the pneumatic module being connected to the flexible clamps (4, 5, 8, 9, 10) after passing through the rigid clamp (3) through a plurality of air pipes; The rigid clamping claw (3) comprises a plurality of rigid clamping fingers, the root ends of the rigid clamping fingers are evenly spaced along the circumference of the bottom of the wheel disc end cover (2), each rigid clamping finger is in the shape of a hollow rectangular strip, and half gear structures are provided on the symmetrical sides of the root end of the rigid clamping finger, the two half gear structures are arranged in parallel and opposite to each other and parallel to the symmetry plane of the root end of the rigid clamping finger where they are located, and the centers of the two half gear structures are provided with through holes, and each rigid clamping finger is movably mounted on the bottom of the wheel disc end cover (2) through a roller passing through its two through holes, and the symmetry planes of the two half gear structures of each rigid clamping finger are arranged along the radial direction of the wheel disc end cover (2); the two half gear structures of each rigid clamping finger are meshed with a gear, the gear surface of the gear is arranged along the radial direction of the wheel disc end cover (2), and the center of the gear is synchronously connected to the output shaft of a respective motor; a varistor (7) is installed on the finger web surface of each rigid clamping finger, and the end of each rigid clamping finger is connected to the root end of the flexible clamping claw (4, 5, 8, 9, 10); The flexible clamping jaws (4, 5, 8, 9, 10) include a plurality of flexible clamping fingers, each of which includes a plurality of hollow rectangular single-section hoses (6), each of which is sequentially connected in series along the direction of its penetration and is interconnected, the root end and the end of the flexible clamping finger are sealed, the root end of each flexible clamping finger is connected to the end of a respective rigid clamping finger, and the pneumatic module is connected to the interior of a respective flexible clamping finger of a respective rigid clamping jaw (3) through each air pipe; The back surface of each single-section hose (6) of each flexible clamp finger is provided with an opening, and the bottom end of the hose upper wall (12) at the upper end of the opening of the single-section hose (6) and the top end of the hose lower wall (13) at the lower end of the opening are provided with grooves, and a slide (11) is arranged between the two grooves, and the slide (11) is an I-shaped long piece, and the upper end of the slide (11) is slidably mounted in the groove of the hose upper wall (12), and the lower end of the slide (11) is slidably mounted in the groove of the hose lower wall (13); the width of the groove of the hose lower wall (13) is equal to the notch width of the groove of the hose upper wall (12).
2. The adaptive grasping method of the flexible manipulator according to claim 1, characterized in that: When the flexible manipulator grasps an object, it first captures the depth information of the object to be grasped through a depth camera and sends it to an external computer, thereby determining the position information of the object to be grasped and the mobile position information of the flexible manipulator. The external computer sends an opening instruction to each motor of the motor module through the control module so that the output shaft of each motor rotates forward, thereby driving each rigid clamping finger of the rigid clamp (3) to open through each gear. Then the control module sends an inflation command to the pneumatic module, and the pneumatic module inflates each flexible clamping finger of the flexible clamp (4, 5, 8, 9, 10) and makes each flexible clamping finger in an open state. The flexible manipulator moves to the top of the object to be grasped according to the position information and mobile position information of the object to be grasped. At this time, the object to be grasped is in the middle of each flexible clamping finger. The external computer sends a contraction instruction to each motor of the motor module through the control module so that the output shaft of each motor rotates reversely, thereby driving each rigid clamping finger of the rigid clamp (3) to contract through each gear and grasp the object to be grasped. Grasping an object, when each piezoresistors (7) on the fingertips of each rigid gripper finger contact the object to be grasped, each piezoresistors (7) send a feedback signal to the control module, the control module controls each motor of the motor module to stop, then the control module sends an air suction command to the pneumatic module, the pneumatic module absorbs the gas of each flexible gripper finger of the flexible gripper (4, 5, 8, 9, 10), so that each flexible gripper finger begins to deform and contract and grasps the object, thus completing the grasping; then the flexible manipulator is controlled to move the grasped object to a preset position, the control module sends an air inflation command to the pneumatic module, the pneumatic module inflates each flexible gripper finger of the flexible gripper (4, 5, 8, 9, 10) and makes each flexible gripper finger in an open state, then the control module sends an opening command to each motor of the motor module so that the output shaft of each motor rotates forward, and then drives each rigid gripper finger of the rigid gripper (3) to open through each gear, releases the grasped object, and makes the grasped object fall to the preset position, thus completing the grasping task.