A robotic gripper device and grasping method for assisting a spray painting operation

Abstract

The application discloses a kind of robot gripper device and grabbing method for assisting spraying operation, device includes main gripper module, auxiliary gripper module, deflection angle adjusting module, rotation angle adjusting module, pitch angle adjusting module, auxiliary gripper movement module, drive module, motion transmission module, by drive module through motion transmission module, pitch angle adjusting module, auxiliary gripper movement module action is realized, combined with deflection angle adjusting module, rotation angle adjusting module itself action, realize the relative pose adjustment of main gripper module, auxiliary gripper module and the grabbing of part to be sprayed;Method is based on deep learning network to generate grabbing posture, finally through the cooperation of main gripper module and auxiliary gripper module, the grabbing of specific position such as part non-spraying surface is completed.The application design is novel, and flexibility is high, can realize more complex grabbing action, and auxiliary realization is to complex shape part multidirectional spraying operation.

Description

Technical Field

[0001] This invention relates to the field of grippers for spray painting operations, specifically a robotic gripper device and gripping method for assisting spray painting operations. Background Technology

[0002] Spray painting is a crucial step in the rust and corrosion prevention treatment of parts, and is widely used in the automotive, shipbuilding, and aerospace industries. Because the volatile gases produced during spray painting are flammable, the operation carries inherent risks. Using robotic spray painting can replace traditional manual labor, while simultaneously improving production efficiency and paint quality, and has broad application prospects.

[0003] Traditional painting robots consist of an end effector attached to an industrial robot, which places the parts to be painted on a flat surface or suspends them in a designated position for painting. However, due to the mutual occlusion between parts and surfaces, and between parts themselves, in unstructured environments, this method makes it difficult to paint all surfaces of the parts from multiple angles. Furthermore, for parts with complex surfaces, the fixed-position painting method can lead to uneven paint coverage. With the development of collaborative robot technology, using a gripping robot to pick up the parts before using a painting robot to apply the paint allows for multi-directional painting of complex surfaces while ensuring uniform coating.

[0004] Because the gripper device of the robot cannot obstruct the surface of the part to be sprayed during the spraying process, the robot must grasp the part from a specific location, such as the non-spraying surface, and then adjust the part to a specific posture for spraying. However, due to different part placement postures, parts cannot always be directly grasped at specific locations; for example, there may be mutual obstruction between the part and the table. To address these issues, this invention improves gripping efficiency, safety, and stability by designing two rigid-flexible coupling gripper components in the robot's gripper device. Simultaneously, the two gripper components can achieve six degrees of freedom adjustment, providing high flexibility. Through the cooperation of the two gripper components, more complex gripping actions can be completed, thereby achieving gripping operations at specific locations on the part to be sprayed. This ensures that the gripper device does not obstruct the surface of the part to be sprayed during subsequent spraying, guaranteeing the continuity of the spraying process.

[0005] A search of existing publicly available technical documents revealed that Chinese invention patent CN217164970U discloses a gripper for bolt spraying. This invention uses a two-gripper design, with a drive component enabling the simultaneous closing of both gripper components, thus improving gripping efficiency. However, because the two gripping components have fixed relative positions and need to close simultaneously, it is suitable for gripping simple parts in structured environments. Chinese invention patent CN115351812A discloses a robotic dual-gripper gripping device. This invention's gripper device, by setting the gripping parameters and relative positions of the two gripping mechanisms, can grip and position tubular objects of different sizes. However, because the two gripping mechanisms can only move along linear guides, it is more suitable for gripping tubular objects. Chinese invention patent CN110744575A discloses a robotic dual-gripper device for blank separation. This invention's gripper device, by setting the gripping parameters, gripper height, and relative positions of the two gripping mechanisms, can achieve blank gripping and separation. However, since the two gripping mechanisms can only move along the crossbeam and rise and fall along the gear and rack mechanism, the gripper device has a low degree of freedom, making it difficult to achieve complex gripping actions.

[0006] Therefore, there is an urgent need for a robotic gripper device to assist in spray painting operations, enabling it to grasp parts to be painted and thus assisting the spray painting robot in achieving multi-directional spraying of parts. This design utilizes two rigid-flexible coupled gripper assemblies to achieve stable gripping of parts with uneven mass distribution. Furthermore, flexible pose transformation between the two gripper assemblies improves the adaptability of the gripper device to complex gripping movements, further enhancing the stability of the gripping process. Summary of the Invention

[0007] This invention provides a robot gripper device and gripping method for assisting spraying operations, in order to solve the problems of existing robot gripper devices that easily obscure the surface of the part to be sprayed and are difficult to achieve complex gripping actions.

[0008] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0009] A robotic gripper device for assisting spraying operations includes a main gripper module (1), an auxiliary gripper module (2), a deflection angle adjustment module (3), a rotation angle adjustment module (4), a pitch angle adjustment module (5), and an auxiliary gripper motion module (6). The main gripper module (1) is used to grip a target object, and the auxiliary gripper module (2) is used to assist the main gripper module (1) in gripping the target object. The relative pose of the main gripper module (1) and the auxiliary gripper module (2) is adjusted by the actions of the deflection angle adjustment module (3), the rotation angle adjustment module (4), the pitch angle adjustment module (5), and the auxiliary gripper motion module (6).

[0010] The deflection angle adjustment module (3) includes a rotary motion component and a bearing part for mounting the rotary motion component. The rotary motion component rotates around its own geometric center line as the rotation center. The main gripper module (1) is mounted on the rotary motion component, so that the main gripper module (1) can rotate with the rotary motion component.

[0011] The rotation angle adjustment module (4) includes a support base (403). The auxiliary gripper module (2) is rotatably connected to one end of the support base (403). The rotatable connection between the auxiliary gripper module (2) and the support base (403) is used as the first rotation fulcrum. Thus, the auxiliary gripper module (2) as a whole can rotate around the first rotation fulcrum as the rotation center.

[0012] The pitch angle adjustment module (5) includes a lead screw frame and an auxiliary gripper support plate (505); two sets of lead screw slider mechanisms are provided between the two ends of the lead screw frame, and the lead screw in each set of lead screw slider mechanisms is rotatably installed between the two ends of the lead screw frame, so that the sliders in the two sets of lead screw slider mechanisms move linearly between the two ends of the lead screw frame. The bearing part in the deflection angle adjustment module (3) is fixed to one end of the lead screw frame; a slide rail (506) is formed between the two ends of the auxiliary gripper support plate (505), and one end of the auxiliary gripper support plate (505) is rotatably connected to the side of the slider A (508) in the first set of lead screw slider mechanisms. The other end of the auxiliary gripper support plate (505) extends outward to one side of the lead screw frame, and is connected by the auxiliary gripper support plate (505) and the first set of lead screw slider mechanisms. The rotating connection between sliders A (508) in the lever-slider mechanism forms a second rotation fulcrum; a first connecting rod (504) is provided between slider B (510) in the second set of lead screw-slider mechanisms and auxiliary gripper support plate (505). One end of the first connecting rod (504) is rotatably connected to the auxiliary gripper support plate (505), and the other end is rotatably connected to slider B (510) in the second set of lead screw-slider mechanisms; when the sliders in the two sets of lead screw-slider mechanisms move in the same direction and at the same speed, the auxiliary gripper support plate (505) moves in a straight line along the direction of the lead screw central axis with the slider; when the sliders in the two sets of lead screw-slider mechanisms move in different directions and at different speeds, the auxiliary gripper support plate (505) rotates in pitch relative to the lead screw frame with the second rotation fulcrum as the rotation center.

[0013] The auxiliary gripper motion module (6) includes a slide (608) and two sets of synchronous belt mechanisms. The slide (608) is slidably installed in the slide rail (506) of the auxiliary gripper support plate (505). The other end of the support seat (403) in the rotation angle adjustment module (4) is rotatably connected to the slide (608), and a third rotation fulcrum is formed by the rotatable connection between the support seat (403) and the slide (608). Each set of synchronous belt mechanisms includes two pulleys and a synchronous belt connecting the two pulleys. The pulleys in the two sets of synchronous belt mechanisms are rotatably installed on the auxiliary gripper support plate (505) through a wheel axle, and the linear motion trajectory of the synchronous belts in the two sets of synchronous belt mechanisms is parallel to the linear sliding trajectory of the slide (608) in the slide rail. Among them, the synchronous belt A (620) in the first set of synchronous belt mechanisms is connected to the support seat (403). A second connecting rod (603) is provided, one end of which is rotatably connected to the support base (403), and the other end is rotatably connected to the belt body on one side of the synchronous belt A (620) in the first set of synchronous belt mechanisms. The belt body on one side of the synchronous belt B (610) in the second set of synchronous belt mechanisms is fixed to the slide (608). Thus, when the synchronous belts in the two sets of synchronous belt mechanisms move in the same direction and at the same speed, the slide (608), support base (403), second connecting rod (603) and auxiliary gripper module (2) as a whole make linear movements toward or away from the lead screw frame in the pitch angle adjustment module (5). When the synchronous belts in the two sets of synchronous belt mechanisms move in different directions and at different speeds, the support base (403) together with the auxiliary gripper module (2) as a whole makes pitch rotation relative to the auxiliary gripper support plate (505) with the third rotation fulcrum as the rotation center.

[0014] Furthermore, it also includes a drive module (7), which includes a bracket, with two drive motors and a motion transmission module (8) installed between the two ends of the bracket, and the lead screw frame in the pitch angle adjustment module (5) is fixedly connected to the bracket of the drive module (7).

[0015] The motion transmission module (8) includes four sets of electromagnetic clutches. The first set of electromagnetic clutches (801) is located in the bracket corresponding to the position of the lead screw A (503) of the first set of lead screw and slider mechanism in the pitch angle adjustment module (5), and the attracted part (8011) of the first set of electromagnetic clutches (801) is fixedly connected to the corresponding end of the lead screw A (503) of the first set of lead screw and slider mechanism in the pitch angle adjustment module (5). The second set of electromagnetic clutches (802) is located in the bracket corresponding to the position of the lead screw B (511) of the second set of lead screw and slider mechanism in the pitch angle adjustment module (5), and the attracted part (8021) of the second set of electromagnetic clutches (802) is fixedly connected to the corresponding end of the lead screw B (511) of the second set of lead screw and slider mechanism in the pitch angle adjustment module (5).

[0016] The auxiliary gripper motion module (6) also includes a drive shaft (615) rotatably mounted on the auxiliary gripper support plate (505). The drive shaft (615) is connected to one pulley A (616) of the first set of synchronous pulleys in the pitch angle adjustment module (5) via a gear transmission mechanism. Among the four sets of electromagnetic clutches, the attracted part (8031) of the third set of electromagnetic clutches (803) is fixed to the shaft end of the drive shaft (615), and the fourth set of electromagnetic clutches... The attracted part (8041) of (804) is fixed to the axle of one of the pulleys C (613) in the second set of synchronous pulley mechanisms of the auxiliary gripper motion module (6); when the auxiliary gripper support plate (505) moves to the bracket position, the third set of electromagnetic clutches (803) is aligned with the corresponding attracted part (8031) at the shaft end of the drive shaft (615), and the fourth set of electromagnetic clutches (804) is aligned with the corresponding attracted part (8041) at the axle of pulley C (613);

[0017] Of the two drive motors, the output shaft of the first drive motor (701) is simultaneously connected to the input end of the first electromagnetic clutch (801) and the input end of the fourth electromagnetic clutch (804), while the output shaft of the second drive motor (702) is simultaneously connected to the input end of the second electromagnetic clutch (802) and the input end of the third electromagnetic clutch (803). Thus, by switching the engagement of the first electromagnetic clutch (801) and the fourth electromagnetic clutch (804) at their respective engagement points, the first drive motor (702)... The power output of the second drive motor (701) is switched to the lead screw A (503) in the first set of lead screw and slider mechanism and the pulley C (613) in the second set of synchronous belt pulley mechanism of the pitch angle adjustment module (5). By switching the second set of electromagnetic clutches (802) and the third set of electromagnetic clutches (803) to engage their respective engaged parts, the power output of the second drive motor (702) is switched to the lead screw B (511) in the second set of lead screw and slider mechanism and the pulley A (616) in the first set of synchronous belt pulley mechanism of the pitch angle adjustment module (5).

[0018] Furthermore, the input ends of the first electromagnetic clutch (801) and the fourth electromagnetic clutch (804) are connected by a power transmission synchronous belt mechanism. The output shaft of the first drive motor (701) is connected to the input end of the first electromagnetic clutch (801), and then synchronously connected to the input end of the fourth electromagnetic clutch (804).

[0019] The input ends of the second electromagnetic clutch (802) and the third electromagnetic clutch (803) are connected by a set of spur gear mechanisms and another set of power transmission synchronous belt mechanisms. The output shaft of the second drive motor (702) is connected to the input end of the second electromagnetic clutch (802), and then synchronously connected to the input end of the third electromagnetic clutch (803).

[0020] Furthermore, the main gripper module (1) is a parallel two-finger gripper driven by two motors through two independent flexible cables. Each motor drives one gripper to translate to the other gripper through an independent flexible cable. After each gripper translates, it is reset by spring force. The main gripper module (1) is also equipped with a distance measuring sensor to detect the translational movement of each gripper and a tension sensor to detect the tension of each independent flexible cable.

[0021] Furthermore, the auxiliary gripper module (2) is a parallel two-finger gripper driven by a single motor through a parallel flexible cable. The single motor synchronously drives the two grippers to move in opposite directions through the parallel flexible cable, and the two grippers are reset by spring force after the translation movement. The auxiliary gripper module (2) is also equipped with a distance measuring sensor to detect the translation movement of each gripper, and a tension sensor to detect the tension of the parallel flexible cable.

[0022] Furthermore, in the deflection angle adjustment module (3), the rotating motion component is driven by a motor to rotate around its own geometric center line as the rotation center, and the deflection angle adjustment module (3) is provided with an angle sensor to detect the rotation angle of the rotating motion component;

[0023] In the rotation angle adjustment module (4), the auxiliary gripper module (2) driven by the motor rotates around the first rotation fulcrum as the rotation center; angle sensors for detecting their respective rotation angles are respectively provided at the rotation connection points of the first rotation fulcrum, the second rotation fulcrum, the second connecting rod (603) and the support base (403).

[0024] Furthermore, the auxiliary gripper movement module (6) also includes a first brake mechanism (614), which is mounted on the rotating connection end of the auxiliary gripper support plate (505). A spring is connected between the first brake mechanism (614) and the auxiliary gripper support plate (505). The first brake mechanism (614) locks one pulley of each of the two sets of synchronous belt mechanisms in the auxiliary gripper movement module (6), and releases one pulley of each of the two sets of synchronous belt mechanisms that was previously locked when the first brake mechanism (614) is pushed against and squeezes the spring.

[0025] Furthermore, the drive module (7) also includes a second brake mechanism (707) slidably mounted in the bracket; in the drive module (7), the attracted part (8011) of the first electromagnetic clutch (801) is fixedly connected to the corresponding end of the lead screw A (503) through the first connecting shaft (8012), and the attracted part (8021) of the second electromagnetic clutch (802) is fixedly connected to the corresponding end of the lead screw B (511) through the second connecting shaft (8022); the second brake mechanism (707) is driven by the servo motor (709) to make linear movements close to or away from the first connecting shaft (8012) and the second connecting shaft (8022), and when the second brake mechanism (707) contacts the first connecting shaft (8012) and the second connecting shaft (8022), it locks the first connecting shaft (8012) and the second connecting shaft (8022), thereby locking the lead screw A (503) and the lead screw B (511).

[0026] A robotic gripper device for assisting spraying operations, as described above, is used to grip a part to be sprayed at a specific location, comprising the following steps:

[0027] Step 1: Obtain point cloud data of a scene consisting of one or more parts to be painted;

[0028] Step 2: After preprocessing the point cloud data and sampling the farthest point, input the data into the backbone network PointNet++ for encoding to obtain point cloud features;

[0029] Step 3: Input the encoded point cloud features into the point cloud instance segmentation network UOIS-Net-3D to obtain point cloud data for each part; perform template matching between the segmented part point cloud data and the part template point cloud data in the dataset, and find the corresponding graspable area of ​​the part to be painted according to the painting process requirements of the matched part template.

[0030] Meanwhile, the encoded point cloud features are input into the 6-DoF grasping pose generation network GSNet to obtain the 6-DoF grasping pose set of the part to be painted under the current pose.

[0031] Step 4: Input the encoded point cloud features into the grasping pose collision detection network. Based on the collision detection results, divide the obtained 6-DoF grasping poses into two sets: non-collision grasping poses and collision grasping poses.

[0032] Step 5: If there is a gripping posture in the non-collision gripping posture set generated in Step 4 that is located within the gripping area of ​​the part to be sprayed, then select the posture that is located within the gripping area and has the highest gripping quality score from the generated non-collision gripping posture set, and control the support base (403) and the auxiliary gripper module (2) to be stacked together on the auxiliary gripper support plate (505), and control the auxiliary gripper support plate (505) to be stacked on the screw frame, and use the main gripper module (1) to complete the gripping of the specific position of the part to be sprayed according to the selected posture;

[0033] If there is no gripping posture within the gripping area of ​​the part in the non-collision gripping posture set, it means that the part to be painted cannot be directly gripped at a specific position under the current pose. In this case, the gripping of the part to be painted at a specific position is achieved through the cooperation of the main gripper module (1) and the auxiliary gripper module (2). The process is as follows:

[0034] First, find gripping posture 1 with the highest gripping quality score in the set of non-collision gripping postures for the part to be painted. This gripping posture is currently located in the non-gripable area of ​​the part to be painted. At the same time, find gripping posture 2 with the highest gripping quality score in the grippable area of ​​the part to be painted. This gripping posture is currently located in the set of gripping postures with collisions.

[0035] Then, the pose transformation matrix between gripping postures 1 and 2 is calculated, and the translation and rotation transformation amounts of the auxiliary gripper module (2) relative to the main gripper module (1) are calculated based on the pose transformation matrix.

[0036] Next, based on the obtained partial translation transformation amount, the main gripper module (1) is first controlled to grip the parts to be sprayed;

[0037] Finally, the remaining translation transformations are mapped to the auxiliary gripper motion module (6) and the pitch angle adjustment module (5) and executed. The rotation transformations are mapped to the yaw angle adjustment module (3), the rotation angle adjustment module (4), and the pitch angle adjustment module (5) and executed, so as to control the auxiliary gripper module (2) to grip the part to be sprayed. After the auxiliary gripper module (2) successfully grips, the main gripper module (1) ends its action. Thus, the main gripper module (1) and the auxiliary gripper module (2) work together to achieve gripping operations at specific positions on the non-spraying surface of the part to be sprayed.

[0038] A robotic gripper device for assisting spraying operations, comprising the steps described above, for gripping parts to be sprayed with uneven mass distribution, includes the following steps:

[0039] Step S1: Obtain point cloud data for a single part to be painted;

[0040] Step S2: After preprocessing the point cloud data and sampling the farthest point, input the data into the backbone network PointNet++ for encoding;

[0041] Step S3: Input the encoded point cloud features into the 6-DoF grasping pose generation network GSNet or the planar grasping network GQ-CNN to obtain the grasping pose set of the part to be painted in the current pose.

[0042] Step S4: In the obtained set of gripping postures, find gripping posture 1 whose gripping point is closest to the centroid of the point cloud of the part to be sprayed, and find gripping posture 2 that is far from the centroid of the point cloud and can be executed by the auxiliary gripper module (2) according to the boundary conditions of the movement of the auxiliary gripper module (2) relative to the main gripper module (1); then calculate the pose transformation matrix between gripping postures 1 and 2, and calculate the translation and rotation transformation amount of the auxiliary gripper module (2) relative to the main gripper module (1) according to the pose transformation matrix;

[0043] Step S5: Assign the translation transformation amount to the main gripper module (1), the pitch angle adjustment module (5) and the auxiliary gripper motion module (6) respectively and execute them. Assign the rotation transformation amount to the deflection angle adjustment module (3), the rotation angle adjustment module (4) and the pitch angle adjustment module (5) and execute them. In this way, control the main gripper module (1) and the auxiliary gripper module (2) to work together to achieve the gripping operation of the part to be sprayed.

[0044] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0045] 1. The robot gripper device for assisting spraying operations designed in this invention uses a dual gripping mechanism design that combines a main gripper module and an auxiliary gripper module. Through the cooperation of the two gripping mechanisms, more complex, stable and efficient gripping operations on the parts to be sprayed can be achieved. Furthermore, the auxiliary gripper module can be folded to convert it into a single gripper device. In addition, both the main gripper module and the auxiliary gripper module use flexible cable drive, which has the advantages of being lightweight, easy to control and easy to reconfigure.

[0046] 2. The robot gripper device designed in this invention for assisting spraying operations has a pitch angle adjustment module, a yaw angle adjustment module, a rotation angle adjustment module, and an auxiliary gripper motion module between the main gripper module and the auxiliary gripper module. This allows for the adjustment of six degrees of freedom between the main gripper module and the auxiliary gripper module, improving the flexibility of the gripper device and enabling more complex part grasping actions. This helps the spraying robot to perform multi-directional spraying operations on complex-shaped parts.

[0047] 3. The motion transmission module designed in this invention is small in size and compact in structure. By controlling the electromagnetic clutch to be energized and de-energized, it realizes the motion control of the pitch angle adjustment module and the auxiliary gripper motion module by two sets of motors in the drive module, respectively. This solves the problem that the motor is difficult to install due to the small size of the auxiliary gripper motion module, and improves the overall integrity of the gripper device.

[0048] 4. This invention proposes a method for gripping specific positions of parts to be painted. It generates a 6-DoF gripping posture set of the parts based on deep learning, then finds specific gripping positions such as non-painted surfaces of the parts based on point cloud template matching, and finally achieves gripping of the parts at specific positions by the gripper device through the cooperation of the main gripper module and the auxiliary gripper module. This effectively ensures that the gripper assembly will not obstruct the subsequent painting operation of the parts, which helps to carry out multi-directional painting operations on the parts and solves the problem that gripping cannot be directly performed at specific positions of the parts to be painted due to obstruction in unstructured environments.

[0049] 5. This invention proposes a dual-gripper collaborative gripping method, which generates a set of gripping postures for the parts to be painted based on deep learning methods, and then uses the main gripper module and the auxiliary gripper module to collaboratively grip the parts according to the two gripping postures, thereby solving the problem that parts with uneven mass distribution cannot be stably gripped by a single gripper assembly. Attached Figure Description

[0050] Figure 1 This is a front view of the overall structure of the present invention.

[0051] Figure 2A This is a front view of the main gripper module structure.

[0052] Figure 2B This is a schematic diagram of the flexible cable arrangement scheme for the main gripper module.

[0053] Figure 3A This is a front view of the auxiliary gripper module structure.

[0054] Figure 3B This is a schematic diagram of the flexible cable arrangement scheme for the auxiliary gripper module.

[0055] Figure 4A This is a front view of the deflection angle adjustment module structure.

[0056] Figure 4B This is a schematic diagram of the installation of the angle sensor for the deflection angle adjustment module.

[0057] Figure 5 This is a front view of the rotation angle adjustment module structure.

[0058] Figure 6 This is a front view of the pitch angle adjustment module structure.

[0059] Figure 7A This is a front view of the auxiliary gripper motion module structure.

[0060] Figure 7B This is a schematic diagram of the auxiliary gripper movement module brake device.

[0061] Figure 8 This is a front view of the installation of the drive module and motion transmission module.

[0062] Figure 9 This is a rear view of the structure between the third and fourth layers of the drive module bracket.

[0063] Figure 10 This is a front view of the structure between the second and third layers of the drive module bracket.

[0064] Figure 11 This is a schematic diagram of the robot gripper device installation.

[0065] Figure 12 This is a schematic diagram of the deep learning network structure.

[0066] Figure 13 This is a flowchart of a method for gripping specific locations on parts to be painted.

[0067] Figure 14 This is a flowchart of a dual-gripper collaborative grasping method.

[0068] The reference numerals in the attached figures are as follows:

[0069] Figure 1 Main gripper module-1, auxiliary gripper module-2, deflection angle adjustment module-3, rotation angle adjustment module-4, pitch angle adjustment module-5, auxiliary gripper motion module-6, drive module-7, motion transmission module-8.

[0070] Figure 2A : First main gripper component-101, second independent flexible cable-102, first independent flexible cable-103, tension sensor-104, return spring-105, laser rangefinder sensor-106, second main gripper component drive motor-107, first main gripper component drive motor-108, main gripper bracket-109, second main gripper component-110.

[0071] Figure 2B First fixed shaft-111, first independent flexible cable guide wheel C-112, second independent flexible cable guide wheel B-113, second independent flexible cable guide wheel A-114, first independent flexible cable drum-115, second independent flexible cable drum-116, first independent flexible cable guide wheel A-117, first independent flexible cable guide wheel B-118, second independent flexible cable guide wheel C-119, second fixed shaft-120.

[0072] Figure 3A : First auxiliary gripper component-201, flexible cable A-202, flexible cable B-203, parallel flexible cable detection tension sensor-204, auxiliary gripper bracket-205, auxiliary gripper detection laser rangefinder sensor-206, spur gear B-207, spur gear A-208, auxiliary gripper component drive motor-209, parallel flexible cable drum-210, auxiliary gripper reset spring-211, second auxiliary gripper component-212.

[0073] Figure 3B : Fixed shaft A-213, parallel flexible cable guide wheel C-214, parallel flexible cable guide wheel E-215, parallel flexible cable guide wheel D-216, parallel flexible cable guide wheel A-217, parallel flexible cable guide wheel B-218, parallel flexible cable guide wheel F-219, fixed shaft B-220.

[0074] Figure 4A : Cage-301, Force and Torque Sensor-302, Rotating Shaft-303, Large Spur Gear-304, Cylindrical Boss-305, Support Plate-306, Rotating Shaft Drive Motor-307, Small Spur Gear-308.

[0075] Figure 4B Angle sensor A-309, gasket-310.

[0076] Figure 5 : Large bevel gear-401, angle sensor B-402, support base-403, rotation angle adjustment drive motor-404, small bevel gear-405.

[0077] Figure 6 : Upper end plate-501, slide rail-502, lead screw A-503, first connecting rod-504, auxiliary gripper support plate-505, slide rail-506, angle sensor C-507, slider A-508, slide opening-509, slider B-510, lead screw B-511, cantilever-512, longitudinal beam-513.

[0078] Figure 7A and Figure 7B Components: Axle B-601, Angle Sensor D-602, Second Linkage Rod-603, Rotating Support-604, Pulley B-605, Pulley D-606, Plate-607, Slide Block-608, Axle A-609, Synchronous Belt B-610, Spring-611, Laser Range Sensor for Auxiliary Grip Module-612, Pulley C-613, First Brake Mechanism-614, Drive Shaft-615, Pulley A-616, Driven Gear-617, Driven Gear-618, Spring Seat-619, Synchronous Belt A-620.

[0079] Figure 8 , Figure 9 , Figure 10: First drive motor - 701, second drive motor - 702, lower end plate - 703, second layer plate - 704, third layer plate - 705, upper end plate - 706, second brake mechanism - 707, drive gear - 708, servo motor - 709; First electromagnetic clutch - 801, second electromagnetic clutch - 802, third electromagnetic clutch - 803, fourth electromagnetic clutch - 804, first coupling - 805, second coupling - 806, first synchronous pulley - 807, second synchronous pulley - 808, First synchronous transmission belt - 809, Main gear - 810, Driven gear - 811, Third synchronous pulley - 812, Fourth synchronous pulley - 813, Second synchronous transmission belt - 814, Engaged part of the first electromagnetic clutch 801 - 8011, First connecting shaft - 8012, Engaged part of the second electromagnetic clutch 802 - 8021, Second connecting shaft - 8022, Engaged part of the third electromagnetic clutch 803 - 8031, Engaged part of the fourth electromagnetic clutch 804 - 8041.

[0080] Figure 11 : Part to be gripped-901, Robot gripper device-902, Industrial robot-903. Detailed Implementation

[0081] To enable those skilled in the art to better understand the present invention, the embodiments will be described in detail below with reference to the accompanying drawings and examples. This will allow for a full understanding of how the present invention uses technical means to solve technical problems and achieve corresponding technical effects, and to facilitate its implementation. The embodiments of the present invention and the various features within them can be combined with each other without conflict, and all resulting technical solutions are within the protection scope of the present invention.

[0082] Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort should fall within the scope of protection of the present invention.

[0083] It should be noted that the terms "comprising" and "having" and any variations thereof in the specification, claims, and accompanying drawings of this invention are intended to cover non-exclusive inclusion.

[0084] Example 1

[0085] like Figure 1As shown, this embodiment discloses a robot gripper device for assisting spraying operations, including a main gripper module 1, an auxiliary gripper module 2, a deflection angle adjustment module 3, a rotation angle adjustment module 4, a pitch angle adjustment module 5, an auxiliary gripper motion module 6, a drive module 7, and a motion transmission module 8. Wherein:

[0086] like Figure 2A , Figure 2B As shown, the main gripper module 1 in this embodiment is a parallel two-finger gripper driven by two motors through two independent flexible cables. The main gripper module 1 performs the main gripping operation. The main gripper module 1 includes a T-shaped main gripper bracket 109, a first main gripper component 101, and a second main gripper component 110. The vertical part of the T-shape of the main gripper bracket 109 is used to connect the deflection angle adjustment module 3, and the horizontal part of the T-shape of the main gripper bracket 109 is provided with a horizontal sliding groove. The lower ends of the first main gripper component 101 and the second main gripper component 110 are slidably installed in the horizontal sliding groove of the main gripper bracket 109, and the upper ends of the first main gripper component 101 and the second main gripper component 110 extend upwards from the main gripper bracket 109. A return spring 105 is connected between one end of the main gripper bracket 109 in the direction corresponding to the first main gripper 101 and the first main gripper 101, and another return spring is connected between the other end of the main gripper bracket 109 in the direction corresponding to the second main gripper 110 and the second main gripper 110.

[0087] A first fixed shaft 111 is fixed at the upper part of the first main gripper 101, and a first independent flexible cable guide wheel C112 is rotatably mounted at the lower part of the first main gripper 101; a second fixed shaft 120 is fixed at the upper part of the second main gripper 110, and a second independent flexible cable guide wheel C119 is rotatably mounted at the lower part of the second main gripper 110.

[0088] A first main gripper drive motor 108 and a second main gripper drive motor 107 are fixedly mounted on the T-shaped vertical portion of the main gripper bracket 109. A first independent flexible cable reel 115 is provided within the T-shaped vertical portion of the main gripper bracket 109, corresponding to the position of the first main gripper drive motor 108. A first independent flexible cable 103 is wound on the first independent flexible cable reel 115, and the first independent flexible cable reel 115 is coaxially fixed to the output shaft of the first main gripper drive motor 108. A second independent flexible cable reel 116 is provided within the T-shaped vertical portion of the main gripper bracket 109, corresponding to the position of the second main gripper drive motor 107. A second independent flexible cable 102 is wound on the second independent flexible cable reel 116, and the second independent flexible cable reel 116 is coaxially fixed to the output shaft of the second main gripper drive motor 107.

[0089] Within the T-shaped horizontal portion of the main gripper bracket 109, a second independent flexible cable guide wheel A114 and a second independent flexible cable guide wheel B113 are rotatably mounted on the side corresponding to the direction of the first main gripper 101. The second independent flexible cable guide wheels A114 and B113 are horizontally distributed. Within the T-shaped horizontal portion of the main gripper bracket 109, a first independent flexible cable guide wheel A117 and a first independent flexible cable guide wheel B118 are rotatably mounted on the side corresponding to the direction of the second main gripper 110. The first independent flexible cable guide wheels A117 and B118 are also horizontally distributed.

[0090] The first independent flexible cable 103 on the first independent flexible cable drum 115 passes sequentially around the first independent flexible cable guide wheel A117 and the first independent flexible cable guide wheel B118, then extends in the opposite direction and passes around the first independent flexible cable guide wheel C112 at the lower part of the first main gripper 101, and continues to extend upward and is finally fixedly connected to the first fixed shaft 111 at the upper part of the first main gripper 101. The second independent flexible cable 102 on the second independent flexible cable drum 116 passes sequentially around the second independent flexible cable guide wheel A114 and the second independent flexible cable guide wheel B113, then extends in the opposite direction and passes around the second independent flexible cable guide wheel C119 at the lower part of the second main gripper 110, and continues to extend upward and is finally fixedly connected to the second fixed shaft 120 at the upper part of the second main gripper 110.

[0091] To detect the movement of the first main gripper 101 and the second main gripper 110, in this embodiment, a laser rangefinder 106 is installed at one end of the main gripper bracket 109 corresponding to the direction of the first main gripper 101, for detecting the movement of the first main gripper 101. Similarly, another laser rangefinder is installed at one end of the main gripper bracket 109 corresponding to the direction of the second main gripper 110, for detecting the movement of the second main gripper 110.

[0092] To detect the tension of the independent flexible cables and thus the gripping force of the main gripper, a tension sensor 104 is installed in the first independent flexible cable 103 between the first independent flexible cable guide wheel C112 and the first fixed shaft 111 in this embodiment. This sensor detects the tension of the first independent flexible cable 103. Similarly, another tension sensor is installed in the second independent flexible cable 102 between the second independent flexible cable guide wheel C119 and the second fixed shaft 120. This sensor detects the tension of the second independent flexible cable 102. By detecting the tension of the two independent flexible cables, the gripping force of the main gripper module 1 during gripping can be obtained.

[0093] In the main gripper module 1 of this embodiment, the motion output by the first main gripper drive motor 108 is transmitted to the first main gripper 101 via the first independent flexible cable 103, which passes sequentially around the first independent flexible cable guide wheel A117, the first independent flexible cable guide wheel B118, and the first independent flexible cable guide wheel C112. The rotation of the output shaft of the first main gripper drive motor 108 gradually winds the first independent flexible cable 103 onto the first independent flexible cable drum 115, thereby enabling the first main gripper 101 to move horizontally in the direction of the second main gripper 110 within the horizontal groove. At the same time, since the length of the flexible cable between the first independent flexible cable guide wheel C112 and the first fixed shaft 111 does not change, the tension sensor 104 arranged in the flexible cable between the first independent flexible cable guide wheel C112 and the first fixed shaft 111 will not move relative to the cable.

[0094] Similarly, the motion output by the second main gripper drive motor 107 is transmitted to the second main gripper 110 via the second independent flexible cable 102, which passes sequentially around the second independent flexible cable guide wheel A114, the second independent flexible cable guide wheel B113, and the second independent flexible cable guide wheel C119. The rotation of the output shaft of the second main gripper drive motor 107 gradually winds the second independent flexible cable 102 onto the second independent flexible cable drum 116, thereby enabling the second main gripper 110 to move horizontally in the horizontal groove toward the first main gripper 101. At the same time, since the length of the flexible cable between the second independent flexible cable guide wheel C119 and the second fixed shaft 120 does not change, the tension sensor in the flexible cable arranged between the second independent flexible cable guide wheel C119 and the second fixed shaft 120 will not move relative to it.

[0095] Thus, the object can be grasped through the clamping action of the first main gripper 101 and the second main gripper 110. After the grasping is completed, the first main gripper 101 and the second main gripper 110 can return to their initial positions under the action of their respective return springs. The movement of the first main gripper 101 and the second main gripper 110 within the horizontal slide is detected in real time by their respective laser rangefinders to achieve real-time control of the movement of the first main gripper 101 and the second main gripper 110. Furthermore, the grasping force during grasping is obtained in real time by the tension sensors corresponding to the first and second independent flexible cables, thereby achieving real-time control of the grasping force.

[0096] Unlike traditional parallel two-finger grippers that can only form a gripping space in the middle area of ​​the gripper, in this embodiment, the main gripper module 1 has a first main gripper drive motor 108 and a second main gripper drive motor 107, each independently driving its corresponding main gripper to move within the horizontal slide groove via independent flexible cables. Therefore, the first main gripper 101 and the second main gripper 110 can close at any position within the horizontal slide groove to form a gripping space, giving the main gripper module 1 greater gripping flexibility. To prevent the first independent flexible cable 103 and the second independent flexible cable 102 from contacting each other during movement, in this embodiment, the plane containing the first independent flexible cable 103 is parallel to the plane containing the second independent flexible cable 102 and there is a certain distance between them.

[0097] like Figure 3A , Figure 3B As shown, the auxiliary gripper module 2 in this embodiment is a parallel two-finger gripper driven by a single motor through a parallel flexible cable. The auxiliary gripper module 2 is used to assist the main gripper module 1 in completing part of the gripping operation. The auxiliary gripper module 2 in this embodiment includes a T-shaped auxiliary gripper bracket 205, a first auxiliary gripper component 201, and a second auxiliary gripper component 212. The T-shaped vertical part of the auxiliary gripper bracket 205 is used to connect the rotation angle adjustment module 4, and the T-shaped horizontal part of the auxiliary gripper bracket 205 is provided with a horizontal sliding groove. The lower ends of the first auxiliary gripper component 201 and the second auxiliary gripper component 212 are slidably installed in the horizontal sliding groove of the auxiliary gripper bracket 205, and the upper ends of the first auxiliary gripper component 201 and the second auxiliary gripper component 212 extend upwards from the auxiliary gripper bracket 205. An auxiliary gripper bracket 205 is connected to the first auxiliary gripper 201 at one end in the direction of the first auxiliary gripper 201 by an auxiliary gripper reset spring, and another auxiliary gripper reset spring 211 is connected to the second auxiliary gripper 212 at the other end of the auxiliary gripper bracket 205 in the direction of the second auxiliary gripper 212.

[0098] A fixed shaft A213 is fixed in the upper part of the first auxiliary gripper 201, and a parallel flexible cable guide wheel C214 is rotatably installed in the lower part of the first auxiliary gripper 201; a fixed shaft B220 is fixed in the upper part of the second auxiliary gripper 212, and a parallel flexible cable guide wheel F219 is rotatably installed in the lower part of the second auxiliary gripper 212.

[0099] An auxiliary gripper drive motor 209 is fixedly installed inside the T-shaped vertical section of the auxiliary gripper bracket 205. A parallel flexible cable drum 210 is also rotatably installed inside the T-shaped vertical section of the auxiliary gripper bracket 205. A spur gear A208 is coaxially fixed to the output shaft of the auxiliary gripper drive motor 209, and a spur gear B207 is coaxially fixed to the parallel flexible cable drum 210. Spur gears A208 and B207 engage in transmission. The parallel flexible cable drum 210 is divided into two sections: one section is wound with flexible cable A202, and the other section is wound with flexible cable B203, forming a parallel flexible cable.

[0100] Within the T-shaped horizontal portion of the auxiliary gripper bracket 205, parallel flexible cable guide wheels D216 and E215 are rotatably mounted on the side corresponding to the direction of the first auxiliary gripper 201. The parallel flexible cable guide wheels D216 and E215 are horizontally distributed. Within the T-shaped horizontal portion of the auxiliary gripper bracket 205, parallel flexible cable guide wheels A217 and B218 are rotatably mounted on the side corresponding to the direction of the second auxiliary gripper 212. The parallel flexible cable guide wheels A217 and B218 are also horizontally distributed.

[0101] A section of flexible cable A202 wound on the parallel flexible cable drum 210 successively passes over the parallel flexible cable guide wheels A217 and B218, then extends in the opposite direction and passes over the parallel flexible cable guide wheel C214 at the lower part of the first auxiliary gripper 201, and continues to extend upward and is finally fixedly connected to the fixed shaft A213 on the first auxiliary gripper 201. Another section of flexible cable B203 wound on the parallel flexible cable drum 210 successively passes over the parallel flexible cable guide wheels D216 and E215, then extends in the opposite direction and passes over the parallel flexible cable guide wheel F219 at the lower part of the second auxiliary gripper 212, and continues to extend upward and is finally fixedly connected to the fixed shaft B220 at the upper part of the second auxiliary gripper 212.

[0102] To detect the movement of the first auxiliary gripper 201 and the second auxiliary gripper 212, in this embodiment, a laser rangefinder sensor 206 for detecting the movement of the first auxiliary gripper 201 is installed at one end of the auxiliary gripper bracket 205 corresponding to the direction of the first auxiliary gripper 201. Similarly, another laser rangefinder sensor for detecting the movement of the second auxiliary gripper 212 is installed at one end of the auxiliary gripper bracket 205 corresponding to the direction of the second auxiliary gripper 212.

[0103] To detect the tension of the parallel flexible cables and thus the gripping force of the auxiliary gripper, a parallel flexible cable tension sensor 204 is installed in the flexible cable A between the parallel flexible cable guide wheel C214 and the fixed shaft A213 in this embodiment to detect the tension of the flexible cable A202. Similarly, another parallel flexible cable tension sensor is installed in the flexible cable B between the parallel flexible cable guide wheel F219 and the fixed shaft B220 to detect the tension of the flexible cable B203. By detecting the tension of the flexible cables A202 and B203, the gripping force of the auxiliary gripper module 2 during gripping can be obtained.

[0104] In the auxiliary gripper module 2 of this embodiment, the motion output by the auxiliary gripper drive motor 209 is transmitted to the parallel flexible cable drum 210 through spur gears A208 and B207, causing the parallel flexible cable drum 210 to rotate. The flexible cable A202, wound on the parallel flexible cable drum 210 and passing through the parallel flexible cable guide wheels A217, B218, and C214 in sequence, transmits motion to the first auxiliary gripper 201. At the same time, the flexible cable B203, wound on the parallel flexible cable drum 210 and passing through the parallel flexible cable guide wheels D216, E215, and F219 in sequence, transmits motion to the second auxiliary gripper 212. The rotation of the output shaft of the auxiliary gripper drive motor 209 gradually winds the flexible cables A202 and B203 onto the parallel flexible cable drum 210, achieving synchronous horizontal movement of the first auxiliary gripper 201 and the second auxiliary gripper 212 in the horizontal groove. Since the length of the flexible cable A202 between the parallel flexible cable guide wheel C214 and the fixed shaft A213 does not change, and the length of the flexible cable B203 between the parallel flexible cable guide wheel F219 and the fixed shaft B220 does not change, the parallel flexible cable detection tension sensor between the parallel flexible cable guide wheel C214 and the fixed shaft A213, and the parallel flexible cable detection tension sensor between the parallel flexible cable guide wheel F219 and the fixed shaft B220 will not move relative to each other.

[0105] Therefore, the object can be grasped through the clamping action of the first auxiliary gripper 201 and the second auxiliary gripper 212. After the grasping is completed, the first auxiliary gripper 201 and the second auxiliary gripper 212 can return to their initial positions under the action of their respective auxiliary gripper return springs. The movement of the first auxiliary gripper 201 and the second auxiliary gripper 212 within the horizontal slide is detected in real time by their respective auxiliary gripper detection laser rangefinders to achieve real-time control of the movement of the first auxiliary gripper 201 and the second auxiliary gripper 212. The grasping force during grasping is obtained in real time by the parallel flexible cable detection tension sensors corresponding to each of the flexible cables A202 and B203, thereby achieving real-time control of the grasping force.

[0106] Unlike the main gripper module 1, in the auxiliary gripper module 2 of this embodiment, the first auxiliary gripper 201 and the second auxiliary gripper 212 are driven by a single motor through parallel flexible cables. Therefore, the first auxiliary gripper 201 and the second auxiliary gripper 212 can only move towards each other in the horizontal slide groove to close towards the middle position and form a clamping space. Similarly, to avoid the flexible cables A202 and B203 from contacting each other during movement, in this embodiment, the plane where the flexible cable A202 is located is parallel to the plane where the flexible cable B203 is located and there is a certain distance between them.

[0107] like Figure 4A , Figure 4B As shown, the deflection angle adjustment module 3 in this embodiment includes a support plate 306 and a rotating shaft 303. A cylindrical boss 305 is fixed on the support plate 306. The cylindrical boss 305 has a central hole, and an annular edge is formed at the opening of the central hole. A shim 310 is fixedly installed on the annular edge, and an angle sensor A309 is installed at the bottom of the central hole. The rotating shaft 303 is coaxially rotatably installed in the central hole of the cylindrical boss. One axial end of the rotating shaft 303 extends upward above the cylindrical boss, and the angle sensor A309 detects the rotation angle of the rotating shaft 303 at the other axial end of the rotating shaft 303. The shim 310 is rotatably installed with the rotating shaft 303 to fix the axial position of the rotating shaft. The rotating shaft 303 acts as a rotary motion component, and the support plate 306 and its cylindrical boss act as a bearing for mounting the rotating shaft 303.

[0108] A large spur gear 304 is coaxially fixedly mounted on a section of the rotating shaft 303 extending from the cylindrical boss, and the large spur gear 304 is positioned above the washer 310. A rotating shaft drive motor 307 is fixedly mounted on the support plate 306 on one side of the cylindrical boss 305. A small spur gear 308 is coaxially fixedly mounted on the output shaft of the rotating shaft drive motor 307. The small spur gear 308 meshes with the large spur gear 304, thereby transmitting the power output by the rotating shaft drive motor 307 to the rotating shaft 303 through the spur gear transmission mechanism, allowing the rotating shaft 303 to rotate around its own geometric center line.

[0109] A force and torque sensor 302 is fixed to one axial end of the rotating shaft 303 extending from the cylindrical boss, and a retainer 301 is fixedly connected to the force and torque sensor 302. The T-shaped vertical part of the main gripper bracket 109 in the main gripper module 1 is fixed to the retainer 301. Thus, when the rotating shaft 303 rotates, the main gripper module 1 as a whole can rotate with the rotating shaft 303, which is a rotating component. The rotation angle of the rotating shaft 303 is detected by the angle sensor A309, thereby obtaining the overall rotation angle of the main gripper module 1, and thus enabling real-time control of the deflection angle of the main gripper module 1.

[0110] like Figure 5As shown, the rotation angle adjustment module 4 in this embodiment includes a support base 403. The upper end of the support base 403 is formed into a U-shape, and the lower end of the support base 403 is used to connect to the auxiliary gripper motion module 6. The T-shaped vertical part of the auxiliary gripper bracket 205 in the auxiliary gripper module 2 is rotatably connected to the upper U-shape of the support base 403 through an axially horizontal rotation shaft. The rotation shaft at the rotatable connection between the auxiliary gripper bracket 205 and the upper U-shape of the support base 403 serves as the first rotation fulcrum, thereby allowing the entire auxiliary gripper module 2 to rotate around the first rotation fulcrum as the rotation center.

[0111] A rotation angle adjustment drive motor 404 is mounted on the side of the support base 403 via a motor retainer. The output shaft of the rotation angle adjustment drive motor 404 faces upward and is coaxially fixed with a small bevel gear 405. A large bevel gear 401 is coaxially fixed to one end of the rotation shaft at the first rotation fulcrum. The small bevel gear 405 and the large bevel gear 401 mesh with each other, thereby driving the rotation angle adjustment drive motor 404 to drive the auxiliary gripper module 2 to rotate around the first rotation fulcrum as the rotation center through the bevel gear transmission mechanism. An angle sensor B402 is installed on the side of the support base 403 corresponding to the other end of the rotation shaft at the first rotation fulcrum. The angle sensor B402 can detect the rotation angle of the auxiliary gripper module 2, thereby enabling real-time control of the rotation angle adjustment of the auxiliary gripper module 2.

[0112] like Figure 6 As shown, the pitch angle adjustment module 5 in this embodiment includes a lead screw frame, an auxiliary gripper support plate 505, and two sets of lead screw slider mechanisms. The lead screw frame consists of an upper end plate 501, a lower end plate, and a longitudinal beam 513 connected at the midpoint between the upper end plate 501 and the lower end plate. Slide rails 502 are respectively provided on the left and right sides of the longitudinal beam 513. The bottom surface of the support plate 306, which serves as part of the load-bearing component in the deflection angle adjustment module 3, is fixed to the upper end plate 501 of the lead screw frame.

[0113] In the two sets of lead screw and slider mechanisms, the first set is positioned between the upper end plate 501 and the lower end plate, and to the right of the longitudinal beam 513. The upper and lower ends of the lead screw A503 in the first set are rotatably mounted on the upper end plate 501 and the lower end plate to the right of the longitudinal beam 513, respectively. The slider A508 in the first set is mounted on the lead screw A503 through a threaded through-hole, and the left side of the slider A508 is slidably mounted on the slide rail 502 on the right side of the longitudinal beam 513. Therefore, when the lead screw A503 rotates, the slider A508 moves vertically along the corresponding slide rail 502 in the area between the upper end plate 501 and the lower end plate to the right of the longitudinal beam 513.

[0114] In the two sets of lead screw and slider mechanisms, the second set is positioned between the upper end plate 501 and the lower end plate, and to the left of the longitudinal beam 513. The upper and lower ends of the lead screw B511 in the second set are rotatably mounted on the upper end plate 501 and the lower end plate to the left of the longitudinal beam 513, respectively. The slider B510 in the second set is mounted on the lead screw B511 through a threaded hole, and the right side of the slider B510 is slidably mounted on the slide rail on the left side of the longitudinal beam 513. Therefore, when the lead screw B511 rotates, the slider B510 moves vertically along the corresponding slide rail in the area between the upper end plate 501 and the lower end plate to the left of the longitudinal beam 513.

[0115] The auxiliary gripper support plate 505 is located on the right side of the lead screw frame. In the first set of lead screw and slider mechanisms, a pair of cantilever arms 512 extending to the right are fixedly connected to the right side of slider A508. One end of the auxiliary gripper support plate 505 (left end in the figure) is rotatably connected between the two cantilever arms 512 via a rotating shaft. The other end of the auxiliary gripper support plate 505 (right end in the figure) extends outward to the right side of the lead screw frame. The rotating connection formed by the auxiliary gripper support plate 505, the cantilever arms 512 between slider A508 in the first set of lead screw and slider mechanisms, and the rotating shaft forms a second rotation fulcrum, allowing the auxiliary gripper support plate 505 to pitch relative to the lead screw frame using the second rotation fulcrum as the rotation center. An angle sensor C507 is installed on the cantilever corresponding to one end of the rotating shaft at the second rotation fulcrum. The angle sensor C507 can detect the rotation angle of the auxiliary gripper support plate 505, thereby realizing real-time control of the pitch angle of the auxiliary gripper support plate 505.

[0116] In the second set of lead screw and slider mechanisms, first connecting rods 504 are respectively provided between the front and rear sides of slider B510 and the front and rear sides of auxiliary gripper support plate 505 near the left end. One of the first connecting rods 504 is rotatably connected at one end to the front side of slider B510 and at the other end to the front side of auxiliary gripper support plate 505 near the left end. The other first connecting rod is rotatably connected at one end to the rear side of slider B510 and at the other end to the rear side of auxiliary gripper support plate 505 near the left end. Thus, when sliders A508 and B510 in the two sets of lead screw and slider mechanisms move linearly in the same direction and at the same speed, the auxiliary gripper support plate 505 moves up and down linearly along the central axis of the lead screw in the lead screw frame along with sliders A508 and B510. When sliders A508 and B510 in the two sets of lead screw and slider mechanisms move linearly in different directions and at different speeds, the auxiliary gripper support plate 505 rotates in a pitching motion relative to the lead screw frame with the second rotation fulcrum as the rotation center. Furthermore, when slider A508 moves to the upper end plate 501 and slider B510 moves to the lower end plate, the angle between the auxiliary gripper support plate 505 and the lead screw frame reaches its minimum. At this time, the auxiliary gripper support plate 505 can be folded up to the right side of the lead screw frame.

[0117] A slide rail 506 is formed by hollowing out the two ends of the auxiliary gripper support plate 505. The two open surfaces of the slide rail 506 are located on the two symmetrical sides of the auxiliary gripper support plate 505. Figure 6 The auxiliary gripper support plate 505 has upper and lower sides. The two symmetrical sidewalls of the slide rail 506 are each provided with a sliding opening 509, with each opening 509 penetrating through its respective sidewall. The auxiliary gripper support plate 505 and the slide rail 506 therein are used to install the auxiliary gripper motion module 6.

[0118] like Figure 7A , Figure 7B As shown, the auxiliary gripper motion module 6 of this embodiment includes a slide 608 and two sets of synchronous belt mechanisms. The slide 608 is slidably installed inside the slide rail 506 in the auxiliary gripper support plate 505, allowing the slide 608 to slide linearly between the left and right ends within the slide rail 506. A rotating support 604 is provided on the slide 608. The lower end of the support 403 in the rotation angle adjustment module 4 is rotatably connected to the rotating support 604 on the slide 608 via an axially horizontal rotating shaft. The rotating connection formed by the support 403, the rotating support, and the rotating shaft between the slide 608 forms a third rotation fulcrum, allowing the support 403 to rotate with the third rotation fulcrum as the rotation center. Consequently, the rotation angle adjustment module 4 and the auxiliary gripper module 2 as a whole can pitch and rotate relative to the auxiliary gripper support plate 505 with the third rotation fulcrum as the rotation center.

[0119] In the auxiliary gripper motion module 6, the second set of synchronous belt mechanisms drives the slide 608 to slide within the slide rail 506, while the first and second sets of synchronous belt mechanisms work together to drive the support 403 to move. Specifically:

[0120] The first synchronous belt mechanism includes pulleys A616 and B605, and a synchronous belt A620 connecting pulleys A616 and B605. Pulley A616 is rotatably mounted on the upper side of the auxiliary gripper support plate 505 (i.e., the first open surface of the slide rail 506) via an axially vertical axle A609, corresponding to the rotatable connection end. Figure 6 , Figure 7A At the left-middle position, pulley B605 is rotatably mounted on the upper side of auxiliary gripper support plate 505, corresponding to the right end position, where the first open surface of slide rail 506 is located, via an axially vertical axle. Thus, both sides of the synchronous belt A620 pass over the first open surface of slide rail 506. In the first synchronous belt mechanism, two second connecting rods 603 are provided between the synchronous belt A620 and the support seat 403 on slide block 608. Both second connecting rods 603 are located outside the belt bodies on both sides of synchronous belt A620. One end of each second connecting rod 603 is rotatably connected to the corresponding side of support seat 403, and the other end of each second connecting rod 603 slides in the slide opening 509 on the side wall of slide rail 506 via a rotating shaft. The rotating shaft at the other end of each second connecting rod 603 can rotate relative to the slide opening. A plate 607 is fixed to one side of the synchronous belt A620, and the rotating shaft at the other end of one of the second connecting rods 603 is simultaneously rotatably connected to plate 607.

[0121] An angle sensor D602 is installed at the rotatable connection between the second link 603 and the support 403 on one side. The angle sensor D602 detects the relative rotation angle between the second link 603 and the support 403, and thus the included angle between the second link 603 and the support 403 can be obtained.

[0122] In this embodiment, due to the limited space at the rotatable connection between the slide 608 and the support 403 (defined as the rotation center A), the angle sensor D602 is installed at the rotatable connection between the support 403 and the second connecting rod 603 on one side (defined as the rotation center B) to indirectly measure the pitch rotation angle between the support 403 and the auxiliary gripper support plate 505. The principle of indirect measurement is as follows:

[0123] Furthermore, the rotational connection point between the second link 603 and the plate 607 is defined as the rotation center C. Since the distances from rotation center A to rotation center B and from rotation center B to rotation center C are constant straight lines, and the angle between the two lines can be measured by the angle sensor D602, the pitch rotation angle of the support base 403 and the auxiliary gripper support plate 505 can be indirectly obtained by solving a triangle, thereby achieving real-time pitch rotation control of the entire rotation angle adjustment module 4 and auxiliary gripper module 2.

[0124] The second synchronous belt mechanism includes pulleys C613 and D606, and a synchronous belt B610 connecting pulleys C613 and D606. Pulley C613 is rotatably mounted on the lower side of the auxiliary gripper support plate 505 (i.e., the rotatable connection end of which is located on the second open surface of the slide rail 506) via an axially vertical axle B601. Figure 6 , Figure 7A At the left end of the middle section, pulley D606 is rotatably mounted on the lower right side of the auxiliary gripper support plate 505, located at the second open surface of the slide rail 506, via an axially vertical axle. Thus, both sides of the synchronous belt B610 pass under the second open surface of the slide rail 506. The lower part of the slide block 608 extends downwards through the second open surface of the slide rail 506, and one side of the synchronous belt B610 in the second synchronous belt mechanism is fixedly connected to the protruding part of the slide block 608.

[0125] The movement directions of synchronous belts A620 and B610 in both the first and second synchronous belt mechanisms are parallel to the linear sliding direction of the slide block 608 within the slide rail 506. Therefore, when synchronous belts A620 and B610 move in the same direction and at the same speed, the slide block 608 slides linearly within the slide rail 506. The support base 403, the second connecting rod 603, and the auxiliary gripper module 2 slide linearly along with the slide block 608, causing them to move towards or away from the lead screw in the pitch angle adjustment module 5. To detect the movement of the auxiliary gripper module 2, a laser rangefinder 612 for the auxiliary gripper module is installed on the auxiliary gripper support plate 505. This laser rangefinder 612 detects the linear movement of the auxiliary gripper module 2 along with the support base 403 and the slide block 608.

[0126] When the synchronous belts A620 in the first synchronous belt mechanism and B610 in the second synchronous belt mechanism move in opposite directions and at the same speed, the support base 403, together with the auxiliary gripper module 2, can rotate relative to the auxiliary gripper support plate 505 with the third rotation fulcrum as the rotation center. Furthermore, when the slide block 608 moves to the left end of the slide rail 506 and the other end of the second connecting rod 603 moves to the right end of the slide opening 509, the angle between the support base 403 and the auxiliary gripper support plate 505 reaches its minimum. This allows the support base 403, together with the auxiliary gripper module 2, to be folded onto the auxiliary gripper support plate 505. Since the auxiliary gripper support plate 505 can be folded onto the right side of the lead screw frame, this embodiment allows the auxiliary gripper module 2 to be folded onto the upper side of the auxiliary gripper support plate 505, and the auxiliary gripper support plate 505 to be folded onto the right side of the lead screw frame, thereby converting the double-gripper device into a single-gripper device.

[0127] The auxiliary gripper motion module 6 also includes a rotating connection end rotatably mounted on the auxiliary gripper support plate 505. Figure 6 , Figure 7A The drive shaft 615 (located at the left end) extends vertically through the auxiliary gripper support plate 505. A drive gear 618 is coaxially fixed to the upper end of the drive shaft 615. A driven gear 617 is coaxially fixed to the axle A609 of the pulley A616 in the first set of synchronous belt mechanisms. The drive gear 618 and driven gear 617 mesh. Thus, when the drive shaft 615 rotates, power is transmitted to the pulley A616 in the first set of synchronous belt mechanisms through the gear transmission mechanism composed of the drive and driven gears, thereby causing the synchronous belt A620 in the first set of synchronous belt mechanisms to move.

[0128] The auxiliary gripper motion module 6 also includes a first brake mechanism 614, which is a U-shaped component. The first brake mechanism 614 is fitted onto the rotating connection end of the auxiliary gripper support plate 505, with a gap between the first brake mechanism 614 and the rotating connection end of the auxiliary gripper support plate 505. One arm of the first brake mechanism 614 is located on the upper side of the rotating connection end of the auxiliary gripper support plate 505, and the other arm is located on the lower side of the rotating connection end of the auxiliary gripper support plate 505. Both arms of the first brake mechanism 614 are provided with oblong holes. The oblong hole in one arm of the first brake mechanism 614 located on the upper side of the auxiliary gripper support plate 505 allows the axle A609 of the pulley A616 in the first set of synchronous belt mechanisms to pass through, while the oblong hole in the other arm of the first brake mechanism 614 located on the lower side of the auxiliary gripper support plate 505 allows the axle B601 of the pulley C613 in the second set of synchronous belt mechanisms to pass through. The upper and lower sides of the rotating connection end of the auxiliary gripper support plate 505 are respectively fixed with spring seats 619 corresponding to the arm end position of the first brake mechanism 614, and each spring seat is connected to the corresponding arm end of the brake mechanism 614 with a spring 611.

[0129] When the first brake mechanism 614 is not engaged, the spring 611 is in its natural state. At this time, the waist-shaped holes of the two arms of the first brake mechanism 614, corresponding to the ends of the springs 611, respectively engage with and contact wheel axles A609 and B601, thereby locking wheel axles A609 and B601, and consequently locking pulleys A616 and C613. As a result, neither the first nor the second set of synchronous belt mechanisms can move. This ensures that the posture of the first and second sets of synchronous belt mechanisms can be stably locked when no movement of the first and second sets of synchronous belt mechanisms is required during operation.

[0130] When the first brake mechanism 614 is pushed against and moves away from the rotating connection end of the auxiliary gripper support plate 505 (towards) Figure 7A When the mechanism moves to the right, springs 611 are compressed, and the waist-shaped holes of the two arms of the first brake mechanism 614 move, releasing axles A609 and B601, and subsequently pulleys A616 and C613. This allows both the first and second sets of synchronous belt mechanisms to move. When the force against the first brake mechanism 614 disappears, the first brake mechanism 614 resets under the action of springs 611, relocking the first and second sets of synchronous belt mechanisms.

[0131] In this embodiment, by reasonably designing the gap between the first brake mechanism 614 and the rotating connection end of the auxiliary gripper support plate 505, the auxiliary gripper support plate 505 can be rotated to such a position. Figure 6 In the indicated state, the lower end plate of the lead screw frame in the pitch angle adjustment module 5 is used to abut against the first brake mechanism 614, causing the first brake mechanism 614 to move in the opposite direction to the rotating connection end of the auxiliary gripper support plate 505, thereby releasing pulleys A616 and C613.

[0132] like Figure 8 , Figure 9 , Figure 10 As shown, the drive module 7 in this embodiment includes a bracket and two drive motors. The bracket is a four-layer shelf structure. Of the four layers, the first layer is the lower end plate 703, the second layer 704 is located above the lower end plate 703, the third layer 705 is located above the second layer 704, and the fourth layer is the upper end plate 706 located above the third layer 705. Adjacent layers are fixedly connected at their four corners by bolts. The bracket of the drive module 7 shares the upper end plate 706 with the lead screw frame in the pitch angle adjustment module 5; that is, the upper end plate 706 also serves as the lower end plate of the lead screw frame in the pitch angle adjustment module 5, thereby connecting the lead screw frame of the pitch angle adjustment module 5 to the drive module 7.

[0133] The two drive motors are a first drive motor 701 and a second drive motor 702. The first drive motor 701 and the second drive motor 702 are fixed to the second layer plate 704, and the output shafts of the two drive motors are vertically upward.

[0134] In this embodiment, the motion transmission module 8 includes four sets of electromagnetic clutches: a first set of electromagnetic clutches 801, a second set of electromagnetic clutches 802, a third set of electromagnetic clutches 803, and a fourth set of electromagnetic clutches 804. The first set of electromagnetic clutches 801 and the second set of electromagnetic clutches 802 are both mounted on the second layer plate 704 within the bracket. The input ends of the first set of electromagnetic clutches 801 and the second set of electromagnetic clutches 802 face downwards. The position of the first set of electromagnetic clutches 801 corresponds to the lower end of the lead screw A503 of the first set of lead screw and slider mechanism in the pitch angle adjustment module 5, and the position of the second set of electromagnetic clutches 802 corresponds to the lower end of the lead screw B511 of the second set of lead screw and slider mechanism in the pitch angle adjustment module 5.

[0135] A first coupling 805 is provided on the third layer plate 705 inside the bracket, corresponding to the position of the first electromagnetic clutch 801, and a second coupling 806 is provided corresponding to the position of the second electromagnetic clutch 802. The input end of the first coupling 805 is coaxially fixedly connected to a first connecting shaft 8012, which passes vertically downward through the third layer plate 705. The attracted part 8011 of the first electromagnetic clutch 801 is coaxially fixed to the first connecting shaft 8012. The first coupling 805 is coaxially fixedly connected to the lower end of the lead screw A503 of the first lead screw slider mechanism in the pitch angle adjustment module 5. The input end of the second coupling 806 is coaxially fixedly connected to the second connecting shaft 8022. The second connecting shaft 8022 passes vertically downward through the third layer plate 705. The engaged part 8021 of the second set of electromagnetic clutches 802 is coaxially fixed to the second connecting shaft 8022. The second coupling 806 is coaxially fixedly connected to the lower end of the lead screw B511 of the second set of lead screw and slider mechanism in the pitch angle adjustment module 5. Thus, through the first coupling 805 and the first connecting shaft 8012, the engaged part 8011 of the first set of electromagnetic clutches 801 is connected to the lead screw A503 of the first set of lead screw and slider mechanism in the pitch angle adjustment module 5, and through the second coupling 806 and the second connecting shaft 8022, the engaged part 8021 of the second set of electromagnetic clutches 802 is connected to the lead screw B511 of the second set of lead screw and slider mechanism in the pitch angle adjustment module 5.

[0136] Of the four sets of electromagnetic clutches, the third set of electromagnetic clutches 803 and the fourth set of electromagnetic clutches 804 are respectively located on the right side of the third layer plate 705, with their input ends facing downwards. The attracted part 8031 ​​of the third set of electromagnetic clutches 803 is coaxially fixed to the lower end of the drive shaft 615 in the auxiliary gripper movement module 6, and the attracted part 8041 of the fourth set of electromagnetic clutches 804 is coaxially fixed to the axle of the pulley C613 of the second set of synchronous belt pulley mechanism in the auxiliary gripper movement module 6. Furthermore, when the auxiliary gripper support plate 505 in the pitch angle adjustment module 5 moves to the bracket position, the corresponding attracted part 8031 ​​of the third set of electromagnetic clutches 803 aligns with the lower end of the drive shaft 615, and the corresponding attracted part 8041 of the fourth set of electromagnetic clutches 804 aligns with the axle of the pulley C613. Therefore, when the auxiliary gripper support plate 505 rotates to the bracket position, the third electromagnetic clutch 803 and the fourth electromagnetic clutch 804 can engage their respective engaged parts.

[0137] The first drive motor 701 is located on the lower end plate 703 corresponding to the position of the first electromagnetic clutch 801. The output shaft of the first drive motor 701 is coaxially and fixedly connected to the first electromagnetic clutch 801, and the first synchronous pulley 807 is coaxially and fixedly mounted on the output shaft of the first drive motor 701. A second synchronous pulley shaft is rotatably mounted between the right sides of the second layer plate 704 and the third layer plate 705, corresponding to the position of the fourth electromagnetic clutch 804. The upper end of the second synchronous pulley shaft extends upward and is coaxially and fixedly connected to the input end of the fourth electromagnetic clutch 804. A second synchronous pulley 808 is coaxially and fixedly mounted on the second synchronous pulley shaft. The first synchronous pulley 807 and the second synchronous pulley 808 are connected by a first synchronous transmission belt 809. The first synchronous pulley 807, the second synchronous pulley 808, and the first synchronous transmission belt 809 constitute the first set of power transmission synchronous belt mechanism in the motion transmission module 8, which is used to synchronously connect the input end of the first electromagnetic clutch 801 and the input end of the fourth electromagnetic clutch 804. Thus, while the first drive motor 701 outputs power to the input end of the first electromagnetic clutch 801, the power of the first drive motor 701 can be synchronously transmitted to the input end of the fourth electromagnetic clutch 804 through the first set of power transmission synchronous belt mechanism.

[0138] The second drive motor 702 is located on the lower end plate 703, corresponding to the position of the second electromagnetic clutch 802. The output shaft of the second drive motor 702 is coaxially and fixedly connected to the second electromagnetic clutch 802, and the main gear 810 is coaxially and fixedly mounted on the output shaft of the second drive motor 702. A driven gear shaft is rotatably mounted between the second layer plate 704 and the third layer plate 705. A driven gear 811 is coaxially and fixedly mounted on the driven gear shaft. The main gear 810 and the driven gear 811 are engaged in transmission. At the same time, a third synchronous pulley 812 is also coaxially and fixedly mounted on the driven gear shaft. A third synchronous pulley shaft is rotatably mounted between the right sides of the second layer plate 704 and the third layer plate 705, corresponding to the position of the third electromagnetic clutch 803. The upper end of the third synchronous pulley shaft extends upward and is coaxially and fixedly connected to the input end of the third electromagnetic clutch 803. A fourth synchronous pulley 813 is coaxially and fixedly mounted on the third synchronous pulley shaft. The third synchronous pulley 812 and the fourth synchronous pulley 813 are connected by a second synchronous transmission belt 814. The third synchronous pulley 812, the fourth synchronous pulley 813, and the second synchronous transmission belt 814 constitute the second set of power transmission synchronous belt mechanism in the motion transmission module 8, which is used to synchronously connect the input ends of the second electromagnetic clutch 802 and the third electromagnetic clutch 803. Thus, while the second drive motor 702 outputs power to the second electromagnetic clutch 802, the power of the second drive motor 702 can be synchronously transmitted to the input end of the third electromagnetic clutch 803 through the second set of power transmission synchronous belt mechanism.

[0139] Therefore, by switching the engagement or release of the corresponding engaged parts 8011 and 8041 of the first set of electromagnetic clutches 801 and the fourth set of electromagnetic clutches 804, the power output of the first drive motor 701 is correspondingly switched to the lead screw A503 in the first set of lead screw and slider mechanism and the pulley C613 in the second set of synchronous belt pulley mechanism of the pitch angle adjustment module 5. Similarly, by switching the engagement or release of the corresponding engaged parts 8021 and 8031 ​​of the second set of electromagnetic clutches 802 and the third set of electromagnetic clutches 803, the power output of the second drive motor 702 is correspondingly switched to the lead screw B511 in the second set of lead screw and slider mechanism and the pulley A616 in the first set of synchronous belt pulley mechanism of the pitch angle adjustment module 5.

[0140] Specifically, when the first electromagnetic clutch 801 is energized, it engages the corresponding engaged part 8011. At this time, the power output by the first drive motor 701 is transmitted through the first electromagnetic clutch 801 and the first coupling 805 to the lead screw A503 of the first lead screw-slider mechanism in the pitch angle adjustment module 5, thereby driving the lead screw A503 to rotate. During this stage, the first brake mechanism 614 locks pulley C613 and pulley A616.

[0141] When the fourth electromagnetic clutch 804 is energized and the auxiliary gripper support plate 505 rotates to the bracket position, the fourth electromagnetic clutch 804 engages the corresponding engaged part 8041. At this time, the power output by the first drive motor 701 is transmitted through the first power transmission synchronous belt mechanism and the fourth electromagnetic clutch 804 to the pulley C613 of the second synchronous belt pulley mechanism in the auxiliary gripper motion module 6, thereby driving the synchronous belt B610 in the second synchronous belt pulley mechanism in the auxiliary gripper motion module 6 to move.

[0142] When the second electromagnetic clutch 802 is energized, it engages the corresponding engaged part 8021. At this time, the power output from the second drive motor 702 is transmitted through the second electromagnetic clutch 802 and the second coupling 806 to the lead screw B511 of the second lead screw-slider mechanism in the pitch angle adjustment module 5, driving the lead screw B511 to rotate. During this stage, the first brake mechanism 614 locks pulley C613 and pulley A616.

[0143] When the third electromagnetic clutch 803 is energized and the auxiliary gripper support plate 505 rotates to the bracket position, the third electromagnetic clutch 803 engages the corresponding engaged part 8031. At this time, the power output by the second drive motor 702 is transmitted to the drive shaft 615 in the auxiliary gripper motion module 6 through the main gear 810, the driven gear 811, the second power transmission synchronous belt mechanism, and the third electromagnetic clutch 803, thereby driving the pulley A616 of the first synchronous belt pulley mechanism in the auxiliary gripper motion module 6 to rotate, and then driving the synchronous belt A620 of the first synchronous belt pulley mechanism in the auxiliary gripper motion module 6 to move.

[0144] To ensure that the lead screws A503 and B511 in the pitch angle adjustment module 5 do not rotate when the electromagnetic clutch is de-energized, the drive module 7 in this embodiment also integrates a second brake mechanism 707. The second brake mechanism 707 is a Y-shaped component placed flat on the third layer plate 705, and the second brake mechanism 707 is slidably mounted on the third layer plate 705. The root of the Y-shape of the second brake mechanism 707 has toothed surfaces. The drive gear 708 is located above the third layer plate 705 and is driven by a servo motor 708 installed below the third layer plate 705. The drive gear 708 meshes with the toothed surfaces at the root of the Y-shape of the second brake mechanism 707. The two Y-shaped support arms of the second brake mechanism 707 each have locking slots, which respectively engage with the first connecting shaft 8012 and the second connecting shaft 8022.

[0145] Therefore, when the servo motor 709 causes the drive gear 708 to rotate, the two Y-shaped arms of the second brake mechanism 707 move linearly towards or away from the first connecting shaft 8012 and the second connecting shaft 8022. When the latches at the ends of the two Y-shaped arms of the second brake mechanism 707 engage with the first connecting shaft 8012 and the second connecting shaft 8022, the first connecting shaft 8012 and the second connecting shaft 8022 are locked and cannot rotate, thereby locking the lead screws A503 and B511 in the pitch angle adjustment module 5. When the latches at the ends of the two Y-shaped arms of the second brake mechanism 707 move away from the first connecting shaft 8012 and the second connecting shaft 8022, the first connecting shaft 8012 and the second connecting shaft 8022 are released, thereby releasing the lead screws A503 and B511 in the pitch angle adjustment module 5.

[0146] In summary, in this embodiment, the deflection angle adjustment module 3, driven by the rotating shaft drive motor 307, adjusts the deflection angle of the auxiliary gripper module 2 relative to the main gripper module 1 through the meshing of spur gears.

[0147] Driven by the rotation angle adjustment drive motor 404, the rotation angle adjustment module 4 adjusts the rotation angle of the auxiliary gripper module 2 relative to the main gripper module 1 through the meshing of bevel gears.

[0148] The motion output from the two drive motors in the drive module 7 is transmitted to the lead screw of the pitch angle adjustment module 5 through the motion transmission module 8. The mechanism composed of slider and connecting rod can realize the adjustment of the pitch angle of the auxiliary gripper module 2 relative to the main gripper module 1 and the movement of the auxiliary gripper module 2 relative to the main gripper module 1 in the first direction.

[0149] Furthermore, the motion output from the two drive motors in the drive module 7 can also be transmitted through the motion transmission module 8 to the two sets of synchronous belt mechanisms in the auxiliary gripper motion module 6. The mechanism consisting of the slide 608 driven by the two sets of synchronous belt mechanisms, the second connecting rod 603 in the auxiliary gripper motion module 6, and the support 403 can realize the movement of the auxiliary gripper module 2 in the second direction relative to the main gripper module 1.

[0150] In addition, the first main gripper drive motor 108 and the second main gripper drive motor 107 in the main gripper module 1 each drive the corresponding main gripper to move in the horizontal slide groove through independent flexible cables, so that the first main gripper 101 and the second main gripper 110 close at any position in the horizontal slide groove to form a clamping space, thereby indirectly realizing the movement of the auxiliary gripper module 2 in the third direction relative to the main gripper module 1.

[0151] In other words, the auxiliary gripper module 2 of the robot gripper device designed in this embodiment can be adjusted relative to the main gripper module 1 in six degrees of freedom. Therefore, after the main gripper module 1 completes the grasping of the target object in one posture, the auxiliary gripper module 2 can assist the main gripper module 1 in completing further grasping in another posture.

[0152] Example 2

[0153] This embodiment discloses a robot gripper device for assisting spraying operations as described in Embodiment 1. For example... Figure 11 As shown, in this embodiment, when the robot gripper device 902 is working, the lower end plate 703 of the support of the drive module 7 in this embodiment is fixedly connected to the end flange of the industrial robot 903, and the main gripper module 1 and the auxiliary gripper module 2 work together to grasp the part 901 to be gripped.

[0154] Initially, the part 901 to be grasped is located on the table. A visual sensor acquires point cloud data of the current scene on the table. This point cloud data is then fed into a grasping pose generation network to obtain a set of grasping poses for the part 901 at its current position. Following a specified process, two grasping poses are selected and assigned to the main gripper module 1 and the auxiliary gripper module 2, respectively. Based on the yaw angle adjustment module 3, rotation angle adjustment module 4, pitch angle adjustment module 5, and auxiliary gripper motion module 6, the pose adjustment of the auxiliary gripper module 2 relative to the main gripper module 1 is achieved. The industrial robot 903 then performs trajectory planning to reach the designated grasping pose. Finally, the main gripper module 1 and the auxiliary gripper module 2 cooperate to grasp and separate the part 901 from the table.

[0155] See Figure 12 , Figure 13 This embodiment describes a gripping method for gripping specific locations on parts to be coated. Initially, both the coating robot and the gripping robot are in their initial positions, with the vision sensor mounted on a support. When a part enters the coating process, the gripping robot picks it up sequentially, allowing the coating robot to perform multi-directional coating. Due to the specific requirements of the coating process, the surface to be coated cannot be obstructed; therefore, the gripping robot should perform the gripping operation at specific locations, such as surfaces where coating is not required. However, due to obstructions between parts and the tabletop, or between parts themselves, these specific locations may not be directly accessible for gripping. To address these issues, this embodiment proposes a method for gripping specific locations on parts to be coated, comprising the following steps:

[0156] Step 1: System initialization. Check if each drive motor has returned to its initial position and if each sensor has a signal input. After confirming that there are no problems, use a vision sensor to acquire point cloud data of the scene consisting of one or more parts to be painted.

[0157] Step 2: Preprocess the point cloud data to remove points outside the robot's workspace and desktop point clouds. Furthermore, to reduce computational burden, farthest point sampling (FPS) is performed on the scene point cloud data, and the sampled point cloud data is input into the backbone network PointNet++ for encoding to obtain point cloud features.

[0158] Step 3: Input the point cloud features obtained after encoding in Step 2 into the point cloud instance segmentation network UOIS-Net-3D to obtain point cloud data for each part; perform template matching between the segmented part point cloud data and the part template point cloud data in the dataset, and find the corresponding graspable area of ​​the part to be painted according to the painting process requirements of the matched part template.

[0159] Simultaneously, the point cloud features obtained after encoding in step 2 are input into the 6-DoF grasping pose generation network GSNet to obtain the 6-DoF grasping pose set of the current pose of the part to be painted.

[0160] Step 4: Input the encoded point cloud features into the grasping pose collision detection network. Based on the collision detection results, divide the obtained 6-DoF grasping poses into two sets: collision-free grasping poses and collision-containing grasping poses.

[0161] Step 5: Determine the sets of collision-free and collision-related grabbing postures:

[0162] (5.1) If there is a gripping posture within the gripping area of ​​the part to be coated in the collision-free gripping posture set generated in step 4, it means that the part to be coated can be directly gripped at a specific position under the current pose. Then, select the posture with the highest gripping quality score within the gripping area from the generated collision-free gripping posture set, and control the main gripper to complete the gripping of the specific position of the part to be coated according to the selected posture. The process is as follows:

[0163] First, the auxiliary gripper module 2 needs to be folded. The fourth electromagnetic clutch 804 and the third electromagnetic clutch 803 in the motion transmission module 8 are energized and engaged. The two drive motors in the drive module 7 drive the second synchronous belt mechanism in the auxiliary gripper motion module 6, causing the synchronous belt B610 to drive the slide block 608 to its extreme position near the rotating connection end within the slide rail 506, and causing the synchronous belt A620 to drive the second connecting rod 603 to move away from the rotating connection end and reach its extreme position. When the angle between the support seat 403 and the auxiliary gripper support plate 505 reaches its minimum, the auxiliary gripper module 2 completes its initial folding. This process is measured in real-time by the angle sensor D602. Subsequently, the second set of electromagnetic clutches 802 and the first set of electromagnetic clutches 801 in the motion transmission module 8 are energized and engaged. This drives the two drive motors in the drive module 7 to move the sliders A508 and B510 in the pitch angle adjustment module to the upper end plate 501 and lower end plate 509 respectively, minimizing the angle between the auxiliary gripper support plate 505 and the lead screw frame, thus achieving further folding of the auxiliary gripper module 2. This process is measured in real time by the angle sensor C507.

[0164] After the auxiliary gripper module 2 completes its folding, the robot gripper device 902, driven by the industrial robot 903, reaches the designated position, where the main gripper module 1 performs the gripping action. The process is as follows:

[0165] First, the first main gripper drive motor 108 and the second main gripper drive motor 107 in the main gripper module 1 rotate at the same speed. The first independent flexible cable 103 and the second independent flexible cable 102 are wound onto the first independent flexible cable drum 115 and the second independent flexible cable drum 116, respectively, thereby driving the first main gripper 101 and the second main gripper 110 to reach the specified gripping width to form a gripping space. The tension sensor 104 provides real-time feedback on the tension of the current flexible cable, and the laser rangefinder 106 provides real-time feedback on the movement of the gripper assembly. The system determines whether the gripping is successful based on the feedback signals from the sensors. After the laser rangefinder sensor determines that the first main gripper 101 and the second main gripper 110 have formed a gripping space of a specified width, if the tension data obtained by the tension sensor shows a significant increase at this stage, it indicates that the gripping is successful; if the tension data obtained by the tension sensor does not show a significant increase, the width of the gripping space is further reduced until the tension data shows a significant increase; if the tension data still does not show a significant increase after the gripping space width becomes 0mm, it indicates that the gripping has failed.

[0166] (5.2) If there is no gripping posture within the gripping area of ​​the part in the collision-free gripping posture set generated in step 4, it means that the part to be painted cannot be directly gripped at a specific position under the current pose. In this case, the gripping of the part to be painted at a specific position is achieved through the cooperation of the main gripper module 1 and the auxiliary gripper module 2, as follows:

[0167] First, find the gripping posture 1 with the highest gripping quality score in the set of non-collision gripping postures for the part. This gripping posture is currently located in the non-gripable area of ​​the part. At the same time, find the gripping posture 2 with the highest gripping quality score in the grippable area of ​​the part. This gripping posture is currently located in the set of gripping postures with collisions.

[0168] Then, the pose transformation matrix between the two gripping postures is calculated, and based on the result of the pose transformation matrix, the translation and rotation transformation amounts of the auxiliary gripper module 2 relative to the main gripper module 1 are calculated.

[0169] Next, based on the obtained translation transformation, the main gripper module 1 is first controlled to grip the part to be coated according to gripping posture 1. The process is as follows: the first main gripper drive motor 108 and the second main gripper drive motor 107 in the main gripper module 1 are wound around the first independent flexible cable 103 and the second independent flexible cable 102 at a specific speed, thereby driving the first main gripper 101 and the second main gripper 110 to reach the specified gripper width and the specified closed position for gripping. By closing at the specified position, the movement of the auxiliary gripper module 2 relative to the main gripper module 1 in the third direction is indirectly realized. The tension sensor 104 provides real-time feedback on the tension of the current flexible cable, and the laser rangefinder 106 provides real-time feedback on the width of the current gripping space, thereby determining whether the main gripper module 1 has successfully gripped. After that, the main gripper module 1 picks up the part to be coated 901 from the table. At this time, all postures in the collision gripping posture set are changed to collision-free gripping postures.

[0170] Then, the translational transformations in the remaining directions are mapped to the auxiliary gripper motion module 6 and the pitch angle adjustment module 5, and the rotational transformations are mapped to the yaw angle adjustment module 3, the rotation angle adjustment module 4, and the pitch angle adjustment module 5, so as to control the auxiliary gripper module 2 to grip the part to be sprayed at a specific position according to the gripping posture 2. The process is as follows:

[0171] The fourth electromagnetic clutch 804 and the third electromagnetic clutch 803 in the motion transmission module 8 are energized and engaged, driving the motor to drive the two sets of synchronous belt mechanisms in the auxiliary gripper motion module 6. After the two sets of synchronous belt mechanisms drive the second connecting rod 603 and the slide 608 to move a corresponding distance at the same speed, the movement of the auxiliary gripper module 2 relative to the main gripper module 1 in the second direction is completed. After the auxiliary gripper module 2 completes the above adjustment, the two sets of synchronous belt mechanisms are locked by the first brake mechanism 614. Further, the first electromagnetic clutch 801 and the second electromagnetic clutch 802 in the motion transmission module 8 are energized and engaged, driving the motor to drive the lead screw A503 and lead screw B511 in the pitch angle adjustment module 5 to drive the slider A508 and slider B510 to move a corresponding distance at the same speed and in the same direction, thus completing the movement of the auxiliary gripper module 2 relative to the main gripper module 1 in the first direction.

[0172] For adjusting the yaw angle, yaw angle adjustment module 3 is used. The shaft drive motor 307 drives the shaft 303 to rotate by the corresponding angle, and the angle sensor A309 provides real-time feedback of the current yaw angle. For adjusting the rotation angle, rotation angle adjustment module 4 is used. The rotation angle adjustment drive motor 404 drives the small bevel gear 405 to rotate, thereby driving the large bevel gear 401 to rotate by the corresponding angle, and the angle sensor B402 provides real-time feedback of the current rotation angle. For adjusting the pitch angle, pitch angle adjustment module 5 is used. The first set of electromagnetic clutches 801 and the second set of electromagnetic clutches 802 in the motion transmission module 8 are energized and engaged. The two drive motors in the drive module 7 drive the sliders A508 and B510 to move to the designated positions, causing the auxiliary gripper support plate 505 to rotate by the corresponding angle, and the angle sensor C507 provides real-time feedback of the current pitch angle. At this time, the auxiliary gripper module 2 has completed all the position and posture adjustments relative to the main gripper module 1.

[0173] Finally, the auxiliary gripper drive motor 209 drives the parallel flexible cable drum 210 to rotate, and flexible cables A202 and B203 gradually wind around the parallel flexible cable drum 210, thereby driving the first auxiliary gripper 201 and the second auxiliary gripper 212 to close and form a clamping space. The parallel flexible cable detection tension sensor 204 provides feedback on the current tension of the flexible cable, and the auxiliary gripper detection laser range sensor 206 provides feedback on the current width of the clamping space, thereby determining whether the auxiliary gripper module 2 has successfully gripped the part. When the auxiliary gripper module 2 successfully grips the part, the main gripper module 1 immediately ends the gripping action, and the auxiliary gripper module 2 and the part to be sprayed are adjusted to a specific position relative to the main gripper module 1 to ensure that the main gripper module 1 does not affect the subsequent spraying operation.

[0174] Due to errors in the predicted gripping posture and changes in the relative position of the part to be painted caused by the main gripper module 1 gripping, the auxiliary gripper module 2 may cause the main gripper module 1 to experience significant overturning force and bending moment when gripping according to gripping posture 2. To avoid damage to the gripper device, force and torque sensors 302 are used for real-time measurement. When the measured overturning force and bending moment exceed the threshold, it indicates that gripping posture 2 has failed. In this case, the part should be placed back on the table to adjust its posture and then gripping should be performed again.

[0175] Through the collaboration of the main gripper module 1 and the auxiliary gripper module 2, the gripper device can grasp the part to be painted at a specific location. This ensures that the gripper device will not obstruct the surface to be painted during subsequent painting operations, facilitating the operation of the painting robot. Furthermore, the collaboration between the gripping robot and the painting robot enables multi-directional painting operations on the part to be painted.

[0176] Example 3

[0177] For parts with complex shapes, such as those with uneven mass distribution, it is difficult to achieve stable gripping using a single gripper assembly. To solve this problem, this embodiment discloses a robotic gripper device for assisting spraying operations, as described in Embodiment 1, which enables dual-gripper collaborative gripping of parts with uneven mass distribution. Figure 12 , Figure 14 As shown, it includes the following steps:

[0178] Step S1: System initialization. Check if each drive motor has returned to its initial position and if each sensor has a signal input. After the check is completed, use a vision sensor to obtain point cloud data of the parts to be painted placed on the table.

[0179] Step S2: Preprocess the point cloud data to remove points outside the robot's workspace and desktop point clouds. Furthermore, to reduce computational burden, farthest point sampling (FPS) is performed on the scene point cloud data, and the sampled point cloud is input into the backbone network PointNet++ for encoding to obtain point cloud features.

[0180] Step S3: Input the point cloud features obtained from step S2 into the 6-DoF grasping pose generation network GSNet or the planar grasping network GQ-CNN to obtain the grasping pose set of the part to be painted in the current pose.

[0181] Step S4: In the obtained set of gripping postures, find gripping posture 1 whose gripping point is closest to the centroid of the point cloud of the part to be sprayed, and find gripping posture 2 that is far from the centroid of the point cloud and can be executed by the auxiliary gripper module 2 according to the boundary conditions of the movement of the auxiliary gripper module 2 relative to the main gripper module 1; then calculate the pose transformation matrix between gripping postures 1 and 2, and calculate the translation and rotation transformation amounts of the auxiliary gripper module 2 relative to the main gripper module 1 according to the pose transformation matrix.

[0182] Step S5: Based on the gripping posture 1, perform trajectory planning for the industrial robot 903 and adjust the robot to reach the designated pose. Then, the translation transformation is mapped to the pitch angle adjustment module 5, the auxiliary gripper motion module 6, and the main gripper module 1 respectively and executed. The rotation transformation is mapped to the yaw angle adjustment module 3, the rotation angle adjustment module 4, and the pitch angle adjustment module 5 and executed, so as to control the main gripper module 1 and the auxiliary gripper module 2 to achieve coordinated gripping of the part to be painted. The process is as follows:

[0183] The translation and rotation transformation of the auxiliary gripper module 2 relative to the main gripper module 1 are the same as in Embodiment 2. Here, we mainly introduce how to achieve cooperative gripping between the main gripper module 1 and the auxiliary gripper module 2.

[0184] The first main gripper drive motor 108 and the second main gripper drive motor 107 in the main gripper module 1 wind the first independent flexible cable 103 and the second independent flexible cable 102 at a specific speed, thereby driving the first main gripper 101 and the second main gripper 110 to reach the specified gripper width and the specified closed position for gripping. The tension sensor 104 feeds back the tension of the flexible cable, and the laser range sensor 106 feeds back the width of the current gripping space, thereby determining whether the main gripper module 1 has successfully gripped. While the main gripper module 1 is performing gripping, the auxiliary gripper drive motor 209 in the auxiliary gripper module 2 drives the parallel flexible cables A202 and B203, thereby driving the first auxiliary gripper 201 and the second auxiliary gripper 212 to reach the specified gripper width to complete the gripping. The parallel flexible cable detection tension sensor 204 feeds back the tension of the flexible cable, and the auxiliary gripper detection laser range sensor 206 feeds back the width of the current gripping space, thereby determining whether the auxiliary gripper module 2 has successfully gripped.

[0185] Similarly, to avoid damage to the gripper device, force and torque sensors 302 are used for real-time measurement. When the measured overturning force and bending moment exceed the threshold, it indicates that the collaborative gripping execution has failed. At this time, the part should be placed back on the table, its position adjusted, and the gripping should be performed again.

[0186] By coordinating the gripping action of the main gripper module 1 and the auxiliary gripper module 2, more complex and safer gripping actions can be performed, solving the problem that it is difficult to stably grip complex parts to be painted, such as parts with uneven mass distribution, using a single gripper. Furthermore, the dual-gripper collaborative gripping method can be used as an independent module or as a sub-module of the method for gripping specific positions of the parts to be painted.

[0187] The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings. These embodiments are merely descriptions of preferred embodiments and are not intended to limit the scope or concept of the invention. The specific technical features described in the above embodiments can be combined in any suitable manner without contradiction. Such combinations, as long as they do not violate the spirit of the present invention, should also be considered as part of this disclosure. To avoid unnecessary repetition, the present invention will not further describe the various possible combinations.

[0188] This invention is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this invention and without departing from the design idea of ​​this invention, all modifications and improvements made by those skilled in the art to the technical solutions of this invention should fall within the protection scope of this invention. The technical content for which protection is sought in this invention has been fully described in the claims.

Claims

1. A robotic gripper device for assisting spraying operations, characterized in that, It includes a main gripper module (1), an auxiliary gripper module (2), a deflection angle adjustment module (3), a rotation angle adjustment module (4), a pitch angle adjustment module (5), and an auxiliary gripper motion module (6); the main gripper module (1) is used to grasp the target object, and the auxiliary gripper module (2) is used to assist the main gripper module (1) in grasping the target object. The relative posture adjustment of the main gripper module (1) and the auxiliary gripper module (2) is achieved through the actions of the deflection angle adjustment module (3), the rotation angle adjustment module (4), the pitch angle adjustment module (5), and the auxiliary gripper motion module (6), wherein: The deflection angle adjustment module (3) includes a rotary motion component and a bearing part for mounting the rotary motion component. The rotary motion component rotates around its own geometric center line as the rotation center. The main gripper module (1) is mounted on the rotary motion component, so that the main gripper module (1) can rotate with the rotary motion component. The rotation angle adjustment module (4) includes a support base (403). The auxiliary gripper module (2) is rotatably connected to one end of the support base (403). The rotatable connection between the auxiliary gripper module (2) and the support base (403) is used as the first rotation fulcrum. Thus, the auxiliary gripper module (2) as a whole can rotate around the first rotation fulcrum as the rotation center. The pitch angle adjustment module (5) includes a lead screw frame and an auxiliary gripper support plate (505); two sets of lead screw slider mechanisms are provided between the two ends of the lead screw frame, and the lead screw in each set of lead screw slider mechanisms is rotatably installed between the two ends of the lead screw frame, so that the sliders in the two sets of lead screw slider mechanisms move linearly between the two ends of the lead screw frame. The bearing part in the deflection angle adjustment module (3) is fixed to one end of the lead screw frame; a slide rail (506) is formed between the two ends of the auxiliary gripper support plate (505), and one end of the auxiliary gripper support plate (505) is rotatably connected to the side of the slider A (508) in the first set of lead screw slider mechanisms. The other end of the auxiliary gripper support plate (505) extends outward to one side of the lead screw frame, and is connected by the auxiliary gripper support plate (505) and the first set of lead screw slider mechanisms. The rotating connection between sliders A (508) in the lever-slider mechanism forms a second rotation fulcrum; a first connecting rod (504) is provided between slider B (510) in the second set of lead screw-slider mechanisms and auxiliary gripper support plate (505). One end of the first connecting rod (504) is rotatably connected to the auxiliary gripper support plate (505), and the other end is rotatably connected to slider B (510) in the second set of lead screw-slider mechanisms; when the sliders in the two sets of lead screw-slider mechanisms move in the same direction and at the same speed, the auxiliary gripper support plate (505) moves in a straight line along the direction of the lead screw central axis with the slider; when the sliders in the two sets of lead screw-slider mechanisms move in different directions and at different speeds, the auxiliary gripper support plate (505) rotates in pitch relative to the lead screw frame with the second rotation fulcrum as the rotation center. The auxiliary gripper motion module (6) includes a slide (608) and two sets of synchronous belt mechanisms. The slide (608) is slidably installed in the slide rail (506) of the auxiliary gripper support plate (505). The other end of the support seat (403) in the rotation angle adjustment module (4) is rotatably connected to the slide (608), and a third rotation fulcrum is formed by the rotatable connection between the support seat (403) and the slide (608). Each set of synchronous belt mechanisms includes two pulleys and a synchronous belt connecting the two pulleys. The pulleys in the two sets of synchronous belt mechanisms are rotatably installed on the auxiliary gripper support plate (505) through a wheel axle, and the linear motion trajectory of the synchronous belts in the two sets of synchronous belt mechanisms is parallel to the linear sliding trajectory of the slide (608) in the slide rail. Among them, the synchronous belt A (620) in the first set of synchronous belt mechanisms is connected to the support seat (403). A second connecting rod (603) is provided, one end of which is rotatably connected to the support base (403), and the other end is rotatably connected to the belt body on one side of the synchronous belt A (620) in the first set of synchronous belt mechanisms. The belt body on one side of the synchronous belt B (610) in the second set of synchronous belt mechanisms is fixed to the slide (608). Thus, when the synchronous belts in the two sets of synchronous belt mechanisms move in the same direction and at the same speed, the slide (608), support base (403), second connecting rod (603) and auxiliary gripper module (2) as a whole make linear movements toward or away from the lead screw frame in the pitch angle adjustment module (5). When the synchronous belts in the two sets of synchronous belt mechanisms move in different directions and at different speeds, the support base (403) together with the auxiliary gripper module (2) as a whole makes pitch rotation relative to the auxiliary gripper support plate (505) with the third rotation fulcrum as the rotation center.

2. The robot gripper device for assisting spraying operations according to claim 1, characterized in that, It also includes a drive module (7), which includes a bracket, with two drive motors and a motion transmission module (8) installed between the two ends of the bracket. The lead screw in the pitch angle adjustment module (5) is fixedly connected to the bracket of the drive module (7). The motion transmission module (8) includes four sets of electromagnetic clutches. The first set of electromagnetic clutches (801) is located in the bracket corresponding to the position of the lead screw A (503) of the first set of lead screw and slider mechanism in the pitch angle adjustment module (5), and the attracted part (8011) of the first set of electromagnetic clutches (801) is fixedly connected to the corresponding end of the lead screw A (503) of the first set of lead screw and slider mechanism in the pitch angle adjustment module (5). The second set of electromagnetic clutches (802) is located in the bracket corresponding to the position of the lead screw B (511) of the second set of lead screw and slider mechanism in the pitch angle adjustment module (5), and the attracted part (8021) of the second set of electromagnetic clutches (802) is fixedly connected to the corresponding end of the lead screw B (511) of the second set of lead screw and slider mechanism in the pitch angle adjustment module (5). The auxiliary gripper motion module (6) further includes a drive shaft (615) rotatably mounted on the auxiliary gripper support plate (505). The drive shaft (615) is connected to the synchronous pulley A (616) in the first set of synchronous pulley mechanisms of the auxiliary gripper motion module (6) via a gear transmission mechanism. Among the four sets of electromagnetic clutches, the attracted part (8031) of the third set of electromagnetic clutches (803) is fixed to the shaft end of the drive shaft (615), and the fourth set of electromagnetic clutches... The attracted part (8041) of (804) is fixed to the axle of one of the pulleys C (613) in the second set of synchronous pulley mechanisms of the auxiliary gripper motion module (6); when the auxiliary gripper support plate (505) moves to the bracket position, the third set of electromagnetic clutches (803) is aligned with the corresponding attracted part (8031) at the shaft end of the drive shaft (615), and the fourth set of electromagnetic clutches (804) is aligned with the corresponding attracted part (8041) at the axle of pulley C (613); Of the two drive motors, the output shaft of the first drive motor (701) is simultaneously connected to the input end of the first electromagnetic clutch (801) and the input end of the fourth electromagnetic clutch (804), while the output shaft of the second drive motor (702) is simultaneously connected to the input end of the second electromagnetic clutch (802) and the input end of the third electromagnetic clutch (803). Thus, by switching the engagement of the first electromagnetic clutch (801) and the fourth electromagnetic clutch (804) at their respective engagement points, the first drive motor (702)... The power output of the second drive motor (701) is switched to the lead screw A (503) in the first set of lead screw and slider mechanism and the pulley C (613) in the second set of synchronous belt pulley mechanism of the pitch angle adjustment module (5). By switching the second set of electromagnetic clutches (802) and the third set of electromagnetic clutches (803) to engage their respective engaged parts, the power output of the second drive motor (702) is switched to the lead screw B (511) in the second set of lead screw and slider mechanism and the pulley A (616) in the first set of synchronous belt pulley mechanism of the pitch angle adjustment module (5).

3. A robot gripper device for assisting spraying operations according to claim 2, characterized in that, The input ends of the first electromagnetic clutch (801) and the fourth electromagnetic clutch (804) are connected by a power transmission synchronous belt mechanism. The output shaft of the first drive motor (701) is connected to the input end of the first electromagnetic clutch (801), and then synchronously connected to the input end of the fourth electromagnetic clutch (804). The input ends of the second electromagnetic clutch (802) and the third electromagnetic clutch (803) are connected by a set of spur gear mechanisms and another set of power transmission synchronous belt mechanisms. The output shaft of the second drive motor (702) is connected to the input end of the second electromagnetic clutch (802), and then synchronously connected to the input end of the third electromagnetic clutch (803).

4. A robot gripper device for assisting spraying operations according to any one of claims 1-3, characterized in that, The main gripper module (1) is a parallel two-finger gripper driven by two motors through two independent flexible cables. Each motor drives one gripper to translate to the other through an independent flexible cable. After each gripper translates, it is reset by spring force. The main gripper module (1) is also equipped with a distance measuring sensor to detect the translational movement of each gripper and a tension sensor to detect the tension of each independent flexible cable.

5. A robot gripper device for assisting spraying operations according to any one of claims 1-3, characterized in that, The auxiliary gripper module (2) is a parallel two-finger gripper driven by a single motor through a parallel flexible cable. The single motor synchronously drives the two grippers to move in opposite directions through the parallel flexible cable, and the two grippers are reset by spring force after the translation movement. The auxiliary gripper module (2) is also equipped with a distance measuring sensor to detect the translation movement of each gripper, and a tension sensor to detect the tension of the parallel flexible cable.

6. A robot gripper device for assisting spraying operations according to any one of claims 1-3, characterized in that, In the deflection angle adjustment module (3), the rotating motion component is driven by a motor to rotate around its own geometric center line as the rotation center, and the deflection angle adjustment module (3) is equipped with an angle sensor to detect the rotation angle of the rotating motion component; In the rotation angle adjustment module (4), the auxiliary gripper module (2) driven by the motor rotates around the first rotation fulcrum as the rotation center; angle sensors for detecting their respective rotation angles are respectively provided at the rotation connection points of the first rotation fulcrum, the second rotation fulcrum, the second connecting rod (603) and the support base (403).

7. A robot gripper device for assisting spraying operations according to claim 2 or 3, characterized in that, The auxiliary gripper motion module (6) further includes a first brake mechanism (614), which is mounted on the rotating connection end of the auxiliary gripper support plate (505). A spring is connected between the first brake mechanism (614) and the auxiliary gripper support plate (505). The first brake mechanism (614) locks one pulley of each of the two sets of synchronous belt mechanisms in the auxiliary gripper motion module (6). When the first brake mechanism (614) is pushed against and squeezes the spring, it releases one pulley of each of the two sets of synchronous belt mechanisms that was previously locked.

8. A robot gripper device for assisting spraying operations according to claim 2 or 3, characterized in that, The drive module (7) further includes a second brake mechanism (707) slidably mounted in the bracket; in the drive module (7), the attracted part (8011) of the first electromagnetic clutch (801) is fixedly connected to the corresponding end of the lead screw A (503) through the first connecting shaft (8012), and the attracted part (8021) of the second electromagnetic clutch (802) is fixedly connected to the corresponding end of the lead screw B (511) through the second connecting shaft (8022); the second brake mechanism (707) is driven by the servo motor (709) to make linear movements close to or away from the first connecting shaft (8012) and the second connecting shaft (8022), and when the second brake mechanism (707) contacts the first connecting shaft (8012) and the second connecting shaft (8022), it locks the first connecting shaft (8012) and the second connecting shaft (8022), thereby locking the lead screw A (503) and the lead screw B (511).

9. A robot gripper device for assisting spray painting operations as described in any one of claims 1-8, used for gripping a part to be sprayed at a specific position, characterized in that, Includes the following steps: Step 1: Obtain point cloud data of a scene consisting of one or more parts to be painted; Step 2: After preprocessing the point cloud data and sampling the farthest point, input the data into the backbone network PointNet++ for encoding to obtain point cloud features; Step 3: Input the encoded point cloud features into the point cloud instance segmentation network UOIS-Net-3D to obtain point cloud data for each part; perform template matching between the segmented part point cloud data and the part template point cloud data in the dataset, and find the corresponding graspable area of ​​the part to be painted according to the painting process requirements of the matched part template. Meanwhile, the encoded point cloud features are input into the 6-DoF grasping pose generation network GSNet to obtain the 6-DoF grasping pose set of the current pose of the part to be painted. Step 4: Input the encoded point cloud features into the grasping pose collision detection network. Based on the collision detection results, divide the obtained 6-DoF grasping poses into two sets: non-collision grasping poses and collision grasping poses. Step 5: If there is a gripping posture in the non-collision gripping posture set generated in Step 4 that is located within the gripping area of ​​the part to be sprayed, then select the posture that is located within the gripping area and has the highest gripping quality score from the generated non-collision gripping posture set, and control the support base (403) and the auxiliary gripper module (2) to be stacked together on the auxiliary gripper support plate (505), and control the auxiliary gripper support plate (505) to be stacked on the screw frame, and use the main gripper module (1) to complete the gripping of the specific position of the part to be sprayed according to the selected posture; If there is no gripping posture within the gripping area of ​​the part in the non-collision gripping posture set, it means that the part to be painted cannot be directly gripped at a specific position under the current pose. In this case, the gripping of the part to be painted at a specific position is achieved through the cooperation of the main gripper module (1) and the auxiliary gripper module (2). The process is as follows: First, find gripping posture 1 with the highest gripping quality score in the set of non-collision gripping postures for the part to be painted. This gripping posture is currently located in the non-gripable area of ​​the part to be painted. At the same time, find gripping posture 2 with the highest gripping quality score in the grippable area of ​​the part to be painted. This gripping posture is currently located in the set of gripping postures with collisions. Then, the pose transformation matrix between gripping postures 1 and 2 is calculated, and the translation and rotation transformation amounts of the auxiliary gripper module (2) relative to the main gripper module (1) are calculated based on the pose transformation matrix. Next, based on the obtained partial translation transformation amount, the main gripper module (1) is first controlled to grip the parts to be sprayed; Finally, the remaining translation transformations are mapped to the auxiliary gripper motion module (6) and the pitch angle adjustment module (5) and executed. The rotation transformations are mapped to the yaw angle adjustment module (3), the rotation angle adjustment module (4), and the pitch angle adjustment module (5) and executed, so as to control the auxiliary gripper module (2) to grip the part to be sprayed. After the auxiliary gripper module (2) successfully grips, the main gripper module (1) ends its action. Thus, the main gripper module (1) and the auxiliary gripper module (2) cooperate to achieve gripping operations at specific positions on the non-spraying surface of the part to be sprayed.

10. A robot gripper device for assisting spray painting operations as described in any one of claims 1-8, for gripping parts to be sprayed with uneven mass distribution, characterized in that, Includes the following steps: Step S1: Obtain point cloud data for a single part to be painted; Step S2: After preprocessing the point cloud data and sampling the farthest point, input the data into the backbone network PointNet++ for encoding; Step S3: Input the encoded point cloud features into the 6-DoF grasping pose generation network GSNet or the planar grasping network GQ-CNN to obtain the grasping pose set of the part to be painted in the current pose. Step S4: In the obtained set of gripping postures, find gripping posture 1 whose gripping point is closest to the centroid of the point cloud of the part to be sprayed, and find gripping posture 2 that is far from the centroid of the point cloud and can be executed by the auxiliary gripper module (2) according to the boundary conditions of the movement of the auxiliary gripper module (2) relative to the main gripper module (1); then calculate the pose transformation matrix between gripping postures 1 and 2, and calculate the translation and rotation transformation amount of the auxiliary gripper module (2) relative to the main gripper module (1) according to the pose transformation matrix; Step S5: Assign the translation transformation amount to the main gripper module (1), the pitch angle adjustment module (5) and the auxiliary gripper motion module (6) respectively and execute them. Assign the rotation transformation amount to the deflection angle adjustment module (3), the rotation angle adjustment module (4) and the pitch angle adjustment module (5) and execute them. In this way, control the main gripper module (1) and the auxiliary gripper module (2) to work together to achieve the gripping operation of the part to be sprayed.

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