Bulletproof high self-adaptive underactuated rigid-flexible integrated robot gripper

Abstract

The application discloses a bullet-proof high-adaptability under-actuated rigid-flexible integrated robot gripper, and belongs to the technical field of robots, in particular relates to a robot gripper; specifically comprises a transmission group base, a first finger transmission mechanism, a second finger transmission mechanism and two passive constraint members; the transmission group base transmits power to the first finger transmission mechanism and the second finger transmission mechanism through a transmission system, six encoders are installed on the transmission group base, the first finger transmission mechanism and the second finger transmission mechanism are both under-actuated mechanisms, the two under-actuated mechanisms cooperatively carry out opening and closing gripping or releasing operation, and the passive constraint members are installed on the under-actuated mechanisms; the application has the advantages of less driving units, lighter overall quality, good flexibility, low manufacturing cost, etc.; the application can adaptively grip objects with different shapes, has high universality, multiple gripping strategies, and the innovative design of the passive constraint members in combination with the accurate feedback of the encoders can significantly improve the gripping stability and precision.

Description

Technical Field

[0001] This invention discloses a projectile-resistant, highly adaptive, underactuated, rigid-flexible integrated robot gripper, belonging to the field of robot technology, and particularly relating to robot grippers. Background Technology

[0002] As robotics is increasingly used in unstructured environments, higher demands are being placed on the interactive capabilities, output force range, and controllability of robotic grippers. While traditional rigid grippers offer high output force and load-bearing capacity, they struggle to manipulate fragile objects; and while soft grippers are compliant, they cannot provide sufficient output force and load-bearing capacity. To address these issues, a gripper combining rigid and flexible structures—the rigid-flexible coupled gripper—has been proposed. This design combines the strength of a rigid structure with the flexibility of a flexible structure, achieving complementary advantages.

[0003] Mechanical grippers, as a new generation of actuators, have undergone decades of development, but they face challenges such as complex system structures and the inability to simultaneously achieve high flexibility, high stability, and high versatility. To simplify the mechanical structure and reduce size and weight, fewer actuators are needed, but this sacrifices dexterity. Currently, most robotic hands drive finger joints through chains or wire ropes; this rigid contact limits adaptive gripping capabilities, resulting in poor gripping stability. Patent (CN216180611 U) proposes a two-finger underactuated gripper. The underactuated mechanism is coupled with the drive mechanism to transmit power to the finger joint mechanism. The first and second finger joint mechanisms work in parallel to perform the opening and closing strokes to grasp or release target objects. By setting a pressure sensing module in the second finger joint mechanism, the contact pressure of the two-finger underactuated gripper relative to the target object is detected, and the pressure is controlled within a preset range by the control module to avoid damaging the object. This solves the technical problem of inaccurate control of the contact pressure of the gripper on the target object. Based on the feedback from the pressure sensor, the control module adjusts the motor rotation to achieve precise control of the grasping force. However, the pressure sensor of this underactuated gripper has a small measuring surface. Due to the presence of the silicone pad and the pressure diffuser, it is difficult to accurately measure the contact pressure when grasping irregular objects. Although it is corrected by fitting an equation, the accuracy and reliability under different conditions cannot be guaranteed. Its control module needs to make real-time adjustments based on the feedback from the pressure sensor, which increases the complexity of the system and the requirements for computing power. Patent (CN 118123882 A) proposes an underactuated gripper. The drive mechanism is connected to the first and second fingers respectively. The single driving force provided by the drive mechanism drives the first and second fingers to move towards each other on the outer shell. The first and second fingers move at different speeds, so they can contact the object to be grasped one after the other to complete the gripping closure. This enables the gripping of irregular or biased objects and can effectively improve the success rate of grasping irregular or biased objects. However, the drive mechanism of this underactuated gripper includes multiple gears, drive shafts and connecting rods, which increases the complexity of the design, causes transmission errors, cannot be precisely controlled, has poor gripping stability, poor versatility, and limits the types of objects that can be grasped.

[0004] The existing underactuated grippers mainly have the following problems: (1) The system structure is complex and the manufacturing cost is high; (2) There are transmission errors, the position control accuracy is poor, or the control algorithm is complex and not easy to control; (3) The shape adaptation ability and versatility are poor, the gripping strategy is limited, and it may not be applicable to objects of all shapes and sizes, especially when facing complex or fragile objects; (4) The gripping stability is low, and there are problems of insufficient gripping force and unstable gripping during the envelope gripping process.

[0005] This invention proposes a projectile-resistant, highly adaptive, underactuated, rigid-flexible integrated robotic gripper. Based on the anatomical characteristics of human finger joints, it employs an underactuated design principle, optimizing the number of drive units and simplifying the structural design. Standardized components are preferentially used in some key components, such as the worm gear mechanism, resulting in lower manufacturing costs. The gripping system achieves kinematic independence and decoupling between the second and fifth phalanges and the third and sixth phalanges, simplifying the control model and enhancing system controllability. This design endows the gripper with stronger adaptability when grasping complex shapes and multi-sized objects, significantly improving its versatility and applicability. The invention is equipped with six encoders to measure the rotation angles of major joints in real time and feed them back to the system, enabling precise control of the gripper's grasping actions and ensuring the accuracy and reliability of the grasping process. Passive constraint components are introduced into both the first and second finger transmission mechanisms, effectively preventing the "ejection" phenomenon of the first and fourth phalanges during grasping without adding new drive units, thus improving the reliability of grasping. This invention features two grasping strategies: parallel grasping and envelope grasping, providing high grasping flexibility. Summary of the Invention

[0006] The technical solution adopted to achieve the purpose of this invention is: a projectile-resistant, highly adaptive, underactuated, rigid-flexible integrated robot gripper, belonging to the field of robot technology, and particularly relating to robot grippers; comprising a transmission base, a first finger transmission mechanism, a second finger transmission mechanism, and two passive constraint components:

[0007] The first finger transmission mechanism includes a drive shaft 1, a drive shaft 2, a first finger joint, a second finger joint, a third finger joint, a drive rod 1, a driven rod 1, a drive rod 2, a driven rod 2, an intermediate rod 1, a driven rod 3, a passive constraint component 1, and a position limiter 1. The drive shaft 1 is fixedly connected to the drive rod 1. The drive rod 1 is connected to the driven rod 1 via a revolute joint 3. The driven rod 1 is connected to the third finger joint via a revolute joint 4. The two ends of the passive constraint component 1 are connected to the drive rod 1 and the second finger joint respectively via revolute joints 2 and 5. The drive shaft 2 is connected to the first finger joint via a revolute joint 6. The drive rod 2 is fixedly connected to the drive shaft 1. The driven rod 2 is connected to the third finger joint via a revolute joint 7. Drive rod 2 is connected; intermediate rod 1 is connected to driven rod 2 via revolute joint 8; intermediate rod 1 is connected to the second finger joint via revolute joint 9; driven rod 3 is connected to intermediate rod 1 via revolute joint 10; driven rod 3 is connected to the third finger joint via revolute joint 11; the second finger joint is connected to the first finger joint via revolute joint 9; and the third finger joint is connected to the second finger joint via revolute joint 4. The two ends of position limiter 1 pass through wire hole 1 and wire hole 2 of the first and second finger joints, respectively. The axes of revolute joints 2, 3, 4, 5, 6, 7, 8, 9, 10, and 11 are parallel to each other.

[0008] The second finger transmission mechanism includes a drive shaft three, a drive shaft four, a fourth finger joint, a fifth finger joint, a sixth finger joint, a drive rod three, a driven rod four, a drive rod four, a driven rod five, an intermediate rod two, a driven rod six, a passive constraint member two, and a position limiter two. The drive shaft three is fixedly connected to the drive rod three. The drive rod three is connected to the driven rod four via a revolute joint fourteen. The driven rod four is connected to the sixth finger joint via a revolute joint fifteen. The two ends of the passive constraint member two are connected to the drive rod three and the fifth finger joint respectively via revolute joints thirteen and sixteen. The drive shaft four is connected to the fourth finger joint via a revolute joint seventeen. The drive rod four is fixedly connected to the drive shaft four. The driven rod five is connected to the drive rod four via a revolute joint eighteen. Intermediate rod 2 is connected to driven rod 5 via revolute joint 19, and intermediate rod 2 is connected to the fifth finger joint via revolute joint 20. Driven rod 6 is connected to intermediate rod 2 via revolute joint 21, and driven rod 6 is connected to the sixth finger joint via revolute joint 22. The fifth finger joint is connected to the fourth finger joint via revolute joint 20, and the sixth finger joint is connected to the fifth finger joint via revolute joint 15. The two ends of position limiter 2 are respectively inserted into wire holes 3 and 4 of the fourth and fifth finger joints. The axes of revolute joints 13, 14, 15, 16, 17, 18, 19, 20, 21, and 22 are parallel to each other.

[0009] The transmission assembly base includes motor 1, motor 2, motor 3, transmission worm gear 1, transmission worm gear 2, transmission worm gear 3, driven worm wheel 1, driven worm wheel 2, driven worm wheel 3, driven worm wheel 4, drive shaft 1, drive shaft 2, drive shaft 3, drive shaft 4, encoder 1, encoder 2, encoder 3, encoder 4, encoder 5, encoder 6, base shell, and intermediate support plate; motor 1, motor 2, and motor 3 are mounted on the base shell, motor 1 is fixedly connected to transmission worm gear 1, and driven worm wheel 1 is fixedly connected to drive shaft 1. Driven worm gear one and transmission worm one form a worm gear transmission. One end of drive shaft one is connected to the base housing through revolute joint twenty-three, and the other end of drive shaft one is fixed to the magnetic ring part of encoder one. The outer ring of encoder one is fixed to the intermediate support plate. Driven worm gear two is fixed to drive shaft three, and driven worm gear two and transmission worm one form a worm gear transmission. One end of drive shaft three is connected to the base housing through revolute joint twenty-four, and the other end of drive shaft three is fixed to the magnetic ring part of encoder six. The outer ring of encoder six is ​​fixed to the intermediate support plate. The motor 2 is fixedly connected to the transmission worm 2, and the driven worm wheel 3 is fixedly connected to the drive shaft 2. The driven worm wheel 3 and the transmission worm 2 form a worm gear transmission. One end of the drive shaft 2 is connected to the base housing through revolute joint 25, and the other end of the drive shaft 2 is fixedly connected to the magnetic ring part of the encoder 3. The outer ring of the encoder 3 is fixedly connected to the intermediate support plate. The motor 3 is fixedly connected to the transmission worm 3, and the driven worm wheel 4 is fixedly connected to the drive shaft 4. The driven worm wheel 4 and the transmission worm 3 form a worm gear transmission. One end of the drive shaft 4 is connected to the base through revolute joint 26. The housing is connected, the other end of the drive shaft four is fixed to the magnetic ring part of the encoder four, the outer ring of the encoder four is fixed to the intermediate support plate, the magnetic ring part of the encoder two is fixed to the first finger joint of the first finger transmission structure, the outer ring of the encoder two is fixed to the intermediate support plate, the magnetic ring part of the encoder five is fixed to the fourth finger joint of the second finger transmission mechanism, the outer ring of the encoder five is fixed to the intermediate support plate, and the intermediate support plate is fixed to the base housing; the axes of the rotating joints twenty-three, twenty-four, twenty-five, and twenty-six are parallel to each other;

[0010] When the parallel gripping strategy grips an object, the angle between the first and second phalanges of the first finger transmission mechanism remains unchanged, the angle between the fourth and fifth phalanges of the second finger transmission mechanism remains unchanged, and the third and sixth phalanges of the first and second finger transmission mechanisms remain parallel and clamp on both sides of the object being gripped.

[0011] When the envelope grasping strategy grasps a regular object, the first, second, and third phalanges of the first finger transmission mechanism and the fourth, fifth, and sixth phalanges of the second finger transmission mechanism simultaneously come into contact with the regular object being grasped.

[0012] When the envelope grasping strategy grasps an irregular object, the first, second, and third phalanges of the first finger transmission mechanism and the fourth, fifth, and sixth phalanges of the second finger transmission mechanism simultaneously come into contact with the irregular object.

[0013] The beneficial effects of the technical solution provided by the embodiments of the present invention are as follows: The use of the underactuated principle reduces the number of drive units, and the use of standardized components such as worm gears effectively reduces manufacturing costs; through motion decoupling, the second and fifth phalanges are independently controlled from the third and sixth phalanges, simplifying the control model and improving system controllability and adaptive grasping ability for complex-shaped objects; six encoders provide precise position feedback for the joints, ensuring the accuracy of motion control; the introduction of passive constraints enhances the stability of the grasping process and avoids the "ejection" phenomenon of the first and fourth phalanges during grasping; the grasping system supports both parallel grasping and envelope grasping strategies, improving grasping flexibility; the present invention provides an efficient and reliable adaptive grasping solution while reducing costs. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of the anti-ballistic, highly adaptive, underactuated rigid-flexible integrated robot gripper of the present invention.

[0015] Figure 2 This is a schematic diagram of the first finger transmission mechanism of the anti-ballistic, highly adaptive, underactuated, rigid-flexible integrated robot gripper of the present invention.

[0016] Figure 3 This is a schematic diagram of the second finger transmission mechanism of the anti-ballistic, highly adaptive, underactuated, rigid-flexible integrated robot gripper of the present invention.

[0017] Figure 4 This is a first-view schematic diagram of the transmission group base structure of the anti-ballistic, highly adaptive, underactuated rigid-flexible integrated robot gripper of the present invention.

[0018] Figure 5 This is a second-view schematic diagram of the transmission group base structure of the anti-ballistic, highly adaptive, underactuated rigid-flexible integrated robot gripper of the present invention.

[0019] Figure 6 This is a schematic diagram of the parallel grasping strategy of the anti-ballistic, highly adaptive, underactuated rigid-flexible integrated robot gripper of the present invention.

[0020] Figure 7 This is a schematic diagram of the envelope grasping strategy of the anti-ballistic, highly adaptive, underactuated rigid-flexible integrated robot gripper of the present invention for grasping regular objects.

[0021] Figure 8This is a schematic diagram illustrating the envelope grasping strategy of the anti-ballistic, highly adaptive, underactuated rigid-flexible integrated robot gripper of the present invention for grasping irregular objects.

[0022] The components include: 1-Transmission base, 2-First finger transmission mechanism, 3-Second finger transmission mechanism, a-Motor 1, b-Motor 2, c-Motor 3, Z1-Drive shaft 1, Z2-Drive shaft 2, Z3-Drive shaft 3, Z4-Drive shaft 4, J1-First finger joint, J2-Second finger joint, J3-Third finger joint, J4-Fourth finger joint, J5-Fifth finger joint, J6-Sixth finger joint, G1-Drive rod 1, G2-Driven rod 1, G3-Drive rod 2, G4-Driven rod 2, G5-Intermediate rod 1, G6-Driven rod 3, G7-Compression spring retainer head 1, G8-Compression spring retainer. Head 2, G9-Drive rod 3, G10-Driven rod 4, G11-Drive rod 4, G12-Driven rod 5, G13-Intermediate rod 2, G14-Driven rod 6, G15-Compression spring retainer head 3, G16-Compression spring retainer head 4, N1-Position limiter 1, N2-Position limiter 2, K1-Wire hole 1, K2-Wire hole 2, K3-Wire hole 3, K4-Wire hole 4, S1-Passive constraint 1, S2-Passive constraint 2, Y1-Compression spring 1, Y2-Compression spring 2, R2-Revolute joint 2, R3-Revolute joint 3, R4-Revolute joint 4, R5-Revolute joint Partial joint 5, R6-revolute joint 6, R7-revolute joint 7, R8-revolute joint 8, R9-revolute joint 9, R10-revolute joint 10, R11-revolute joint 11, R13-revolute joint 13, R14-revolute joint 14, R15-revolute joint 15, R16-revolute joint 16, R17-revolute joint 17, R18-revolute joint 18, R19-revolute joint 19, R20-revolute joint 20, R21-revolute joint 21, R22-revolute joint 22, R23 ...2, R22-revolute joint 22, R23-revolute joint 20, R21-revolute joint 22, R22-revolute joint 22, R23-revolute joint 20, R21-revolute joint 22, R22-revolute joint 22, R23-revolute joint 20, R21-revolute joint 22, R22-revolute joint Moving pair 23, R24-Revolute pair 24, R25-Revolute pair 25, R26-Revolute pair 26, W1-Driven worm gear 1, W2-Driven worm gear 2, W3-Driven worm gear 3, W4-Driven worm wheel 1, W5-Driven worm wheel 2, W6-Driven worm wheel 3, W7-Driven worm wheel 4, B1-Encoder 1, B2-Encoder 2, B3-Encoder 3, B4-Encoder 4, B5-Encoder 5, B6-Encoder 6, ZJ-Base housing, C-Intermediate support plate, Q1-Grab object 1, Q2-Regular grasp object 2, Q3-Irregular grasp object 3. Detailed Implementation

[0023] To more clearly illustrate the objectives, technical solutions, and advantages of the present invention, the embodiments of the present invention will be further described below with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] In this document, the terms "up," "down," "left," "right," "front," "back," and "horizontal" are all based on the orientation indicated in the accompanying drawings and are used for the convenience of describing the invention and for simplification, rather than indicating or implying that the components referred to must have a specific orientation. It should be understood that the use of these directional terms should not limit the scope of protection claimed in this application.

[0025] In this disclosure, unless otherwise defined, the terms “installed,” “connected,” “linked,” “fixed,” etc., when used to describe relationships between mechanical parts or system components, should be understood as broad concepts encompassing a variety of possibilities, including but not limited to fixed or detachable connections, mechanical or electrical connections, connections via an intermediate medium, and internal communication or interaction between components, unless otherwise expressly defined. In the absence of particularly express limitations or contextual specifications, those skilled in the art can understand the specific meaning of the above terms herein based on the specific circumstances.

[0026] This invention provides a projectile-resistant, highly adaptive, underactuated, rigid-flexible integrated robot gripper, belonging to the field of robotics technology, and specifically relating to robot grippers. Its system structure is as follows: Figure 1 As shown, it includes a transmission base 1, a first finger transmission mechanism 2, a second finger transmission mechanism 3, and two passive constraint members S1 and S2.

[0027] like Figure 2As shown, the first finger transmission mechanism 2 includes a drive shaft Z1, a drive shaft Z2, a first finger joint J1, a second finger joint J2, a third finger joint J3, a drive rod G1, a driven rod G2, a drive rod G3, a driven rod G4, an intermediate rod G5, a driven rod G6, a passive constraint member S1, and a position limiter N1. The drive shaft Z1 is fixed to the drive rod G1. The drive rod G1 is connected to the driven rod G2 via a revolute joint R3. The driven rod G2 is connected to the third finger joint J3 via a revolute joint R4. The two ends of the passive constraint member S1 are connected to the drive rod G1 and the second finger joint J2 via revolute joints R2 and R5, respectively. The drive shaft Z2 is connected to the first finger joint J1 via a revolute joint R6. The drive rod G3 is fixed to the drive shaft Z2. The driven rod G4 is connected to the drive shaft Z1 via a revolute joint R7. The moving rod is connected to G3. The intermediate rod is connected to the driven rod G4 via the rotary joint R8. The intermediate rod G5 is connected to the second finger joint J2 via the rotary joint R9. The driven rod G6 is connected to the intermediate rod G5 via the rotary joint R10. The driven rod G6 is connected to the third finger joint J3 via the rotary joint R11. The second finger joint J3 is connected to the first finger joint J1 via the rotary joint R9. The third finger joint J3 is connected to the second finger joint J2 via the rotary joint R4. The two ends of the position limiter N1 pass through the wire hole K1 of the first finger joint J1 and the wire hole K2 of the second finger joint J2, respectively. The axes of the rotary joints R2, R3, R4, R5, R6, R7, R8, R9, R10, and R11 are parallel to each other.

[0028] like Figure 3As shown, the second finger transmission mechanism 3 includes a third drive shaft Z3, a fourth drive shaft Z4, a fourth finger joint J4, a fifth finger joint J5, a sixth finger joint J6, a third drive rod G9, a fourth driven rod G10, a fourth drive rod G11, a fifth driven rod G12, a second intermediate rod G13, a sixth driven rod G14, a second passive constraint member S2, and a second position limiter N2; the third drive shaft Z3 is fixed to the third drive rod G9, and the third drive rod G9 is connected to the driven rod through a fourteenth revolute joint R14. The driven rod 4G10 is connected to the sixth finger joint J6 via the fifteenth revolute joint R15. The two ends of the passive constraint member 2S2 are connected to the driving rod 3G9 and the fifth finger joint J5 via the thirteenth and sixteenth revolute joints R13 and R16 respectively. The driving shaft 4Z4 is connected to the fourth finger joint J4 via the seventeenth revolute joint R17. The driving rod 4G11 is fixed to the driving shaft 4Z4. The driven rod 5G12 is connected to the driving rod 4G11 via the eighteenth revolute joint R18. Intermediate rod 2 G13 is connected to driven rod 5 G12 via revolute joint 19 R19. Intermediate rod 2 G13 is connected to fifth finger joint J5 via revolute joint 20 R20. Driven rod 6 G14 is connected to intermediate rod 2 G13 via revolute joint 21 R21. Driven rod 6 G14 is connected to sixth finger joint J6 via revolute joint 22 R22. Fifth finger joint J5 is connected to fourth finger joint J4 via revolute joint 20 R20. Sixth finger joint J6 is connected to fifth finger joint J5 via revolute joint 15 R15. The two ends of position limiter 2 N2 pass through wire hole 3 K3 and wire hole 4 K4 of fourth finger joint J4 and fifth finger joint J5, respectively. The axes of revolute joint 13 R13, revolute joint 14 R14, revolute joint 15 R15, revolute joint 16 R16, revolute joint 17 R17, revolute joint 18 R18, revolute joint 19 R19, revolute joint 20 R20, revolute joint 21 R21, and revolute joint 22 R22 are parallel to each other.

[0029] like Figure 4 , Figure 5As shown, the transmission base 1 includes motor a, motor b, motor c, transmission worm gear W1, transmission worm gear W2, transmission worm gear W3, driven worm wheel W4, driven worm wheel W5, driven worm wheel W6, driven worm wheel W7, drive shaft Z1, drive shaft Z2, drive shaft Z3, drive shaft Z4, encoder B1, encoder B2, encoder B3, encoder B4, encoder B5, encoder B6, base shell ZJ, and intermediate support plate C; motor a, motor b, and motor c are mounted on the base shell ZJ, motor a is fixed to transmission worm gear W1, and driven worm wheel W7 is driven to drive worm gear W6. W4 is fixed to drive shaft Z1. The driven worm wheel W4 and the transmission worm W1 form a worm gear transmission. One end of drive shaft Z1 is connected to the base housing ZJ through revolute joint 23R23. The other end of drive shaft Z1 is fixed to the magnetic ring part of encoder B1. The outer ring of encoder B1 is fixed to the intermediate support plate C. The driven worm wheel W5 is fixed to drive shaft Z3. The driven worm wheel W5 and the transmission worm W1 form a worm gear transmission. One end of drive shaft Z3 is connected to the base housing ZJ through revolute joint 24R24. The other end of drive shaft Z3 is fixed to the magnetic ring part of encoder B6. The outer ring of encoder B6... The motor is fixed to the intermediate support plate C. Motor 2b is fixed to the transmission worm gear 2W2. Driven worm wheel 3W6 is fixed to the drive shaft 2Z2. Driven worm wheel 3W6 and transmission worm gear 2W2 form a worm gear transmission. One end of drive shaft 2Z2 is connected to the base housing ZJ via revolute joint 25R25. The other end of drive shaft 2Z2 is fixed to the magnetic ring part of encoder 3B3. The outer ring of encoder 3B3 is fixed to the intermediate support plate C. Motor 3c is fixed to the transmission worm gear 3W3. Driven worm wheel 4W7 is fixed to the drive shaft 4Z4. Driven worm wheel 4W7 and transmission worm gear 3W3 form a worm gear transmission. One end of drive shaft 4Z4 is connected to revolute joint 26R25. 26 is connected to the base housing ZJ. The other end of the drive shaft four Z4 is fixed to the magnetic ring part of the encoder four B4. The outer ring of the encoder four B4 is fixed to the intermediate support plate. The magnetic ring part of the encoder two B2 is fixed to the first finger joint J1 of the first finger transmission mechanism 2. The outer ring of the encoder two B2 is fixed to the intermediate support plate C. The magnetic ring part of the encoder five B5 is fixed to the fourth finger joint J4 of the second finger transmission mechanism 3. The outer ring of the encoder five B5 is fixed to the intermediate support plate C. The intermediate support plate C is fixed to the base housing ZJ. The axes of the rotating joints twenty-three R23, twenty-four R24, twenty-five R25, and twenty-six R26 are parallel to each other.

[0030] The passive constraint component S1 includes a compression spring retainer head G7, a compression spring retainer head G8, and a compression spring Y1; one end of the compression spring retainer head G7 is connected to the drive rod G1 via a rotating joint R2, the other end of the compression spring retainer head G7 is fixed to one end of the compression spring Y1, the other end of the compression spring Y1 is fixed to one end of the compression spring retainer head G8, and the other end of the compression spring retainer head G8 is connected to the second finger joint J2 via a rotating joint R5;

[0031] The passive constraint component S2 includes a spring retainer head G15, a spring retainer head G16, and a spring Y2. One end of the spring retainer head G15 is connected to the drive rod G9 via a rotating joint R13. The other end of the spring retainer head G15 is fixed to one end of the spring Y2. The other end of the spring Y2 is fixed to one end of the spring retainer head G16. The other end of the spring retainer head G16 is connected to the fifth finger joint J5 via a rotating joint R16.

[0032] In this embodiment, position limiter N1 and position limiter N2 are torsion springs;

[0033] like Figure 6 As shown, when the parallel gripping strategy grips an object, the angle between the first finger joint J1 and the second finger joint J2 of the first finger transmission mechanism 2 remains unchanged, the angle between the fourth finger joint J4 and the fourth finger joint J5 of the second finger transmission mechanism 3 remains unchanged, and the third finger joint J3 of the first finger transmission mechanism 2 and the sixth finger joint J6 of the second finger transmission mechanism 3 are held parallel to each other on both sides of the object Q1.

[0034] like Figure 7 As shown, when the envelope grasping strategy grasps a regular object, the first finger joint J1, the second finger joint J2, the third finger joint J3 of the first finger transmission mechanism 2 and the fourth finger joint J4, the fifth finger joint J5, and the sixth finger joint J6 of the second finger transmission mechanism 3 simultaneously come into contact with the regular grasping object Q2.

[0035] like Figure 8 As shown, when the envelope grasping strategy grasps an irregular object, the first finger joint J1, the second finger joint J2, the third finger joint J3 of the first finger transmission mechanism 2 and the fourth finger joint J4, the fifth finger joint J5, and the sixth finger joint J6 of the second finger transmission mechanism 3 simultaneously come into contact with the irregular object Q3.

[0036] Where there is no conflict, the above embodiments and features described herein can be combined with each other. The above descriptions are merely preferred embodiments of the present invention and are not intended to limit the invention. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A projectile-resistant, highly adaptive, underactuated, rigid-flexible integrated robot gripper, characterized in that: It includes a transmission base, a first finger transmission mechanism, a second finger transmission mechanism, and two passive constraint components; The first finger transmission mechanism includes a drive shaft 1, a drive shaft 2, a first finger joint, a second finger joint, a third finger joint, a drive rod 1, a driven rod 1, a drive rod 2, a driven rod 2, an intermediate rod 1, a driven rod 3, a passive constraint component 1, and a position limiter 1. The drive shaft 1 is fixedly connected to the drive rod 1. The drive rod 1 is connected to the driven rod 1 via a revolute joint 3. The driven rod 1 is connected to the third finger joint via a revolute joint 4. The two ends of the passive constraint component 1 are connected to the drive rod 1 and the second finger joint respectively via revolute joints 2 and 5. The drive shaft 2 is connected to the first finger joint via a revolute joint 6. The drive rod 2 is fixedly connected to the drive shaft 1. The driven rod 2 is connected to the third finger joint via a revolute joint 7. Drive rod 2 is connected; intermediate rod 1 is connected to driven rod 2 via revolute joint 8; intermediate rod 1 is connected to the second finger joint via revolute joint 9; driven rod 3 is connected to intermediate rod 1 via revolute joint 10; driven rod 3 is connected to the third finger joint via revolute joint 11; the second finger joint is connected to the first finger joint via revolute joint 9; and the third finger joint is connected to the second finger joint via revolute joint 4. The two ends of position limiter 1 pass through wire hole 1 and wire hole 2 of the first and second finger joints, respectively. The axes of revolute joints 2, 3, 4, 5, 6, 7, 8, 9, 10, and 11 are parallel to each other. The second finger transmission mechanism includes a drive shaft three, a drive shaft four, a fourth finger joint, a fifth finger joint, a sixth finger joint, a drive rod three, a driven rod four, a drive rod four, a driven rod five, an intermediate rod two, a driven rod six, a passive constraint member two, and a position limiter two. The drive shaft three is fixedly connected to the drive rod three. The drive rod three is connected to the driven rod four via a revolute joint fourteen. The driven rod four is connected to the sixth finger joint via a revolute joint fifteen. The two ends of the passive constraint member two are connected to the drive rod three and the fifth finger joint respectively via revolute joints thirteen and sixteen. The drive shaft four is connected to the fourth finger joint via a revolute joint seventeen. The drive rod four is fixedly connected to the drive shaft four. The driven rod five is connected to the drive rod four via a revolute joint eighteen. Intermediate rod 2 is connected to driven rod 5 via revolute joint 19, and intermediate rod 2 is connected to the fifth finger joint via revolute joint 20. Driven rod 6 is connected to intermediate rod 2 via revolute joint 21, and driven rod 6 is connected to the sixth finger joint via revolute joint 22. The fifth finger joint is connected to the fourth finger joint via revolute joint 20, and the sixth finger joint is connected to the fifth finger joint via revolute joint 15. The two ends of position limiter 2 are respectively inserted into wire holes 3 and 4 of the fourth and fifth finger joints. The axes of revolute joints 13, 14, 15, 16, 17, 18, 19, 20, 21, and 22 are parallel to each other. The transmission assembly base includes motor 1, motor 2, motor 3, transmission worm gear 1, transmission worm gear 2, transmission worm gear 3, driven worm wheel 1, driven worm wheel 2, driven worm wheel 3, driven worm wheel 4, drive shaft 1, drive shaft 2, drive shaft 3, drive shaft 4, encoder 1, encoder 2, encoder 3, encoder 4, encoder 5, encoder 6, base shell, and intermediate support plate; motor 1, motor 2, and motor 3 are mounted on the base shell, motor 1 is fixedly connected to transmission worm gear 1, and driven worm wheel 1 is fixedly connected to drive shaft 1. Driven worm gear one and transmission worm one form a worm gear transmission. One end of drive shaft one is connected to the base housing through revolute joint twenty-three, and the other end of drive shaft one is fixed to the magnetic ring part of encoder one. The outer ring of encoder one is fixed to the intermediate support plate. Driven worm gear two is fixed to drive shaft three, and driven worm gear two and transmission worm one form a worm gear transmission. One end of drive shaft three is connected to the base housing through revolute joint twenty-four, and the other end of drive shaft three is fixed to the magnetic ring part of encoder six. The outer ring of encoder six is ​​fixed to the intermediate support plate. The motor 2 is fixedly connected to the transmission worm 2, and the driven worm wheel 3 is fixedly connected to the drive shaft 2. The driven worm wheel 3 and the transmission worm 2 form a worm gear transmission. One end of the drive shaft 2 is connected to the base housing through revolute joint 25, and the other end of the drive shaft 2 is fixedly connected to the magnetic ring part of the encoder 3. The outer ring of the encoder 3 is fixedly connected to the intermediate support plate. The motor 3 is fixedly connected to the transmission worm 3, and the driven worm wheel 4 is fixedly connected to the drive shaft 4. The driven worm wheel 4 and the transmission worm 3 form a worm gear transmission. One end of the drive shaft 4 is connected to the base through revolute joint 26. The housing is connected, the other end of the drive shaft four is fixed to the magnetic ring part of the encoder four, the outer ring of the encoder four is fixed to the intermediate support plate, the magnetic ring part of the encoder two is fixed to the first finger joint of the first finger transmission structure, the outer ring of the encoder two is fixed to the intermediate support plate, the magnetic ring part of the encoder five is fixed to the fourth finger joint of the second finger transmission mechanism, the outer ring of the encoder five is fixed to the intermediate support plate, and the intermediate support plate is fixed to the base housing; the axes of the rotating joints twenty-three, twenty-four, twenty-five, and twenty-six are parallel to each other; When the parallel gripping strategy grips an object, the angle between the first and second phalanges of the first finger transmission mechanism remains unchanged, the angle between the fourth and fifth phalanges of the second finger transmission mechanism remains unchanged, and the third and sixth phalanges of the first and second finger transmission mechanisms remain parallel and grip the object on both sides. When the envelope grasping strategy grasps a regular object, the first, second, and third phalanges of the first finger transmission mechanism and the fourth, fifth, and sixth phalanges of the second finger transmission mechanism simultaneously come into contact with the regular object being grasped. When the envelope grasping strategy grasps an irregular object, the first, second, and third phalanges of the first finger transmission mechanism and the fourth, fifth, and sixth phalanges of the second finger transmission mechanism simultaneously come into contact with the irregular object.

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