Three-finger flexible gripper device and touch and vision detection method

Abstract

The invention relates to the technical field of robotics, in particular to a three-finger flexible gripper device which comprises a palm part and a finger part. The palm part comprises a sensing assembly, a skin assembly and a connecting and fixing mechanism; the finger part comprises a sensing module and a rubber semitransparent finger; the sensing module is connected with the palm part through a hinge mechanism; the rubber semitransparent finger sleeve is arranged at the end of the sensing module; the gripper device shows application potential in multiple fields by means of soft gripping capacity, self-adaptability and sensing capacity of the gripper device, can be widely used in the fields of object surface flaw detection, object classification and detection, fine object support and the like, can efficiently and accurately detect and analyze physical characteristics and surface structures of objects, and can be widely applied to the fields of object surface flaw detection, object classification and detection, fine object support and the like. By means of the touch and vision sensing device, the operation precision and flexibility are improved, and powerful technical support is provided for robot grabbing, object classification and environment perception through the multi-mode real-time data collection and calculation analysis technology.

Description

Technical Field

[0001] The present invention relates to the technical field of robotics, and in particular to a three-finger flexible gripper device and a touch-vision detection method. Background Art

[0002] Existing traditional robotic grippers are mainly based on rigid materials. In the early stages of their design, they focus on grasping objects of regular shapes and have high stability and strength. Typical gripper designs include: (1) two-finger grippers (clamp type): This design has a simple structure and is mainly used on industrial production lines to grasp objects of regular shapes, such as boxes or cylinders; (2) three-finger or multi-finger grippers: In order to improve grasping flexibility, some grippers adopt a three-finger or multi-finger design, which can better grasp objects of irregular shapes. This type of gripper is usually used in assembly tasks that require higher precision.

[0003] Due to their rigid structure, grippers may generate excessive gripping force when grasping fragile or soft objects (such as glass products, food, etc.), causing damage or deformation of the objects. Traditional grippers lack precise force feedback control systems, making it difficult to achieve sensitive adjustments to objects of different materials. When handling multiple types of objects, precise pre-programming is usually required. Grippers lack adaptive capabilities and cannot automatically adjust the gripping method according to the shape, size or material of the object. This method that relies on precise positioning performs poorly in dynamic environments or complex scenes. The lack of tactile, force feedback or visual sensors makes it impossible for them to perceive changes in objects during the grasping process in real time. The lack of perception means that the grippers cannot adjust the force or movement in time during the grasping process, increasing the risk of misoperation, especially when dealing with uncertain or dynamic environments.

[0004] Therefore, in order to address the above-mentioned problems of easy damage to objects, poor adaptability and lack of perception, a device with gentle grasping ability, adaptability and perception ability can be designed. Summary of the invention

[0005] In order to overcome the problems of easy damage to objects, poor adaptability and lack of perception.

[0006] The technical solution of the present invention is: a three-finger flexible gripper device, comprising a palm part and a finger part;

[0007] The palm part includes a sensor component, a skin component and a connection and fixing mechanism; the sensor component includes an outer shell; a built-in camera and an RGB light strip are installed on the inner side of the outer shell from the inside to the outside in sequence; an air inlet is installed on the left end of the outer shell; the skin component includes a skin fixing ring installed on the right end of the outer shell; a thin film skin is installed on the inner side of the skin fixing ring; the connection and fixing mechanism includes a fixed ring movably connected to the right end of the outer shell; the fixed ring and the outer side of the outer shell are movably connected with an annular equidistantly distributed card seat; the right end of the card seat is fixedly connected with a fixed seat; the fixed ring and the outer shell are fixedly connected by a fastener;

[0008] The finger part includes a sensor module and a rubber translucent finger; the sensor module and the palm part are connected through a hinge mechanism; the rubber translucent finger is covered on the end of the sensor module;

[0009] The gripper device is mounted on the end of the robotic arm or other structures to perform work.

[0010] Preferably, the RGB light strip is composed of small LEDs embedded in the strip.

[0011] Preferably, a camera is installed at a section of the sensor module close to the tip of the rubber translucent finger; the card holder, the fixing seat and the rubber translucent finger correspond one to one; and the number of the rubber translucent fingers is 3.

[0012] Preferably, the rubber translucent finger and the sensor module are adhesively connected.

[0013] Preferably, the fixing seat and the sensor module are hinged; the fixing seat and the sensor module are movable by installing a steering gear.

[0014] Preferably, both the film skin and the rubber translucent finger surface are printed with evenly distributed marking points.

[0015] The three-finger flexible gripper device touch-vision detection method includes the three-finger flexible gripper device as described above, and the steps are as follows:

[0016] Step 1: Start the device

[0017] Start the device, ensure that all equipment is operating normally, and prepare to enter the detection state. Gas is charged from the inflation port at the rear of the outer shell to swell the membrane skin. At the same time, the sensor component and the skin fixing ring work together to fix the bulging shape of the membrane skin in a suitable position;

[0018] Step 2: Place items

[0019] The object to be inspected is placed in the gripper device. During this process, the three rubber translucent fingers and the palm will contact the surface of the object, preparing for subsequent data collection;

[0020] Step 3: Data Collection

[0021] In the process of contact between the device and the detected object, various mechanical data and texture information of the contact surface are sensed and recorded in real time. The RGB light strip illuminates the surface of the sensor component, and the internal built-in camera captures images and collects data. When the film skin contacts the external object, the film skin will deform, reflecting the 3D shape and texture of the contact surface. At the same time, the printed mark will be displaced. According to this displacement, the data of the force and texture applied to the surface of the sensor component can be obtained. There is a camera at the section of the sensor module close to the rubber translucent finger, which is used to capture images from the inside of the rubber translucent finger and analyze the deformation of the palm, so as to calculate the force and position of the rubber translucent finger, and detect the texture data of the detected object at the same time.

[0022] Step 4: Data processing and analysis

[0023] The collected mechanical data and texture data will be transmitted to the computer or central processing unit through a high-speed data transmission channel for processing and analysis. During the processing, the computer first analyzes the mechanical data, including the changes in the size, direction and point of application of the contact force, so as to infer the hardness, softness and response of the object to different forces. At the same time, the texture data will also be analyzed synchronously. By processing the surface roughness, friction and vibration feedback information, a detailed model of the object surface is generated. After comprehensive analysis of the mechanical data and texture data, the system can reconstruct the shape contour, edge details and surface structure of the object. Finally, the computer can not only identify the material and surface characteristics of the object, but also infer the geometric shape, size and complex surface texture characteristics of the object.

[0024] Preferably, the mechanical data in step three includes the magnitude, direction and distribution of the contact force; the texture information includes but is not limited to roughness, smoothness and friction coefficient.

[0025] Beneficial effects of the present invention:

[0026] 1. The gripper device has demonstrated its application potential in many fields with its gentle grasping ability, adaptability and perception ability. It can be widely used in the fields of detecting surface defects of objects, object classification and detection, and fine object support. This method can efficiently and accurately detect and analyze the physical characteristics and surface structure of objects. By using touch-visual sensing devices, the robot system improves the accuracy and flexibility of operation and significantly enhances the ability to interact with objects of different materials. Multi-modal real-time data acquisition and computational analysis technology provide strong technical support for robot grasping, object classification and environmental perception.

[0027] 2. The mechanical gripper can hold the object and sense its weight or surface features to help determine whether the surface of the object has defects and whether further processing is required. It can be used to support sensitive or fragile samples and monitor subtle changes in the sample surface through tactile sensors;

[0028] 3. By utilizing the distribution characteristics of the three fingers, the robot gripper is suitable for automated sorting and classification tasks. It can detect the material, shape and weight of objects by lifting them and using tactile sensors. It is suitable for industrial or waste sorting systems. In automated production lines, the robot gripper can hold products and classify different materials such as metal, plastic or wood through tactile feedback. In garbage sorting, the robot gripper can detect the weight and material of items to help robots accurately classify and recycle.

[0029] 4. Due to the symmetrical distribution design of the fingers, the mechanical claw performs well in supporting and handling delicate objects. It is suitable for scenarios that require stability, such as supporting electronic components or experimental samples. When handling tiny electronic components, the three-finger design can evenly support and avoid damage to precision components. When operating experimental samples, the three-finger design can provide stable support. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 Shown is a schematic diagram of the three-finger flexible gripper device of the present invention;

[0031] Figure 2 Shown is a schematic diagram of the three-dimensional structure of the palm part of the three-finger flexible gripper device of the present invention;

[0032] Figure 3 Shown is a schematic diagram of the three-dimensional structure of the finger part of the three-finger flexible gripper device of the present invention;

[0033] Figure 4 Shown is a schematic diagram of the three-dimensional structure of the sensor component in the three-finger flexible gripper device of the present invention;

[0034] Figure 5 Shown is a schematic diagram of the three-dimensional structure of the skin component in the three-finger flexible gripper device of the present invention;

[0035] Figure 6 Shown is a schematic diagram of the three-dimensional structure of the connecting and fixing mechanism in the three-finger flexible gripper device of the present invention.

[0036] Explanation of the reference numerals: 1. Sensor component; 101. Outer shell; 102. Built-in camera; 103. RGB light strip; 104. Inflation port; 2. Skin component; 201. Skin fixing ring; 202. Thin film skin; 3. Connecting and fixing mechanism; 301. Card seat; 302. Fixing seat; 303. Fixing ring; 4. Sensor module; 5. Rubber translucent finger. DETAILED DESCRIPTION

[0037] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0038] See also Figure 1-Figure 6 ,The present invention provides an embodiment: a three-finger flexible gripper device, comprising a palm part and a finger part;

[0039] The palm part includes a sensor component 1, a skin component 2 and a connection and fixing mechanism 3; the sensor component 1 includes an outer shell 101; a built-in camera 102 and an RGB light strip 103 are installed on the inner side of the outer shell 101 from the inside to the outside; an air inlet 104 is installed on the left end of the outer shell 101; the skin component 2 includes a skin fixing ring 201 installed on the right end of the outer shell 101; a thin film skin 202 is installed on the inner side of the skin fixing ring 201; the connection and fixing mechanism 3 includes a fixed ring 303 movably connected to the right end of the outer shell 101; the fixed ring 303 and the outer side of the outer shell 101 are movably connected to an annular equidistantly distributed card seat 301; the right end of the card seat 301 is fixedly connected to a fixed seat 302; the fixed ring 303 and the outer shell 101 are fixedly connected by fasteners;

[0040] The finger part includes a sensor module 4 and a rubber translucent finger 5; the sensor module 4 and the palm part are connected through a hinge mechanism; the rubber translucent finger 5 is sleeved on the end of the sensor module 4;

[0041] The gripper device is mounted on the end of the robotic arm or other structures to perform work.

[0042] See also Figure 1 , Figure 4 and Figure 6 In this embodiment, the RGB light strip 103 is composed of a small LED embedded in the strip; a camera is installed at a section of the sensor module 4 close to the tip of the rubber translucent finger 5; the card holder 301, the fixing seat 302 and the rubber translucent finger 5 correspond one to one; the number of the rubber translucent fingers 5 is 3; the rubber translucent finger 5 and the sensor module 4 are adhesively connected.

[0043] See also Figure 1 , Figure 5-Figure 6 In this embodiment, the fixing seat 302 and the sensor module 4 are hinged; the fixing seat 302 and the sensor module 4 are movable by installing a servo; the surfaces of the film skin 202 and the rubber translucent finger 5 are printed with evenly distributed marking points.

[0044] The three-finger flexible gripper device touch-vision detection method includes the three-finger flexible gripper device as described above, and the steps are as follows:

[0045] Step 1: Start the device

[0046] Start the device to ensure that all equipment is operating normally and prepare to enter the detection state. Gas is charged from the inflation port 104 at the rear of the outer shell 101 to swell the film skin 202. At the same time, the sensor component 1 and the skin fixing ring 201 work together to fix the bulging shape of the film skin 202 in a suitable position;

[0047] Step 2: Place items

[0048] The object to be detected is placed in the gripper device. During this process, the three rubber translucent fingers 5 and the palm part will contact the surface of the object, preparing for subsequent data collection;

[0049] Step 3: Data Collection

[0050] In the process of the device contacting the detected object, various mechanical data and texture information of the contact surface are sensed and recorded in real time. The RGB light strip 103 illuminates the surface of the sensor component 1, and the internal built-in camera 102 captures images and collects data. When the film skin 202 contacts the external object, the film skin 202 will deform, reflecting the 3D shape and texture of the contact surface. At the same time, the printed mark will be displaced. According to this displacement, the data of the force applied to the surface of the sensor component 1 and the data of the texture can be obtained. A section of the sensor module 4 close to the rubber translucent finger 5 has a camera for capturing images from the inside of the rubber translucent finger 5 and analyzing the deformation of the palm, so as to calculate the force and position of the rubber translucent finger 5, and detect the texture data of the detected object at the same time;

[0051] Step 4: Data processing and analysis

[0052] The collected mechanical data and texture data will be transmitted to the computer or central processing unit through a high-speed data transmission channel for processing and analysis. During the processing, the computer first analyzes the mechanical data, including the changes in the size, direction and point of application of the contact force, so as to infer the hardness, softness and response of the object to different forces. At the same time, the texture data will also be analyzed synchronously. By processing the surface roughness, friction and vibration feedback information, a detailed model of the object surface is generated. After comprehensive analysis of the mechanical data and texture data, the system can reconstruct the shape contour, edge details and surface structure of the object. Finally, the computer can not only identify the material and surface characteristics of the object, but also infer the geometric shape, size and complex surface texture characteristics of the object.

[0053] Preferably, the mechanical data in step three includes the magnitude, direction and distribution of the contact force; the texture information includes but is not limited to roughness, smoothness and friction coefficient.

[0054] Through the above steps, the gripper device has demonstrated its application potential in multiple fields with its gentle grasping ability, adaptability and perception ability. This method can efficiently and accurately detect and analyze the physical properties and surface structure of objects. By using touch-visual sensing devices, the robot system improves the accuracy and flexibility of operation. Multimodal real-time data acquisition and computational analysis technology provides strong technical support for robot grasping, object classification and environmental perception to solve the problems of easy damage to objects, poor adaptability and lack of perception.

[0055] The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge scope of those skilled in the art without departing from the spirit of the present invention.

Claims

1. A three-finger flexible gripper device, comprising a palm part and a finger part; characterized in that: The palm part comprises a sensor component (1), a skin component (2) and a connecting and fixing mechanism (3); the sensor component (1) comprises an outer shell (101); a built-in camera (102) and an RGB light strip (103) are installed in sequence from the inside to the outside on the inner side of the outer shell (101); an air inlet (104) is installed at the left end of the outer shell (101); the skin component (2) comprises a skin fixing ring (201) installed at the right end of the outer shell (101); A thin film skin (202) is installed on the inner side of the fixed ring (201); the connecting and fixing mechanism (3) comprises a fixed circular ring (303) movably connected to the right end of the outer shell (101); the fixed circular ring (303) and the outer side of the outer shell (101) are movably connected to ring-shaped equidistantly distributed clamping seats (301); the right end of the clamping seat (301) is fixedly connected to a fixed seat (302); the fixed circular ring (303) and the outer shell (101) are fixedly connected by a fastener; The finger part includes a sensor module (4) and a rubber translucent finger (5); The sensor module (4) and the palm part are connected via a hinge mechanism; the rubber translucent finger (5) is sleeved on the end of the sensor module (4); The gripper device is mounted on the end of the robotic arm or other structures to perform work.

2. The three-finger flexible gripper device according to claim 1, characterized in that: The RGB light strip (103) consists of small LEDs embedded in the strip.

3. The three-finger flexible gripper device according to claim 2, characterized in that: A camera is installed at a section of the sensor module (4) close to the tip of the rubber translucent finger (5); the card seat (301), the fixing seat (302) and the rubber translucent finger (5) correspond one to one; and the number of the rubber translucent fingers (5) is three.

4. The three-finger flexible gripper device according to claim 3, characterized in that: The rubber translucent finger (5) and the sensor module (4) are adhesively connected.

5. The three-finger flexible gripper device according to claim 4, characterized in that: The fixing seat (302) and the sensor module (4) are hinged; the fixing seat (302) and the sensor module (4) are movable by installing a steering gear therebetween.

6. The three-finger flexible gripper device according to claim 5, characterized in that: The surfaces of the film skin (202) and the rubber translucent fingers (5) are both printed with evenly distributed marking points.

7. A three-finger flexible gripper device touch-vision detection method, characterized in that The method comprises the following steps: Step 1: Start the device Start the device to ensure that all equipment is operating normally and prepare to enter the detection state. Gas is charged from the inflation port (104) at the rear of the outer shell (101) to swell the film skin (202). At the same time, the sensor component (1) and the skin fixing ring (201) work together to fix the swollen shape of the film skin (202) in a suitable position; Step 2: Place items The object to be inspected is placed in the gripper device. During this process, three rubber translucent fingers (5) and the palm part will contact the surface of the object, preparing for subsequent data collection; Step 3: Data Collection When the device is in contact with the detected object, various mechanical data and texture information of the contact surface are sensed and recorded in real time. The RGB light strip (103) illuminates the surface of the sensor component (1), and the internal built-in camera (102) captures images and collects data. When the thin film skin (202) contacts the external object, the thin film skin (202) will deform, reflecting the 3D shape and texture of the contact surface. At the same time, the printed mark will be displaced. According to this displacement, the data of the force applied to the surface of the sensor component (1) and the data of the texture can be obtained. A section of the sensor module (4) close to the rubber translucent finger (5) has a camera for capturing images from the inside of the rubber translucent finger (5) and analyzing the deformation of the palm, thereby calculating the force and position of the rubber translucent finger (5), and detecting the texture data of the detected object. Step 4: Data processing and analysis The collected mechanical data and texture data will be transmitted to the computer or central processing unit through a high-speed data transmission channel for processing and analysis. During the processing, the computer first analyzes the mechanical data, including the changes in the size, direction and point of application of the contact force, so as to infer the hardness, softness and response of the object to different forces. At the same time, the texture data will also be analyzed synchronously. By processing the surface roughness, friction and vibration feedback information, a detailed model of the object surface is generated. After comprehensive analysis of the mechanical data and texture data, the system can reconstruct the shape contour, edge details and surface structure of the object. Finally, the computer can not only identify the material and surface characteristics of the object, but also infer the geometric shape, size and complex surface texture characteristics of the object.

8. The touch-vision detection method of the three-finger flexible gripper device according to claim 7 is characterized in that: The mechanical data in step three include the magnitude, direction and distribution of the contact force; the texture information includes but is not limited to roughness, smoothness and friction coefficient.

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