Multi-mode three-finger clamping jaw system and operation method

Abstract

The invention discloses a multi-mode three-finger clamping jaw system, and relates to the technical field of intelligent robots, and the multi-mode three-finger clamping jaw system comprises a grabbing mechanical arm and a clamping jaw body; the clamping jaw body comprises a palm seat, a first clamping finger assembly, a second clamping finger assembly and a third clamping finger assembly. The first clamping finger assembly comprises a first finger and a first driving mechanism; the second clamping finger assembly comprises a second finger and a second driving mechanism; the third clamping finger assembly comprises a third finger and a third driving mechanism; the first finger, the second finger and the third finger are crawler clamping fingers; according to the multi-mode three-finger clamping jaw system provided by the invention, the first clamping finger assembly, the second clamping finger assembly and the third clamping finger assembly are arranged to configure different control modes correspondingly, and additional rotational degrees of freedom are added to the second clamping finger assembly and the third clamping finger assembly, so that a plurality of fingers act independently, and a more flexible operation range is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent robots, and in particular to a multi-modal three-finger gripper system and an operating method thereof. Background Art

[0002] In the field of intelligent robots, the design of end effectors faces a trade-off between functional richness and system stability. Although the five-finger gripper of the multi-actuator has the advantage of high operational flexibility, it also has disadvantages such as complex structure, difficult control, and high cost. Although the two-finger gripper has a simple structure and low maintenance cost, it cannot complete complex operational tasks. In order to balance functional richness and system stability in the prior art, a three-finger gripper is generally used. However, the operational flexibility of the three-finger gripper is not as good as that of the five-finger gripper, and it cannot perform some actions that require higher flexibility, such as clamping a ballpoint pen and pressing the tail cap. Summary of the invention

[0003] In order to solve the problem of insufficient operational flexibility of the three-finger gripper in the prior art, the present invention provides a multi-modal three-finger gripper system and an operating method which can effectively improve the operational flexibility of the three-finger gripper.

[0004] To achieve the above object, the technical solution adopted by the present invention is:

[0005] In the first aspect, the present invention provides a multi-modal three-finger gripper system, comprising a gripping robot arm and a gripper body; the gripper body comprises a palm seat, a first gripper finger assembly, a second gripper finger assembly and a third gripper finger assembly; the first gripper finger assembly comprises a first finger and a first drive mechanism; the second gripper finger assembly comprises a second finger and a second drive mechanism; the third gripper finger assembly comprises a third finger and a third drive mechanism; the palm seat is mounted on the wrist end of the gripping robot arm; the first drive mechanism, the second drive mechanism and the third drive mechanism are fixedly mounted on the palm seat; the first finger is mounted on the action end of the first drive mechanism; the second finger is mounted on the action end of the second drive mechanism; the third finger is mounted on The action end of the third driving mechanism; the first driving mechanism drives the first finger to open and close; the second driving mechanism drives the second finger to open and close, and the second driving mechanism drives the second finger to rotate around the axis of the palm seat; the third driving mechanism drives the third finger to open and close, and the third driving mechanism drives the third finger to rotate around the axis of the palm seat; the first finger, the second finger and the third finger are all track clamping fingers; the track clamping fingers include a clamping finger body, a track motor and a track, wherein: the track motor is arranged in the clamping finger body; the track is wrapped around the gripping surface of the clamping finger body along the length direction of the clamping finger body; the driving end of the track motor is connected to the track.

[0006] Preferably, the first driving mechanism includes a first connecting seat, a first servo motor and a first fixing member; the first connecting seat is fixedly installed on the palm seat, and a first mounting plate and a second mounting plate with axial holes are vertically arranged on both sides of the first connecting seat; both ends of the driving shaft of the first servo motor are respectively driven and connected to the first mounting plate and the second mounting plate; the first fixing member is fixedly installed on the first servo motor, and the first finger is installed on the first fixing member.

[0007] Preferably, the second driving mechanism includes a second servo motor, a second connecting seat, a third servo motor and a second fixing member; the second servo motor is fixedly mounted on the palm seat; the driving shaft of the second servo motor is drivingly connected to the second connecting seat; a third mounting plate and a fourth mounting plate with axial holes are vertically arranged on both sides of the second connecting seat; both ends of the driving shaft of the third servo motor are drivingly connected to the third mounting plate and the fourth mounting plate respectively; the second fixing member is fixedly mounted on the third servo motor, and the second finger is mounted on the second fixing member.

[0008] Preferably, the third driving mechanism includes a fourth servo motor, a third connecting seat, a fifth servo motor and a third fixing member; the fourth servo motor is fixedly mounted on the palm seat; the driving shaft of the fourth servo motor is drivingly connected to the third connecting seat; a fifth mounting plate and a sixth mounting plate with axial holes are vertically arranged on both sides of the third connecting seat; both ends of the driving shaft of the fifth servo motor are drivingly connected to the fifth mounting plate and the sixth mounting plate respectively; the third fixing member is fixedly mounted on the fifth servo motor, and the third finger is mounted on the third fixing member.

[0009] Preferably, it also includes a teaching module, a communication module and an acquisition module, wherein: the teaching module is communicatively connected to the upper end of the communication module; the grabbing robot arm is communicatively connected to the lower end of the communication module; the acquisition end of the acquisition module corresponds to the gripper body; the teaching module is used to issue action instructions to the gripper body and the grabbing robot arm; the communication module is used to receive the action instructions from the teaching module and send them to the gripper body and the grabbing robot arm; the acquisition module is used to monitor the action effect of the gripper body and collect the teaching data of the teaching module.

[0010] Preferably, the teaching module includes a teaching robot arm, a controller and a teaching handle, wherein: the teaching handle is installed at the wrist end of the teaching robot arm; the teaching handle and the teaching robot arm are electrically connected to the controller; the controller is communicatively connected to the upper end of the communication module; the teaching handle is used to generate an electrical signal for controlling the gripper body; the teaching robot arm is used to generate an electrical signal for controlling the grasping robot arm; and the controller is used to convert the electrical signal generated by the teaching handle into a corresponding action instruction.

[0011] Preferably, the teaching handle comprises: a grip, a rocker, a motor encoder, a first lever and a second lever, wherein: the grip is arranged at the bottom of the motor encoder; the rocker is arranged on the handle; the first end of the first lever and the first end of the second lever are both gear-connected to the motor shaft of the motor encoder.

[0012] In a second aspect, the present invention provides an operating method for a multi-modal three-finger gripper, which is applied to a multi-modal three-finger gripper system, and the operating method includes: a teaching staff controls a teaching module to perform a teaching action, and the teaching module issues an action instruction corresponding to a grasping mechanical arm and a gripper body according to the teaching action; a communication module receives the action instruction and sends it to the grasping mechanical arm and the gripper body, and the grasping mechanical arm and the gripper body perform corresponding actions after receiving the action instruction; wherein the action instruction includes a first operation mode, a second operation mode and a third operation mode;

[0013] In the first operating mode:

[0014] After pressing the joystick for more than 1.5 seconds, the second and third fingers return to their initial positions; when the joystick is pulled upward, the tracks of the second and third fingers rotate to move the clamped object toward the fingertips; when the joystick is pulled downward, the tracks of the second and third fingers rotate to move the clamped object toward the base of the fingers; when the joystick is pulled right, the tracks of the second and third fingers rotate to rotate the clamped object in a clockwise direction; when the joystick is pulled left, the tracks of the second and third fingers rotate to rotate the clamped object in a counterclockwise direction; when the first lever and the second lever are pulled open, the second and third fingers are opened; when the first lever and the second lever are pulled closed, the second and third fingers are closed;

[0015] In the second operating mode:

[0016] After pressing the joystick for more than 1.5 seconds, the first finger, the second finger and the third finger return to their initial positions; when the joystick is pulled upward, the tracks of the first finger, the second finger and the third finger rotate to move the clamped object toward the fingertips; when the joystick is pulled downward, the tracks of the first finger, the second finger and the third finger rotate to move the clamped object toward the base of the fingers; when the joystick is pulled right, the second finger rotates clockwise and the third finger rotates counterclockwise; when the joystick is pulled left, the second finger rotates counterclockwise and the third finger rotates clockwise; when the first lever and the second lever are pulled open, the first finger, the second finger and the third finger are opened; when the first lever and the second lever are pulled closed, the first finger, the second finger and the third finger are closed;

[0017] In the third operation mode: after pressing the joystick for more than 1.5s, the first finger, the second finger and the third finger return to their initial positions; when the joystick is pulled upward, the tracks of the second finger and the third finger rotate to move the clamped object toward the fingertips; when the joystick is pulled downward, the tracks of the second finger and the third finger rotate to move the clamped object toward the base of the fingers; when the joystick is pulled to the right, the second finger rotates clockwise and the third finger rotates counterclockwise; when the joystick is pulled to the left, the second finger rotates counterclockwise and the third finger rotates clockwise; when the first lever and the second lever are pulled open, the second finger and the third finger are opened; when the first lever and the second lever are pulled closed, the second finger and the third finger are closed.

[0018] The above technical scheme has the following advantages or beneficial effects: a multimodal three-finger gripper system provided by the present invention relates to the technical field of intelligent robots, the multimodal three-finger gripper system comprises a grasping robot arm and a gripper body; the gripper body comprises a palm seat, a first finger assembly, a second finger assembly and a third finger assembly; the first finger assembly comprises a first finger and a first driving mechanism; the second finger assembly comprises a second finger and a second driving mechanism; the third finger assembly comprises a third finger and a third driving mechanism; the palm seat is mounted on the wrist end of the grasping robot arm; the first driving mechanism, the second driving mechanism and the third driving mechanism are fixedly mounted on the palm seat; the first finger is mounted on the action end of the first driving mechanism; the second finger is mounted on The action end of the second driving mechanism; the third finger is installed on the action end of the third driving mechanism; the first driving mechanism drives the first finger to open and close; the second driving mechanism drives the second finger to open and close, and the second driving mechanism drives the second finger to rotate around the axis of the palm seat; the third driving mechanism drives the third finger to open and close, and the third driving mechanism drives the third finger to rotate around the axis of the palm seat; the first finger, the second finger and the third finger are all tracked clamping fingers; the tracked clamping fingers include a clamping finger body, a track motor and a track, wherein: the track motor is arranged in the clamping finger body; the track is wound around the gripping surface of the clamping finger body along the length direction of the clamping finger body; the driving end of the track motor is connected to the track. The multi-modal three-finger clamping system provided by the present invention configures the first finger assembly, the second finger assembly and the third finger assembly to correspond to different control modes, and adds additional rotational freedom to the second finger assembly and the third finger assembly, so that multiple fingers can act independently and achieve a more flexible operating range. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0020] Figure 1 A structural diagram of a gripper body of a multi-modal three-finger gripper system provided in Example 1 of the present invention;

[0021] Figure 2 A structural diagram of a first gripper finger assembly of a multi-modal three-finger gripper system provided in Example 1 of the present invention;

[0022] Figure 3 A structural diagram of a second gripper finger assembly of a multi-modal three-finger gripper system provided in Example 1 of the present invention;

[0023] Figure 4 A structural diagram of a third finger gripper assembly of a multi-modal three-finger gripper system provided in Example 1 of the present invention;

[0024] Figure 5 A schematic structural diagram of a teaching handle of a multi-modal three-finger gripper system provided in Example 1 of the present invention;

[0025] Figure 6 A schematic diagram of the working process of a multi-modal three-finger gripper system provided in Example 1 of the present invention;

[0026] Figure 1-6 include:

[0027] 1. Seat;

[0028] 2. First clamping finger assembly; 21. First finger; 22. First connecting seat; 23. First mounting plate; 24. Second mounting plate; 25. First servo motor; 26. First fixing member;

[0029] 3. Second gripping finger assembly; 31. Second finger; 32. Second servo motor; 33. Second connecting seat; 34. Third mounting plate; 35. Fourth mounting plate; 36. Third servo motor; 37. Second fixing member;

[0030] 4. The third clamping finger assembly; 41. The third finger; 42. The fourth servo motor; 43. The third connecting seat; 44. The fifth mounting plate; 45. The sixth mounting plate; 46. The fifth servo motor; 47. The third fixing member;

[0031] 5. Track motor;

[0032] 61. Grip; 62. Rocker; 63. Motor encoder; 64. First lever; 65. Second lever;

[0033] 71. Teaching module; 72. Communication module; 73. Collection module; 74. Grasping robot arm; 75. Gripper body. DETAILED DESCRIPTION

[0034] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0035] Embodiment 1:

[0036] In the field of intelligent robots, the design of end effectors faces a trade-off between functional richness and system stability. Although the five-finger gripper of the multi-actuator has the advantage of high operational flexibility, it also has disadvantages such as complex structure, difficult control, and high cost. Although the two-finger gripper has a simple structure and low maintenance cost, it cannot complete complex operational tasks. In order to balance functional richness and system stability in the prior art, a three-finger gripper is generally used. However, the operational flexibility of the three-finger gripper is not as good as that of the five-finger gripper. However, the operational flexibility of the three-finger gripper is not as good as that of the five-finger gripper, and it is unable to perform some actions that require higher flexibility, such as clamping a ballpoint pen and pressing the tail cap.

[0037] like Figure 1-6 As shown:

[0038] The present invention provides a multi-modal three-finger gripper system, which includes a gripping mechanical arm 74 and a gripper body 75; the gripper body 75 includes a palm seat 1, a first gripper finger assembly 2, a second gripper finger assembly 3 and a third gripper finger assembly 4; the first gripper finger assembly 2 includes a first finger 21 and a first driving mechanism; the second gripper finger assembly 3 includes a second finger 31 and a second driving mechanism; the third gripper finger assembly 4 includes a third finger 41 and a third driving mechanism; the palm seat 1 is installed at the wrist end of the gripping mechanical arm 74; the first driving mechanism, the second driving mechanism and the third driving mechanism are fixedly installed on the palm seat 1; the first finger 21 is installed at the action end of the first driving mechanism; the second finger 31 is installed at the action end of the second driving mechanism; the third The finger 41 is installed at the action end of the third driving mechanism; the first driving mechanism drives the first finger 21 to open and close; the second driving mechanism drives the second finger 31 to open and close, and the second driving mechanism drives the second finger 31 to rotate around the axis of the palm seat 1; the third driving mechanism drives the third finger 41 to open and close, and the third driving mechanism drives the third finger 41 to rotate around the axis of the palm seat 1; the first finger 21, the second finger 31 and the third finger 41 are all track clamping fingers; the track clamping finger includes a clamping finger body, a track motor 5 and a track (not shown in the attached drawings), wherein: the track motor 5 is arranged in the clamping finger body; the track is arranged around the gripping surface of the clamping finger body along the length direction of the clamping finger body; the driving end of the track motor 5 is connected to the track. The first finger clamping assembly 2, the second finger clamping assembly 3 and the third finger clamping assembly 4 can perform opening and closing actions. When performing the opening and closing actions, the first finger clamping assembly 2, the second finger clamping assembly 3 and the third finger clamping assembly 4 can cooperate with each other to grasp the object; the first driving mechanism can only drive the first finger 21 with one degree of freedom in the opening and closing direction. In addition to being able to respectively perform opening and closing actions on the second finger 31 and the third finger 41, the second driving mechanism and the third driving mechanism can also drive the second finger 31 and the third finger 41 to rotate around the axis of the palm seat 1, so that the second finger 31 and the third finger 41 have freedom in both the opening and closing and rotation directions. Through the mutual cooperation of the three fingers, a variety of highly flexible actions can be completed, such as grasping a ballpoint pen by the second finger 31 and the third finger 41 performing a clamping action, and then the first finger 21 presses the pen cap of the ballpoint pen.

[0039] In a preferred scheme of the present embodiment, the first driving mechanism includes a first connecting seat 22, a first servo motor 25 and a first fixing member 26; the first connecting seat 22 is fixedly mounted on the palm seat 1, and a first mounting plate 23 and a second mounting plate 24 with axial holes are vertically arranged on both sides of the first connecting seat 22; both ends of the driving shaft of the first servo motor 25 are respectively driven and connected to the first mounting plate 23 and the second mounting plate 24; the first fixing member 26 is fixedly mounted on the first servo motor 25, and the first finger 21 is mounted on the first fixing member 26. The axial holes of the first mounting plate 23 and the second mounting plate 24 are coaxially arranged, and the driving end of the first servo motor 25 extends out to both sides and is respectively provided with a driving shaft, and the driving shafts on both sides of the first servo motor 25 are respectively inserted into the axial holes of the first mounting plate 23 and the second mounting plate 24, and the driving shafts are fixedly connected to the first mounting plate 23 and the second mounting plate 24; when the driving shaft of the first servo motor 25 rotates, it will drive the first connecting seat 22 to rotate, and since the first connecting seat 22 and the palm seat 1 are both fixedly connected to the grasping robot arm 74, the reaction force shows that the first connecting seat 22 and the palm seat 1 remain stationary, and the first servo motor 25 rotates along the rotation direction. At the same time, the first servo motor 25 drives the first fixing piece 26 and the first finger 21 to rotate, thereby realizing the opening and closing action of the first clamping finger assembly 2; in addition, since the first finger 21 is a track clamping finger, the one degree of freedom of the track rotation plus the opening and closing action can make the first clamping finger assembly 2 have two degrees of freedom of mobility.

[0040] In a preferred scheme of the present embodiment, the second driving mechanism includes a second servo motor 32, a second connecting seat 33, a third servo motor 36 and a second fixing member 37; the second servo motor 32 is fixedly mounted on the palm seat 1; the driving shaft of the second servo motor 32 is drivingly connected to the second connecting seat 33; a third mounting plate 34 and a fourth mounting plate 35 with axial holes are vertically arranged on both sides of the second connecting seat 33; both ends of the driving shaft of the third servo motor 36 are drivingly connected to the third mounting plate 34 and the fourth mounting plate 35 respectively; the second fixing member 37 is fixedly mounted on the third servo motor 36, and the second finger 31 is mounted on the second fixing member 37. The second servo motor 32 is installed on the palm seat 1, and the driving shaft of the second servo motor 32 is arranged upward and driven to connect the second connecting seat 33. The driving shaft of the second servo motor 32 is arranged parallel to the axis of the palm seat 1. When the driving shaft of the second servo motor 32 rotates, the second connecting seat 33, the third servo motor 36, the second fixing member 37 and the second finger 31 are driven to rotate together, thereby realizing the rotation action of the second finger 31; the opening and closing action is realized by the interaction between the driving shaft of the third servo motor 36 and the second connecting seat 33, and the specific principle is the same as the opening and closing action of the first clamping finger assembly 2; therefore, with the one degree of freedom of the track rotation, the second clamping finger assembly 3 has three degrees of freedom, namely opening and closing, rotation and track rotation.

[0041] In a preferred solution of the present embodiment, the third driving mechanism comprises a fourth servo motor 42, a third connecting seat 43, a fifth servo motor 46 and a third fixing member 47; the fourth servo motor 42 is fixedly mounted on the palm seat 1; the driving shaft of the fourth servo motor 42 is drivingly connected to the third connecting seat 43; the fifth mounting plate 44 and the sixth mounting plate 45 with shaft holes are vertically arranged on both sides of the third connecting seat 43; the two ends of the driving shaft of the fifth servo motor 46 are drivingly connected to the fifth mounting plate 44 and the sixth mounting plate 45 respectively; the third fixing member 47 is fixedly mounted on the fifth servo motor 46, and the third finger 41 is mounted on the third fixing member 47. The third clamping finger assembly 4 has the same structure as the second clamping finger assembly 3, and also has three degrees of freedom of opening and closing, rotation and track rotation, and its action principle is also the same as the second clamping finger assembly 3. It should be noted that when setting the gripping action of the clamp, it is preferred to select one of the first clamping finger assembly 2 and the third clamping finger assembly 4 or the second clamping finger assembly 3. When the action is too complicated and cannot be completed by only the first clamping finger assembly 2 with two degrees of freedom and the other clamping finger with three degrees of freedom, the third clamping finger assembly 4 and the second clamping finger assembly 3 are selected to perform the action in combination, or the third clamping finger assembly 4, the second clamping finger assembly 3 and the first clamping finger assembly 2 complete the action together.

[0042] In a preferred scheme of the present embodiment, it also includes a teaching module 71, a communication module 72 and an acquisition module 73, wherein: the teaching module 71 is communicatively connected to the upper end of the communication module 72; the grabbing robot arm 74 is communicatively connected to the lower end of the communication module 72; the acquisition end of the acquisition module 73 corresponds to the gripper body 75; the teaching module 71 is used to issue action instructions to the gripper body 75 and the grabbing robot arm 74; the communication module 72 is used to receive the action instructions from the teaching module 71 and send them to the gripper body 75 and the grabbing robot arm 74; the acquisition module 73 is used to monitor the action effect of the gripper body 75 and collect the teaching data of the teaching module 71. The teaching staff performs the grasping action through the teaching module 71, and the action is converted into an action instruction by the teaching module 71 and sent to the communication module 72. The communication module 72 sends the action instruction to the gripper body 75 and the grasping robot arm 74. The gripper body 75 and the grasping robot arm 74 perform the grasping action according to the action instruction; the acquisition module 73 includes an RGB camera arranged on the gripper body 75, and the RGB camera is used to observe the action of the gripper body 75. The teaching staff can monitor the operation effect in real time through the RGB camera; in addition, the acquisition module 73 collects the teaching data of the teaching module 71, and learns the teaching data through the ACT imitation learning model used in ALOHA. The teaching data directly enters the neural network, inputs the current joint angle and visual image, and then outputs the joint angle of the next step, and then adjusts the control interface API of the servo / motor to control the movement of the actuator.

[0043] In a preferred solution of the present embodiment, the teaching module 71 includes a teaching robot arm, a controller and a teaching handle, wherein: the teaching handle is installed at the wrist end of the teaching robot arm; the teaching handle and the teaching robot arm are electrically connected to the controller; the controller is communicatively connected to the upper end of the communication module 72; the teaching handle is used to generate an electrical signal for controlling the gripper body 75; the teaching robot arm is used to generate an electrical signal for controlling the grasping robot arm 74; and the controller is used to convert the electrical signal generated by the teaching handle into a corresponding action instruction. The hand of the teaching staff holds the teaching handle, and the fingers of the teaching staff operate the teaching handle. When the teaching handle is moved, the teaching robot arm follows; during the teaching process, the electrical signal generated by the teaching handle and the teaching robot arm is sent to the controller, and the controller processes the electrical signal and converts it into an action instruction, and then sends it to the grasping robot arm 74 and the gripper body 75, and the grasping robot arm 74 moves the gripper body 75 according to the action instruction, and the gripper body 75 performs a gripping action such as grasping according to the action instruction.

[0044] In a preferred solution of this embodiment, the teaching handle includes: a grip 61, a rocker 62, a motor encoder 63, a first lever 64, and a second lever 65, wherein: the grip 61 is arranged at the bottom of the motor encoder 63; the rocker 62 is arranged on the handle; the first end of the first lever 64 and the first end of the second lever 65 are both gear-connected to the motor shaft of the motor encoder 63. The teaching staff holds the grip 61, and controls the first lever 64 and the second lever 65 by the thumb and index finger respectively. The second end of the first lever 64 and the second end of the second lever 65 are provided with rings, and the thumb and index finger are respectively inserted into the corresponding rings to facilitate the lever movement; the remaining fingers are used to control the rocker 62, and the rocker 62 is moved in four directions: up, down, left, and right.

[0045] In the second aspect, the present invention provides an operation method of a multi-modal three-finger gripper, which is applied to a multi-modal three-finger gripper system, and the operation method includes: a teaching staff controls a teaching module 71 to perform a teaching action, and the teaching module 71 issues an action instruction corresponding to a grasping mechanical arm 74 and a gripper body 75 according to the teaching action; a communication module 72 receives the action instruction and sends it to the grasping mechanical arm 74 and the gripper body 75, and the grasping mechanical arm 74 and the gripper body 75 perform corresponding actions after receiving the action instruction; wherein the action instruction includes a first operation mode, a second operation mode and a third operation mode;

[0046] In the first operating mode:

[0047] After pressing the rocker 62 for more than 1.5 seconds, the second finger 31 and the third finger 41 return to their initial positions; the rocker 62 is pulled upward, the tracks of the second finger 31 and the third finger 41 rotate, and the clamped object is moved toward the fingertip; the rocker 62 is pulled downward, the tracks of the second finger 31 and the third finger 41 rotate, and the clamped object is moved toward the finger base; the rocker 62 is pulled rightward, the tracks of the second finger 31 and the third finger 41 rotate, and the clamped object is rotated in the clockwise direction; the rocker 62 is pulled leftward, the tracks of the second finger 31 and the third finger 41 rotate, and the clamped object is rotated in the counterclockwise direction; the first lever 64 and the second lever 65 are pulled open, and the second finger 31 and the third finger 41 are opened; the first lever 64 and the second lever 65 are pulled together, and the second finger 31 and the third finger 41 are closed;

[0048] The first operation mode only uses the second finger 31 and the third finger 41. Since the second finger 31 and the third finger 41 have three degrees of freedom, namely, the rotation of the clamping finger itself, the opening and closing of the clamping finger, and the rotation of the track on the clamping finger; the track rotation can realize the rotation and other manipulation of the clamped object, such as screwing a bottle cap, screwing a screw, or playing with a small ball; taking screwing a bottle cap as an example, first merge the first lever 64 and the second lever 65, so that the second finger 31 and the third finger 41 clamp the side of the bottle cap, and then pull the rocker 62 to the left, the track of the second finger 31 and the track of the third finger 41 rotate in opposite directions respectively, so that the bottle cap rotates, and the action of screwing the bottle cap is realized. In addition, when the second finger 31 and the third finger 41 clamp the bottle cap, pull the rocker 62 upward, the track of the second finger 31 and the track of the third finger 41 rotate in the same direction on the side that contacts the bottle cap, and move the bottle cap toward the fingertip along the length direction of the clamping finger, and pull the rocker 62 downward to do the opposite, thereby realizing the axial movement of the bottle cap between the fingers.

[0049] In the second operating mode:

[0050] After pressing the joystick 62 for more than 1.5 seconds, the first finger 21, the second finger 31 and the third finger 41 return to their initial positions; when the joystick 62 is pulled upward, the tracks of the first finger 21, the second finger 31 and the third finger 41 rotate, and the clamped object moves toward the fingertip; when the joystick 62 is pulled downward, the tracks of the first finger 21, the second finger 31 and the third finger 41 rotate, and the clamped object moves toward the finger base; when the joystick 62 is pulled right, the second finger 31 rotates clockwise, and the third finger 41 rotates clockwise. 41 rotates counterclockwise; the rocker 62 is pulled to the left, the second finger 31 rotates counterclockwise, and the third finger 41 rotates clockwise; the first lever 64 and the second lever 65 are pulled open, and the first finger 21, the second finger 31 and the third finger 41 are opened; the first lever 64 and the second lever 65 are pulled closed, and the first finger 21, the second finger 31 and the third finger 41 are closed; the difference between the second operation mode and the first operation mode is that the participation of the first finger 21 is increased, so that the grabbing of the block object can be realized.

[0051] In the third operation mode: after pressing the rocker 62 for more than 1.5 seconds, the first finger 21, the second finger 31 and the third finger 41 return to their initial positions; the rocker 62 is pulled upward, the tracks of the second finger 31 and the third finger 41 rotate, and the clamped object is moved toward the fingertips; the rocker 62 is pulled downward, the tracks of the second finger 31 and the third finger 41 rotate, and the clamped object is moved toward the base of the fingers; the rocker 62 is pulled to the right, the second finger 31 rotates in a clockwise direction, and the third finger 41 rotates in a counterclockwise direction; the rocker 62 is pulled to the left, the second finger 31 rotates in a counterclockwise direction, and the third finger 41 rotates in a clockwise direction; the first lever 64 and the second lever 65 are pulled open, and the second finger 31 and the third finger 41 are opened; the first lever 64 and the second lever 65 are pulled together, and the second finger 31 and the third finger 41 are closed.

[0052] The third operation mode adds an independent action of the first finger 21 on the basis of the first operation mode. After completing the actions of the second finger 31 and the third finger 41, the operation mode switches to controlling the first finger 21 alone. For example, the second finger 31 and the third finger 41 first clamp the ballpoint pen, and then the second finger 31 and the third finger 41 remain stationary, and the first finger 21 presses the tail cap of the ballpoint pen to control the extension and retraction of the ballpoint pen tip.

[0053] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the application herein applied. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that the present application does not apply for. The specification and embodiments are considered to be exemplary only, and the true scope and spirit of the present application are indicated by the appended claims.

[0054] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A multi-modal three-finger gripper system, characterized in that: The multi-modal three-finger gripper system comprises a gripping mechanical arm and a gripper body; The clamp body includes a palm seat, a first clamping finger assembly, a second clamping finger assembly and a third clamping finger assembly; The first gripper finger assembly includes a first finger and a first drive mechanism; The second gripper finger assembly includes a second finger and a second drive mechanism; The third clamping finger assembly includes a third finger and a third driving mechanism; The palm seat is installed at the wrist end of the grabbing robot arm; The first driving mechanism, the second driving mechanism and the third driving mechanism are fixedly mounted on the palm seat; The first finger is mounted on the action end of the first driving mechanism; The second finger is mounted on the action end of the second driving mechanism; The third finger is installed at the action end of the third driving mechanism; The first driving mechanism drives the first finger to perform an opening and closing action; The second driving mechanism drives the second finger to perform an opening and closing action, and the second driving mechanism drives the second finger to perform a rotation action with the palm seat axis as the axis; The third driving mechanism drives the third finger to perform an opening and closing action, and the third driving mechanism drives the third finger to perform a rotation action with the palm seat axis as the axis; The first finger, the second finger and the third finger are all track clamp fingers; The crawler clamp finger comprises a clamp finger body, a crawler motor and a crawler, wherein: The crawler motor is arranged in the clamp finger body; The crawler is arranged around the gripping surface of the clamping finger body along the length direction of the clamping finger body; The driving end of the crawler motor is connected to the crawler.

2. The multi-modal three-finger gripper system according to claim 1, characterized in that: The first driving mechanism includes a first connecting seat, a first servo motor and a first fixing member; the first connecting seat is fixedly installed on the palm seat, and a first mounting plate and a second mounting plate with axial holes are vertically arranged on both sides of the first connecting seat; both ends of the driving shaft of the first servo motor are respectively driven and connected to the first mounting plate and the second mounting plate; the first fixing member is fixedly installed on the first servo motor, and the first finger is installed on the first fixing member.

3. The multi-modal three-finger gripper system according to claim 1, characterized in that: The second driving mechanism includes a second servo motor, a second connecting seat, a third servo motor and a second fixing member; the second servo motor is fixedly mounted on the palm seat; the driving shaft of the second servo motor is drivingly connected to the second connecting seat; a third mounting plate and a fourth mounting plate with axial holes are vertically arranged on both sides of the second connecting seat; both ends of the driving shaft of the third servo motor are drivingly connected to the third mounting plate and the fourth mounting plate respectively; the second fixing member is fixedly mounted on the third servo motor, and the second finger is mounted on the second fixing member.

4. The multi-modal three-finger gripper system according to claim 1, characterized in that: The third driving mechanism includes a fourth servo motor, a third connecting seat, a fifth servo motor and a third fixing member; the fourth servo motor is fixedly mounted on the palm seat; the driving shaft of the fourth servo motor is drivingly connected to the third connecting seat; a fifth mounting plate and a sixth mounting plate with axial holes are vertically arranged on both sides of the third connecting seat; both ends of the driving shaft of the fifth servo motor are drivingly connected to the fifth mounting plate and the sixth mounting plate respectively; the third fixing member is fixedly mounted on the fifth servo motor, and the third finger is mounted on the third fixing member.

5. The multi-modal three-finger gripper system according to claim 1, characterized in that: It also includes a teaching module, a communication module and an acquisition module, among which: The teaching module is communicatively connected to the upper end of the communication module; The grabbing robot arm is communicatively connected to the lower end of the communication module; The collecting end of the collecting module corresponds to the clamping claw body; The teaching module is used to issue action instructions to the gripper body and the grasping robot arm; The communication module is used to receive the action instruction from the teaching module and send it to the gripper body and the grasping robot arm; The acquisition module is used to monitor the action effect of the clamp body and collect the teaching data of the teaching module.

6. The multi-modal three-finger gripper system according to claim 5, characterized in that: The teaching module includes a teaching robot arm, a controller and a teaching handle, wherein: The teaching handle is installed at the wrist end of the teaching robot arm; The teaching handle and the teaching robot arm are electrically connected to the controller; The controller is communicatively connected to the upper end of the communication module; The teaching handle is used to generate an electrical signal to control the clamp body; The teaching robot arm is used to generate an electrical signal to control the grasping robot arm; The controller is used to convert the electrical signal generated by the teaching handle into a corresponding action instruction.

7. The multi-modal three-finger gripper system according to claim 6, characterized in that: The teaching handle comprises: a grip, a rocker, a motor encoder, a first lever and a second lever, wherein: The grip is arranged at the bottom of the motor encoder; The rocker is arranged on the handle; The first end of the first lever and the first end of the second lever are both gear-connected to the motor shaft of the motor encoder.

8. A method for operating a multi-modal three-finger gripper, applied to the multi-modal three-finger gripper system as claimed in claim 7, characterized in that: The operation method comprises: The teaching personnel manipulate the teaching module to perform the teaching action, and the teaching module issues action instructions corresponding to the grasping robot arm and the gripper body according to the teaching action; The communication module receives the action command and sends it to the grasping robot arm and the gripper body. The grasping robot arm and the gripper body perform the corresponding action after receiving the action command; The action instructions include a first operation mode, a second operation mode and a third operation mode; In the first operating mode: After pressing the joystick for more than 1.5 seconds, the second and third fingers return to their initial positions; When the joystick is pulled upward, the tracks of the second and third fingers rotate, moving the clamped object toward the fingertips; When the joystick is pulled downward, the tracks of the second and third fingers rotate, moving the clamped object toward the base of the fingers; Move the joystick to the right, and the tracks of the second and third fingers will rotate, turning the clamped object in a clockwise direction; Move the joystick to the left, the tracks of the second and third fingers rotate, and the clamped object rotates counterclockwise; Pull open the first lever and the second lever, and spread the second finger and the third finger; Pull the first lever and the second lever together, and bring the second finger and the third finger together; In the second operating mode: After pressing the joystick for more than 1.5 seconds, the first, second, and third fingers return to their initial positions; When the joystick is pulled upward, the tracks of the first finger, the second finger and the third finger rotate, moving the clamped object toward the fingertips; When the joystick is pulled downward, the tracks of the first finger, the second finger and the third finger rotate, moving the clamped object toward the base of the finger; Move the joystick to the right, the second finger rotates in a clockwise direction, and the third finger rotates in a counterclockwise direction; Move the joystick to the left, the second finger rotates counterclockwise, and the third finger rotates clockwise; Pull open the first lever and the second lever, and spread the first finger, the second finger and the third finger; Pull the first lever and the second lever together, and close the first finger, the second finger, and the third finger; In the third operating mode: After pressing the joystick for more than 1.5 seconds, the first, second, and third fingers return to their initial positions; When the joystick is pulled upward, the tracks of the second and third fingers rotate, moving the clamped object toward the fingertips; When the joystick is pulled downward, the tracks of the second and third fingers rotate, moving the clamped object toward the base of the fingers; Move the joystick to the right, the second finger rotates in a clockwise direction, and the third finger rotates in a counterclockwise direction; Move the joystick to the left, the second finger rotates counterclockwise, and the third finger rotates clockwise; Pull open the first lever and the second lever, and spread the second finger and the third finger; Pull the first lever and the second lever together, and bring the second finger and the third finger together.

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