Grabbing and pressing integrated tool for three-finger manipulator

Abstract

The invention relates to the technical field of deep space exploration, and discloses a grabbing and pressing integrated tool for a three-finger manipulator, the grabbing and pressing integrated tool comprises a handle, a button, a steel wire rope, a telescopic structure and a grabbing and pressing device, one end of the telescopic structure is fixed to the handle, the other end of the telescopic structure is fixed to the grabbing and pressing device, the telescopic structure is in a contracted state during storage, and the telescopic structure is in an extended state during use; the handle is of a cavity structure and can contain the button to slide along the inner wall of the handle, one end of the steel wire rope is fixedly connected with the button, the other end of the steel wire rope penetrates through an inner cavity of the telescopic structure to be fixedly connected with the grabbing and pressing device, and the grabbing and pressing device is controlled to be folded and unfolded. The size and range of the telescopic structure are balanced through nested sliding of a first telescopic rod, a second telescopic rod and a third telescopic rod and locking of a spring pin, the grabbing and pressing device achieves multifunctional operation linkage of a left claw and a right claw through a crank sliding block mechanism and a parallel double-crank mechanism, and the whole process depends on a pure mechanical structure to guarantee reliability.

Description

Technical Field

[0001] The present invention relates to the field of deep space exploration technology, and in particular to an integrated grasping and pressing tool for a three-finger manipulator. Background Art

[0002] With the development of deep space exploration technology, human research on exoplanets has gradually deepened from long-distance satellite monitoring to close-range exploration of the surface. The original terrain of exoplanets is usually bumpy and uneven, and exploration missions require a variety of operations such as surface rock cleaning, scientific instrument-assisted compaction, soil grabbing and feeding. Although current robotics technology is developing rapidly, traditional solutions have significant limitations in such complex scenarios: if the robot's own structure is relied upon to integrate multiple functions, the structural complexity will soar, resource consumption will increase dramatically, and the space required will be limited, exacerbating the contradiction between "multi-functional requirements and miniaturization requirements"; if independent tools are equipped for different tasks, a complex tool-changing mechanism must be designed, which increases the robot's size, weight, and control difficulty, while also increasing the risk of failure in the complex extraterrestrial environment. Summary of the Invention

[0003] The technical problem to be solved by the present invention is that if the existing technology relies on the robot's own mechanism to integrate multiple functions, it will lead to a surge in structural complexity and a sharp increase in resource consumption. If independent tools are equipped for different tasks, it is necessary to additionally design a complex tool-changing mechanism, which increases the robot's size, weight and control difficulty. For this reason, we propose an integrated grasping and pressing tool for a three-finger manipulator.

[0004] In order to achieve the above-mentioned purpose, the present application adopts the following technical solution: an integrated grasping and pressing tool for a three-finger manipulator, comprising a handle, a button, a steel wire rope, a telescopic structure and a grasping and pressing device. One end of the telescopic structure is fixed to the handle, and the other end is fixed to the grasping and pressing device. The telescopic structure is in a contracted state when stored, and in an extended state when in use. The handle is a cavity structure that can accommodate the button to slide along its inner wall. One end of the steel wire rope is connected and fixed to the button, and the other end passes through the inner cavity of the telescopic structure and is connected and fixed to the grasping and pressing device to control the retraction and opening of the grasping and pressing device.

[0005] The telescopic structure consists of telescopic rod 1, telescopic rod 2, telescopic rod 3 and a spring pin. One end of telescopic rod 1 is fixed to the handle, and the other end can accommodate telescopic rod 2 to slide along its inner wall. One end of telescopic rod 3 slides in the inner cavity of telescopic rod 2, and the other end is fixed to the grasping and pressing device. The extension and retraction of the tool can be controlled by controlling the movement of telescopic rod III. Circular holes are opened at the fixed positions of telescopic rod 1 and telescopic rod 2, and spring pins are installed at the fixed positions of telescopic rod 2 and telescopic rod 3. During the sliding process of the telescopic rod, the spring pin will bounce up when it moves to the position of the circular hole, thereby fixing the telescopic structure.

[0006] The grasping and pressing device is composed of a claw support, a slider, a connecting rod 1, a connecting rod 2, a left claw and a right claw. The claw support is a cavity structure, and the slider can slide along the inner wall of the claw support. The connecting rod 1 is installed on the slider, and one end of the connecting rod 2 is installed on the claw support, and the other end is connected to the connecting rod 1. The claw support, slider, connecting rod 1 and connecting rod 2 together constitute a crank slider mechanism, which can drive the connecting rod 2 to rotate when the slider slides back and forth. The two connecting rods on the right end of the tool are hinged at one end to the right claw and at the other end to the claw support. The claw support, connecting rod 2 and right claw together constitute a parallel double crank mechanism, which drives the right claw to move parallel when the connecting rod 2 rotates. The left claw and the right claw are symmetrically installed. Through the crank slider mechanism and the parallel double crank mechanism, the left claw and the right claw can be retracted and opened at the same time when the slider moves back and forth.

[0007] Furthermore, the handle has a boss at one end close to the telescopic structure. When a three-finger manipulator operates the tool, the button is pressed by two fingers of the manipulator, and the boss supports the third finger.

[0008] Furthermore, the end of the handle is provided with a male mechanical interface, and the palm of the three-finger manipulator is provided with a female mechanical interface. After the two mechanical interfaces are aligned, the handle is rotated 108° clockwise to fix the tool and the manipulator, preventing the tool from accidentally falling off during operation. The handle is rotated 108° counterclockwise to separate the tool and the manipulator.

[0009] Furthermore, the button is a cavity structure, in which a winding wheel is fixed. The winding wheel can rotate around its axis. The winding wheel stores excess wire rope when the tool is shortened and releases the wire rope when the tool is extended, thereby preventing the wire rope from being entangled during the extension and retraction process.

[0010] Furthermore, the inner wall and the outer wall of the telescopic rod are both regular hexagonal structures, which prevents the telescopic rod from rotating relative to each other during the telescopic process.

[0011] Furthermore, the inner cavity at one end of the telescopic rod has a narrow cross section, and the outer wall of the other end has a protruding structure. The protruding structure slides normally in the regular inner cavity of the upper telescopic rod, but is restricted from passing through the narrow inner cavity, thereby achieving a limiting effect.

[0012] Furthermore, fixed pulleys are installed at three locations in the inner cavity of the claw support near the telescopic rod to change the direction of the wire rope and reduce friction.

[0013] Furthermore, a return spring is sleeved on the slider, so that the left claw and the right claw remain open when the button is not pressed.

[0014] Furthermore, the left claw and the right claw are both hollow structures for collecting and storing soil, and the outer edges of the cavity have concave and convex structures, so that the two claws have a certain sealing ability when closed.

[0015] Furthermore, both the left claw and the right claw have two inclined sides for easy insertion into the soil. The inclined surfaces are covered with tooth-shaped structures, which can both loosen the soil and clamp stones. One of the sides is a straight surface for auxiliary compaction of scientific instruments.

[0016] Technical effects and advantages of the present invention: In the present invention, the control link simplifies the operation control logic with the mechanical transmission of handles, buttons and wire ropes. The telescopic structure balances the volume and range through the nested sliding of telescopic rods one, two and three and the locking of spring pins. The grasping and pressing device relies on the crank slider mechanism and the parallel double crank mechanism to realize the multifunctional operation linkage of the left claw and the right claw. The whole process relies on pure mechanical structure to ensure reliability, which solves the problem that if the robot's own mechanism is relied on to integrate multiple functions, the structural complexity will soar and the resource consumption will increase dramatically. If independent tools are equipped for different tasks, it is necessary to additionally design a complex tool changing mechanism, which increases the robot's volume, weight and control difficulty. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The disclosure of the present invention is illustrated with reference to the accompanying drawings. It should be understood that the drawings are for illustrative purposes only and are not intended to limit the scope of protection of the present invention. In the drawings, the same reference numerals are used to refer to the same components: Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 Schematic diagram of the winding wheel and wire rope structure of the present invention; Figure 3 Schematic diagram of the structures of telescopic rod 1, telescopic rod 2 and telescopic rod 3 of the present invention; Figure 4 This is a schematic diagram of the left claw and right claw structures of the present invention; Figure 5 It is a schematic diagram of the overall installation structure of the present invention and the three-finger manipulator.

[0018] Legend: 1. Handle; 2. Button; 3. Winding reel; 4. Wire rope; 5. Telescopic rod 1; 6. Spring pin; 7. Telescopic rod 2; 8. Telescopic rod 3; 9. Claw support; 10. Fixed pulley; 11. Return spring; 12. Slider; 13. Connecting rod 1; 14. Connecting rod 2; 15. Left claw; 16. Right claw. DETAILED DESCRIPTION

[0019] It is easy to understand that according to the technical solution of the present invention, without changing the essential spirit of the present invention, a person skilled in the art can propose a variety of interchangeable structural modes and implementation modes. Therefore, the following specific embodiments and drawings are only exemplary descriptions of the technical solution of the present invention and should not be regarded as the entire invention or as a limitation or restriction of the technical solution of the present invention.

[0020] Reference Figure 1-Figure 3 As shown, in order to solve the problem that if the robot relies on its own mechanism to integrate multiple functions, it will lead to a surge in structural complexity and resource consumption. If independent tools are equipped for different tasks, it will be necessary to design a complex tool-changing mechanism, which will increase the size, weight and control difficulty of the robot. The following preferred technical solutions are provided: A three-finger manipulator with an integrated grasping and pressing tool comprises a handle 1, a button 2, a steel wire rope 4, a left claw 16 and a right claw 15. The handle 1 is a hollow structure that can accommodate the button 2 to slide up and down along its inner wall. The button 2 is also a hollow structure. A winding wheel 3 is fixed to the rear end of the cavity. The winding wheel 3 can rotate around its fixed axis. A steel wire rope 4 is wound around the winding wheel 3. The winding wheel 3 stores excess steel wire rope 4 when the tool is shortened and releases the steel wire rope 4 when the tool is extended. One end of the telescopic rod 1 5 is fixedly connected to the handle 1, and the other end is fitted with a telescopic rod 2 7. The telescopic rod 3 8 is fitted inside the telescopic rod 2 7. The telescopic rod 1 5, the telescopic rod 2 7 and the telescopic rod 3 8 are all hexagonal tube structures. The telescopic rod 2 7 and the telescopic rod 3 8 can slide along the inner wall of the upper telescopic rod. They slide up and down without relative rotation. Circular holes are provided on the fixed positions of telescopic rod 1 5 and telescopic rod 2 7 near the claw support 9. The fixed positions of telescopic rod 2 7 and telescopic rod 3 8 are fixedly connected with spring pin 6 near the handle 1. When telescopic rod 2 7 and telescopic rod 3 8 slide downward, the spring pin 6 moves to the circular hole position and its spherical end portion emerges from the circular hole, and the up and down movement of telescopic rod 2 7 and telescopic rod 3 8 is restricted, thereby achieving the fixation of the telescopic structure. At the same time, the end cavity of telescopic rod 1 5 and telescopic rod 2 7 near the claw support 9 is narrowed, and the outer wall of telescopic rod 2 7 and telescopic rod 3 8 near the end of handle 1 has a convex structure to prevent the telescopic rod 2 7 and telescopic rod 3 8 from being accidentally pulled out due to overtravel.

[0021] The claw support 9 is fixedly connected to the end of the telescopic rod 3 8 and is a cavity structure. A fixed pulley 10 is installed near one end of the telescopic rod 3 8. The wire rope 4 passes through the inner cavity of the telescopic rod 1 5, the telescopic rod 2 7 and the telescopic rod 3 8, and then passes through the reset spring 11 and is fixedly connected to the slider 12. The slider 12 can slide along the inner wall of the grasping support 9. The right side connecting rod 13 is hinged to the right end of the slider 12. One end of the right side inner connecting rod 2 14 is hinged to the connecting rod 13, and the other end is hinged to the claw support 9. The claw support 9, the slider 12, the connecting rod 13 and the connecting rod are connected. Rod 2 14 together constitutes a crank slider mechanism. When the slider 12 slides back and forth, it can drive the connecting rod 2 14 to rotate. The two connecting rods 2 14 at the right end of the tool are hinged on the right claw 16 at one end and on the claw support 9 at the other end. The claw support 9, the connecting rod 2 14 and the right claw 16 together constitute a parallel double crank mechanism. When the connecting rod 2 14 rotates, it drives the right claw 16 to move parallel. The left claw 15 and the right claw 16 are symmetrically installed. Through the above-mentioned crank slider mechanism and the parallel double crank mechanism, when the slider 12 moves back and forth, the left claw 15 and the right claw 16 can be retracted or opened at the same time.

[0022] In the control link of the tool, the button 2 in the cavity of the handle 1 slides directly to drive the winding wheel 3 to store or release the wire rope 4, converting the robot's simple pressing or releasing action into a stable tension transmission. There is no need to integrate complex functional modules in the robot, and the operation can be controlled only by mechanical transmission, which greatly reduces the complexity of the robot mechanism and the demand for energy and computing power. In the telescopic structure, the telescopic rod 1 5, telescopic rod 2 7, and telescopic rod 3 8 of the hexagonal tube are adjusted in length through sliding cooperation. The automatic locking of the spring pin 6 and the hole slot ensures that the operation length is fixed, and the end convex The protective design of the narrow cavity prevents it from falling off. The nesting of the telescopic rods greatly reduces the volume when stored, effectively alleviating the contradiction between multi-functional requirements and miniaturization requirements. In view of the problem that multiple tools require complex tool-changing mechanisms and increase the risk of failure, in the grasping and pressing device, the wire rope 4 is guided by the fixed pulley 10 to pull the slider 12, and the linear motion is converted into rotational motion through the crank slider mechanism composed of the claw support 9, the slider 12, the connecting rod 13, and the connecting rod 2 14, and then the claw part is aligned with the parallel double crank mechanism composed of the claw support 9, the connecting rod 2 14 and the left claw 15 and the right claw 16. The robot's parallel movement allows the left and right claws 15 and 16 to simultaneously complete rock clearing, instrument compaction, and soil grabbing thanks to their inclined tooth profiles, straight surfaces, and cavity structure. This single tool integrates all-scenario functions without the need for tool change mechanisms, significantly reducing the risk of failure in extraterrestrial environments. The entire process relies on the linkage of purely mechanical components such as the spring pin 6 and return spring 11. Built-in protection for the wire rope 4 reduces wear, further improving reliability and fully adapting to the needs of deep space exploration. The control link simplifies the operation control logic through mechanical transmission of the handle 1, button 2, and wire rope 4. The telescopic structure balances volume and range through the nested sliding of telescopic rods 1 5, 2, and 3 8 and the locking of the spring pin 6. The gripping and pressing device relies on a crank slider mechanism and a parallel double crank mechanism to achieve multifunctional linkage between the left and right claws 15 and 16. The entire process relies on a purely mechanical structure to ensure reliability, solving the problem of relying on the robot's own mechanism to integrate multiple functions, which would lead to a surge in structural complexity and resource consumption. Equipping different tasks with independent tools would require the design of a complex tool change mechanism, increasing the robot's size, weight, and control difficulty.

[0023] Furthermore, the handle 1 structure is symmetrical about the symmetry plane of the three-finger manipulator, and has a boss at one end close to the telescopic structure. When the three-finger manipulator operates the tool, the button 2 is pressed by two fingers in the manipulator, and the boss supports the third finger.

[0024] The symmetrical structure of the handle 1 is precisely adapted to the grasping posture of the three-finger manipulator. When two fingers press the button 2, the third finger obtains stable support through the boss, forming a triangular force balance of pressing and supporting, avoiding shaking of the tool due to force offset during operation, significantly improving the control stability of the manipulator over the tool, and reducing operational errors caused by unstable operation. Furthermore, the end of the handle 1 is provided with a male mechanical interface, and the palm of the three-finger manipulator is provided with a female mechanical interface. After the two mechanical interfaces are aligned, the handle 1 is rotated 108° clockwise to fix the tool and the manipulator, preventing the tool from accidentally falling off during operation. The handle 1 is rotated 108° counterclockwise to separate the tool and the manipulator.

[0025] The standardized design of the male and female interfaces and the 108° rotation locking mechanism ensure that the interfaces are tightly engaged and evenly stressed. This not only allows them to withstand external impacts during operations in low-gravity environments outside Earth and prevent accidental tool drop, but also simplifies the loading and unloading process through clear rotation angle positioning, eliminating the need for complex sensor calibration, reducing the difficulty of manipulator control, and improving the efficiency and reliability of tool replacement.

[0026] Furthermore, the button 2 is a cavity structure, in which a winding wheel 3 is fixed. The winding wheel 3 can rotate around its axis. The winding wheel 3 stores excess wire rope 4 when the tool is shortened, and releases the wire rope 4 when the tool is extended, which can effectively prevent the wire rope 4 from being accidentally entangled during the extension and retraction process.

[0027] The winding wheel 3 and the wire rope 4 form a dynamically adaptive retraction and release system. When the tool is extended or retracted, the winding wheel 3 automatically rotates with the tension of the wire rope 4, accurately storing or releasing redundant length, and completely solving the problems of entanglement, knotting or excessive tension of the wire rope 4 in the inner cavity of the telescopic rod 1 5, telescopic rod 2 7, and telescopic rod 3 8 due to length changes, ensuring the smooth transmission path, reducing mechanical wear, and extending the service life of the wire rope 4. Furthermore, the inner and outer walls of the telescopic rod 1 5 , the telescopic rod 2 7 , and the telescopic rod 3 8 are all regular hexagonal structures, which can prevent the telescopic rods from rotating relative to each other during the telescopic process.

[0028] The geometric constraints of the regular hexagon ensure a rigid positioning between telescopic rods 1 5, 2 7, and 3 8. No circumferential rotation occurs during sliding, ensuring that the gripping and pressing device always maintains the preset operating direction. For example, the left claw 15 and right claw 16 face the compaction target directly, with the tooth surfaces aligned with the stone. This prevents deviations in the operating direction caused by relative rotation of the telescopic rods, ensuring the accuracy of actions such as grasping and compaction. This is particularly suitable for directional operations under the complex terrain of extraterrestrial planets. Furthermore, the inner cavity at the end of telescopic rod 1 5 has a narrow cross-section, and the outer wall of the end of telescopic rod 2 7 has a raised structure. This raised structure slides normally within the conventional inner cavity of telescopic rod 1 5, but restricts passage through the narrow inner cavity, achieving a limiting effect. The inner cavity at the end of telescopic rod 2 7 has a narrow cross-section, and the outer wall of telescopic rod 3 8 has a raised structure, achieving similar limiting effects.

[0029] The raised structure and the narrow cross-section form a mechanical locking protection. When the telescopic rod 2 7 and the telescopic rod 3 8 slide beyond the stroke due to excessive external force, the raised structure is blocked by the narrow inner cavity, preventing the telescopic rod from being accidentally pulled out of the upper inner cavity. At the same time, it does not affect the sliding flexibility within the normal telescopic range. While ensuring the adjustable length of the tool, the risk resistance of the telescopic structure is improved to adapt to sudden external force impacts that may occur during extraterrestrial operations. Furthermore, a fixed pulley 10 is installed in the inner cavity of the claw support 9 near the telescopic rod 3 8, which is used to change the direction of the wire rope 4 and reduce unnecessary friction.

[0030] The fixed pulley 10 smoothly converts the axial tension of the wire rope 4 into a lateral driving force for the slider 12, changing the direction of force transmission to adapt to the layout requirements of the gripping device. At the same time, rolling friction replaces sliding friction, significantly reducing the contact wear between the wire rope 4 and the inner cavity of the claw support 9, reducing energy loss, and more efficiently converting the pressing force of the button 2 into the movement of the left claw 15 and the right claw 16, thereby improving the mechanical transmission efficiency and extending the service life of the wire rope 4 and the claw support 9. Furthermore, a return spring 11 is mounted on the slider 12, so that the left claw 15 and the right claw 16 remain in the open state when the button 2 is not pressed.

[0031] The reset spring 11 realizes the automatic reset function through elastic potential energy. When the manipulator releases the button 2, the spring pushes the slider 12 to reset, and the left claw 15 and the right claw 16 can be driven to open automatically without additional control instructions, which simplifies the robot control logic and ensures that the tool quickly returns to its initial state after the operation is completed, avoiding tool jamming due to forgetting the reset operation, and improving the continuity and reliability of the operation process. Furthermore, the left claw 15 and the right claw 16 are hollow structures, which can be used to store a certain amount of soil. The outer edges of the cavity have concave and convex structures, so that the two claws have a certain sealing ability when closed.

[0032] The cavity structure provides storage space for soil sampling. When closed, the concave and convex structures on the edges of the left claw 15 and the right claw 16 engage with each other to form an annular sealing surface, which reduces the loss of soil during the grabbing and transferring process. It is especially suitable for the soil feeding needs in the low-gravity environment outside the earth and improves the sampling efficiency. At the same time, the sealing design prevents soil particles from entering the hinge point of the left claw 15 and the right claw 16, reducing the risk of mechanical jamming. Furthermore, the left claw 15 and the right claw 16 have two inclined sides to facilitate the insertion of the left claw 15 and the right claw 16 into the soil. The inclined surfaces are covered with a tooth-shaped structure, which can both loosen the soil and clamp stones. One side is a straight surface for auxiliary compaction of scientific instruments.

[0033] The multi-faceted functional design enables one claw to adapt to multiple scenarios. The inclined surface reduces the resistance of inserting into the soil, facilitating in-depth sampling. The toothed structure increases friction, which can not only break up lumped soil to loosen the soil, but also firmly clamp irregular stones to prevent them from falling off. The straight surface provides a flat force surface to ensure uniform force during the compaction process of the instrument. The combination of the three allows the left claw 15 and the right claw 16 to complete multiple tasks without replacement, greatly reducing the dependence on the robot's tool-changing mechanism and streamlining the operation process.

[0034] Working principle: The integrated grasping and pressing tool is in a retracted state when stored. When in use, it is fixed to the three-finger manipulator through a mechanical interface. The tool is stretched by pulling one end close to the claw support 9. After stretching to a certain length, the spring pin 6 pops out and locks to fix the telescopic structure. The manipulator presses the button 2, and the button 2 slides upward, driving the wire rope 4 to move upward. The wire rope 4 drives the slider 12 to move backward, and the slider 12 drives the connecting rod 13 and the connecting rod 2 14 to rotate, thereby closing the left claw 15 and the right claw 16. After the manipulator releases the button 2, under the action of the reset spring 11, the slider 12 moves forward, driving the connecting rod 13 and the connecting rod 2 14 to rotate in the opposite direction, thereby opening the left claw 15 and the right claw 16.

[0035] The technical scope of the present invention is not limited to the contents of the above description. Those skilled in the art can make various deformations and modifications to the above embodiments without departing from the technical idea of ​​the present invention, and these deformations and modifications should all fall within the protection scope of the present invention.

Claims

1. A three-finger manipulator integrated grasping and pressing tool, characterized in that: It includes a handle, a button, a steel wire rope, a telescopic structure and a grasping and pressing device. One end of the telescopic structure is fixed to the handle, and the other end is fixed to the grasping and pressing device. The telescopic structure is in a contracted state when stored and in an extended state when in use. The handle is a cavity structure that can accommodate the button to slide along its inner wall. One end of the steel wire rope is connected and fixed to the button, and the other end passes through the inner cavity of the telescopic structure and is connected and fixed to the grasping and pressing device to control the retraction and opening of the grasping and pressing device. The telescopic structure is composed of a telescopic rod 1, a telescopic rod 2, a telescopic rod 3 and a spring pin. One end of the telescopic rod 1 is fixed to the handle, and the other end can accommodate the telescopic rod 2 to slide along its inner wall. One end of the telescopic rod 3 slides in the inner cavity of the telescopic rod 2, and the other end is fixed to the grasping and pressing device. The extension and retraction of the tool can be controlled by controlling the movement of the telescopic rod III. A circular hole groove is opened at the fixed position of the telescopic rod 1 and the telescopic rod 2, and a spring pin is installed at the fixed position of the telescopic rod 2 and the telescopic rod 3. When the telescopic rod slides, the spring pin will bounce when it moves to the circular hole groove position, thereby fixing the telescopic structure. The grasping and pressing device is composed of a claw support, a slider, a connecting rod 1, a connecting rod 2, a left claw and a right claw. The claw support is a cavity structure, and the slider can slide along the inner wall of the claw support. The connecting rod 1 is installed on the slider, and one end of the connecting rod 2 is installed on the claw support, and the other end is connected to the connecting rod 1. The claw support, slider, connecting rod 1 and connecting rod 2 together constitute a crank slider mechanism, which can drive the connecting rod 2 to rotate when the slider slides back and forth. The two connecting rods on the right end of the tool are hinged at one end to the right claw and at the other end to the claw support. The claw support, connecting rod 2 and right claw together constitute a parallel double crank mechanism, which drives the right claw to move parallel when the connecting rod 2 rotates. The left claw and the right claw are symmetrically installed. Through the crank slider mechanism and the parallel double crank mechanism, the left claw and the right claw can be retracted and opened at the same time when the slider moves back and forth.

2. The three-finger manipulator integrated grasping and pressing tool according to claim 1, characterized in that: The handle has a boss at one end close to the telescopic structure. When a three-finger manipulator operates the tool, the button is pressed by two fingers of the manipulator, and the boss supports the third finger.

3. The three-finger manipulator integrated grasping and pressing tool according to claim 1, characterized in that: The end of the handle is provided with a male mechanical interface, and the palm of the three-finger manipulator is provided with a female mechanical interface. After the two mechanical interfaces are aligned, the handle is rotated 108° clockwise to fix the tool and the manipulator to prevent the tool from accidentally falling off during operation. The handle is rotated 108° counterclockwise to separate the tool and the manipulator.

4. The three-finger manipulator integrated grasping and pressing tool according to claim 1, characterized in that: The button is a cavity structure, in which a winding wheel is fixed. The winding wheel can rotate around its axis. The winding wheel stores excess wire rope when the tool is shortened and releases the wire rope when the tool is extended, thereby preventing the wire rope from being entangled during the extension and retraction process.

5. The three-finger manipulator integrated grasping and pressing tool according to claim 1, characterized in that: The inner wall and the outer wall of the telescopic rod are both regular hexagonal structures, which prevents the telescopic rod from rotating relative to each other during the telescopic process.

6. The three-finger manipulator integrated grasping and pressing tool according to claim 1, characterized in that: The inner cavity at one end of the telescopic rod has a narrow cross section, and the outer wall of the other end has a convex structure. The convex structure slides normally in the regular inner cavity of the upper telescopic rod, but is restricted from passing through the narrow inner cavity to achieve a limiting effect.

7. The three-finger manipulator integrated grasping and pressing tool according to claim 1, characterized in that: Fixed pulleys are installed at three locations in the inner cavity of the claw support near the telescopic rod to change the direction of the wire rope and reduce friction.

8. The three-finger manipulator integrated grasping and pressing tool according to claim 1, characterized in that: The slider is covered with a return spring so that the left claw and the right claw remain in an open state when the button is not pressed.

9. The three-finger manipulator integrated grasping and pressing tool according to claim 1, characterized in that: The left claw and the right claw are both hollow structures for collecting and storing soil, and the outer edges of the cavity have concave and convex structures, so that the two claws have a certain sealing ability when closed.

10. The three-finger manipulator integrated grasping and pressing tool according to claim 1, characterized in that: The left claw and the right claw both have two inclined sides for easy insertion into the soil. The inclined surfaces are covered with tooth-shaped structures, which can both loosen the soil and clamp stones. One of the sides is a straight surface for auxiliary compaction of scientific instruments.

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