Reconfigurable three-finger gripper with palm center adaptive suction cup mechanism

Abstract

A reconfigurable three-finger gripper with a palm-adaptive suction cup mechanism includes a gripper body mechanism, a remote rotation center reconstruction mechanism, a palm-adaptive suction cup mechanism, and a base plate. Three sets of integrated units, each consisting of the gripper body mechanism and the remote rotation center reconstruction mechanism, are equally spaced on the base plate in an equilateral triangle arrangement. The gripper body mechanisms are mounted on the remote rotation center reconstruction mechanism, and each gripper body mechanism can move independently radially on the remote rotation center reconstruction mechanism to achieve gripping and opening functions. The remote rotation center reconstruction mechanism can rotate around the center of the base plate to achieve remote rotation center reconstruction functions and separate the rotation center from the drive source center. The palm-adaptive suction cup mechanism is located in the center of the base plate and can move up and down along the central axis of the base plate, changing its curvature according to the shape of the object. This gripper can select from various modes, such as gripper working alone, gripper and suction cup working together, or suction cup working alone, depending on the shape and size of the object, to grip objects of different shapes and sizes and achieve stable gripping.

Description

Technical Field

[0001] This invention relates to the field of composite gripper technology, and more particularly to a reconfigurable three-finger gripper with a palm-adaptive suction cup mechanism. Background Technology

[0002] In existing technologies, three-finger grippers are widely used in industrial automation and robotic grasping, such as traditional parallel grippers or articulated grippers, which can grasp regular objects. However, these grippers typically have fixed structures and limited adaptability, making them unable to effectively handle objects with irregular shapes or varying sizes, resulting in poor grasping stability, easy slippage, or damage to the object. Some existing designs achieve gripping through synchronous driving, but they lack adaptability to asymmetrical objects and cannot adjust the gripper position in real time or combine with suction cups for assistance. In addition, flexible suction cup devices can adapt to the object surface through deformation, but they lack integration with grippers and cannot achieve composite grasping modes. Furthermore, in existing technologies, the rotation center is usually coaxial with the drive source, resulting in low reconfiguration flexibility and an inability to accurately adjust the object's posture. These problems limit the application of grippers in complex environments, such as logistics sorting or precision assembly, requiring a reconfigurable composite gripper to solve the problem. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention provides a reconfigurable three-finger gripper with a palm-adaptive suction cup mechanism. This gripper can be configured to work independently, work together with the suction cup, or work independently of the suction cup, depending on the shape and size of the object, in order to grasp objects of different shapes and sizes and achieve stable gripping.

[0004] This invention is achieved through the following technical solution:

[0005] This invention provides a reconfigurable three-finger gripper with a palm-adaptive suction cup mechanism. The reconfigurable three-finger gripper includes a gripper body mechanism, a remote rotation center reconstruction mechanism, a palm-adaptive suction cup mechanism, and a base plate. Each gripper body mechanism can move independently radially on its connected remote rotation center reconstruction mechanism to achieve the gripper's gripping and opening function. Three sets of integrated units, each composed of a gripper body mechanism and a remote rotation center reconstruction mechanism, are equally spaced on the base plate. The remote rotation center reconstruction mechanism can rotate around the center of the base plate, thereby changing the relative positions of the gripper body mechanism and the base plate, as well as the three gripper body mechanisms. The remote rotation center of the remote rotation center reconstruction mechanism is designed to be separate from the center of the drive source, enabling the remote rotation center reconstruction mechanism to achieve remote rotation center reconstruction. The palm-adaptive suction cup mechanism is located in the center of the base plate and can move up and down along the central axis of the base plate. Simultaneously, it can change the curvature of the palm-adaptive suction cup mechanism according to the shape and size of the object to be gripped, i.e., it can move along the axis and change its curvature.

[0006] Specifically, the gripper body mechanism consists of a visual-tactile sensor, a gripper arm, and a gripper connector; the distal rotation center reconstruction mechanism consists of two sets of sliders and guide rails, a motor connector, a reconstruction mechanism bracket, a clamping mechanism motor, a transmission rack and corresponding transmission gears, a clamping mechanism motor fixing component, a flange bearing, a reconstruction mechanism transmission rod, a reconstruction mechanism drive rod, and a reconstruction mechanism motor; the visual-tactile sensor is fixed to the upper end of the gripper arm and is responsible for contacting the object to be gripped and acquiring a gripping signal during the gripping process; the holes at both ends of the lower side of the gripper arm are connected to the sliders. The slider and guide rail are fixedly connected and mounted on the upper side of the reconstruction mechanism bracket, at an angle of 15°-45° to the horizontal direction depending on the actual working conditions. The height of the side closer to the center is higher than that of the side farther from the center, so that the horizontal and vertical positions of the slider change when sliding on the guide rail. The gripper connector is fixed at the center of the lower end of the gripper arm and connected to the motor connector. At the same time, the motor connector is connected to the clamping mechanism motor fixing component, and the clamping mechanism motor is installed inside it. The output shaft of the clamping mechanism motor is connected to the transmission gear, which meshes with the transmission rack fixed on the reconstruction mechanism bracket. When the clamping mechanism motor starts, the output shaft drives the transmission gear to rotate. Since it meshes with the fixed transmission rack, and there is a sliding groove connection between the outer side of the clamping mechanism motor fixing component and the reconstruction mechanism bracket, the overall motion is transformed into the clamping mechanism motor driving the transmission gear and the clamping mechanism motor fixing component to move up and down together. The motor connector transmits the up and down motion of the clamping mechanism motor to the gripper connector, which, together with the gripper arm, slider, and guide rail, forms a double slider mechanism, enabling the clamping mechanism motor to move up and down. At this time, the gripper body mechanism can slide along the guide rail, thus realizing the gripper gripping and opening function; specifically, when the clamping mechanism motor moves downward, the clamping mechanism motor fixing part applies a vertically downward force to the motor connecting part. Since the overall structure is considered to be in force balance at an instant, the motor connecting part will apply a vertically upward force to the gripper connecting part. The component of the force along the guide rail direction is upward from the center, so the gripper body mechanism extends towards the center to grip; similarly, when the clamping mechanism motor moves upward, the gripper body mechanism retracts outward to open.

[0007] Specifically, the base plate consists of a motor hole for the reconfiguration mechanism, an arc groove for the reconfiguration mechanism drive rod, an arc groove for the reconfiguration mechanism transmission rod, and a center hole. The motor hole connects to the reconfiguration mechanism motor, the arc groove connects to the reconfiguration mechanism drive rod, the arc groove connects to the reconfiguration mechanism transmission rod, and the center hole is coaxially aligned with the three reconfiguration mechanism supports. Therefore, the coaxial sections of the three reconfiguration mechanism supports are staggered in height to avoid interference. A single set of the reconfiguration mechanism drive rod, reconfiguration mechanism transmission rod, and reconfiguration mechanism supports together form a four-bar linkage. This allows the reconfiguration mechanism motor output shaft to rotate when it rotates, driving the remote rotation center reconfiguration mechanism to rotate as well, while the rotation center separates from the center of the reconfiguration mechanism motor output shaft.

[0008] Specifically, the palm-adaptive suction cup mechanism consists of an adaptive flexible surface, a servo motor, an electric actuator, and a push rod motor. The adaptive flexible surface changes its curvature through the servo motor connected to its lower end, thereby changing the angle of the suction cup on the adaptive flexible surface. The push rod motor is fixed on the base plate, and its output shaft is connected to the electric actuator, which extends from the center hole of the base plate. The upper side of the electric actuator is connected to the servo motor, which can control the electric actuator to lift and lower, thereby realizing the up and down movement of the adaptive flexible surface.

[0009] Furthermore, the reconfigurable three-finger gripper with palm-adaptive suction cup mechanism determines the gripping scheme according to the shape and size of the object to be gripped. The selectable gripping schemes are: the gripper body mechanism working alone, the gripper body mechanism and the palm-adaptive suction cup mechanism working together, and the palm-adaptive suction cup mechanism working alone. Each of these can be used to grip different objects, achieving a more universal and stable gripping.

[0010] Furthermore, the visual-tactile sensor can acquire contact state information during grasping and transmit it to the remote control terminal. The remote control terminal comprehensively judges the information of the object to be grasped and the current contact state information, and corrects the grasping plan in real time.

[0011] Specifically, the remote rotation center reconstruction function has a reconfigurable three-finger gripper with a palm-adaptive suction cup mechanism that can rotate the object to be grasped within a certain range, thereby achieving precise object positioning, handling and placement functions.

[0012] The beneficial effects of this invention are as follows: the remote rotation center reconstruction mechanism enables flexible adjustment of the gripper position, improving adaptability to irregular objects; the palm-adaptive suction cup mechanism can change curvature and position, and combined with the gripper to achieve compound grasping, improving stability and grasping range; the visual-tactile sensor provides real-time feedback, supporting remote correction of the grasping scheme; the overall structure separates the rotation center from the drive source, simplifying structural complexity, facilitating object posture adjustment, and making it suitable for various grasping scenarios. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of a reconfigurable three-finger gripper structure with a palm-adaptive suction cup mechanism;

[0014] Figure 2 This is a schematic diagram of the gripper body mechanism;

[0015] Figure 3 This is a schematic diagram of the remote rotation center reconfiguration mechanism;

[0016] Figure 4 This is a schematic diagram of the gripper's gripping and opening function;

[0017] Figure 5 This is a schematic diagram of the base plate structure;

[0018] Figure 6 These are schematic diagrams of the support structures for three types of reconfiguration mechanisms;

[0019] Figure 7 This is a schematic diagram of the remote rotation center reconstruction function;

[0020] Figure 8 This is a schematic diagram of the palm-adaptive suction cup mechanism;

[0021] Figure 9 This is a schematic diagram of adaptive flexible surface deformation and electric actuator lifting;

[0022] Figure 10 This is a schematic diagram of a reconfigurable three-finger gripper grasping objects of different shapes and sizes;

[0023] Figure 11 This is a schematic diagram showing the activation of the remote rotation center reconstruction function when the reconfigurable three-finger gripper grasps an object.

[0024] Reference numerals: Gripper body mechanism-1, Remote rotation center reconstruction mechanism-2, Palm adaptive suction cup mechanism-3, Base plate-4, Visual and tactile sensor-11, Gripper arm-12 and gripper connector-13, Slider-21, Guide rail-22, Motor connector-23, Reconstruction mechanism bracket-24, Clamping mechanism motor-25, Transmission rack-26, Transmission gear-27, Clamping mechanism motor fixing component-28, Flange bearing-29, Reconstruction mechanism transmission rod-210, Reconstruction mechanism active rod-211, Reconstruction mechanism motor-212, Adaptive flexible surface-31, Servo motor-32, Electric push rod-33, Push rod motor-34, Reconstruction mechanism motor hole-41, Reconstruction mechanism active rod arc groove-42, Reconstruction mechanism transmission rod arc groove-43, Center hole-44. Detailed Implementation

[0025] The present invention will be further described below with reference to the accompanying drawings.

[0026] The reconfigurable three-finger gripper structure with palm-adaptive suction cup mechanism of the present invention includes a gripper body mechanism 1, a distal rotation center reconfiguration mechanism 2, a palm-adaptive suction cup mechanism 3, and a base plate 4, as follows: Figure 1As shown, three sets of integrated units, each consisting of a gripper body mechanism 1 and a remote rotation center reconfiguration mechanism 2, are evenly distributed on the outer side of the base plate 4, arranged in an equilateral triangle. Each gripper body mechanism 1 can move independently radially on its connected remote rotation center reconfiguration mechanism 2, realizing the gripper's gripping and opening function. The remote rotation center reconfiguration mechanism 2 can rotate around the center of the base plate 4, thereby changing the position of the gripper body mechanism 1 relative to the base plate 4, as well as the relative position of the three gripper body mechanisms 1. At the same time, the remote rotation center is designed to be separate from the drive source center, so the remote rotation center reconfiguration mechanism 2 can ultimately realize the remote rotation center reconfiguration function. The palm adaptive suction cup mechanism 3 is located in the center of the base plate 4 and can move up and down along the central axis of the base plate 4. It can also change the curvature of the palm adaptive suction cup mechanism 3 according to the shape and size of the object to be gripped, that is, it can move along the axis and change the curvature.

[0027] The gripper body mechanism 1 consists of a visual-tactile sensor 11, a gripper arm 12, and a gripper connector 13, such as... Figure 2 As shown. The visual-tactile sensor 11 is fixed to the upper end of the gripper arm 12, responsible for contacting the object to be gripped during the gripping process and acquiring gripping signals, including mechanical and visual information, which are then transmitted to the remote control terminal. The remote control terminal comprehensively judges the information of the object to be gripped and the current contact state information, and corrects the gripping scheme in real time. The holes at both ends of the lower side of the gripper arm 12 are connected and fixed to the slider 21. The slider 21 and the guide rail 22 are mounted on the upper side of the reconfiguration mechanism bracket 24, at an angle of 15°-45° to the horizontal direction according to actual working conditions, and the height of the side closer to the center is higher than that of the side farther from the center, so that the slider 21 is positioned on the guide rail... The horizontal and vertical positions of the 22 change when sliding. The larger the angle value, the greater the distance it moves in the vertical direction than in the horizontal direction, which is more suitable for grasping objects with slender structures, and vice versa. The gripper connector 13 is fixed at the center of the lower end of the gripper arm 12 and is connected to the motor connector 23. At the same time, the motor connector 23 is connected to the clamping mechanism motor fixing part 28, and the clamping mechanism motor 25 is installed inside it. The output shaft of the clamping mechanism motor 25 is connected to the transmission gear 27, which meshes with the transmission rack 26 fixed on the reconstruction mechanism bracket 24.

[0028] The remote rotation center reconfiguration mechanism 2 consists of two sets of sliders 21 and guide rails 22, a motor connector 23, a reconfiguration mechanism bracket 24, a clamping mechanism motor 25, a transmission rack 26 and corresponding transmission gears 27, a clamping mechanism motor fixing component 28, a flange bearing 29, a reconfiguration mechanism transmission rod 210, a reconfiguration mechanism drive rod 211, and a reconfiguration mechanism motor 212. Figure 3As shown. When the clamping mechanism motor 25 starts, the output shaft drives the transmission gear 27 to rotate. Since it meshes with the fixed transmission rack 26, and there is a sliding groove connection between the outer side of the clamping mechanism motor fixing part 28 and the reconstruction mechanism bracket 24, the overall motion is transformed into the clamping mechanism motor 25 driving the transmission gear 27 and the clamping mechanism motor fixing part 28 to move up and down together. The motor connector 23 transmits the up and down motion of the clamping mechanism motor 25 to the gripper connector 13, which, together with the gripper arm 12, the slider 21 and the guide rail 22, forms a double slider mechanism, so that when the clamping mechanism motor 25 moves up and down, the gripper body mechanism 1 can slide along the guide rail 22, that is, realize the gripper gripping and opening function, as shown. Figure 4 As shown. Specifically, when the clamping mechanism motor 25 moves downward, the clamping mechanism motor fixing part 28 applies a vertically downward force to the motor connecting part 23. Since the entire structure can be considered to be in force balance at an instant, the motor connecting part 23 will apply a vertically upward force to the gripper connecting part. The component of the force along the guide rail 22 is centered upward, so the gripper body mechanism 1 extends towards the center to grip. Similarly, when the clamping mechanism motor 25 moves upward, the gripper body mechanism 1 retracts and opens outward.

[0029] The base plate 4 consists of a motor hole 41 for the reconfiguration mechanism, an arc groove 42 for the drive rod of the reconfiguration mechanism, an arc groove 43 for the transmission rod of the reconfiguration mechanism, and a center hole 44, as shown below. Figure 5 As shown. The reconfiguration mechanism motor 212 is connected at motor hole 41, the reconfiguration mechanism drive rod 211 is connected at arc groove 42, and the reconfiguration mechanism transmission rod 210 is connected at arc groove 43. The center hole 44 is coaxially fitted with the three reconfiguration mechanism supports 24. Therefore, the coaxial parts of the three reconfiguration mechanism supports 24 are staggered in height to avoid interference. Figure 6 As shown; the single-group reconfiguration mechanism drive rod 211, reconfiguration mechanism transmission rod 210, and reconfiguration mechanism support 24 together form a four-bar linkage, so that when the output shaft of the reconfiguration mechanism motor 212 rotates, it can drive the remote rotation center reconfiguration mechanism 2 to rotate together, while the rotation center is separated from the center of the output shaft of the reconfiguration mechanism motor 212, as shown. Figure 7 As shown in the figure. This design enables the reconfigurable three-finger gripper with palm-adaptive suction cup mechanism to rotate the object to be gripped within a certain range, thereby achieving functions such as precise object positioning, handling, and placement. For example, after gripping the object, the posture can be adjusted by activating the remote rotation center reconstruction function.

[0030] like Figure 8 and Figure 9As shown, the palm-adaptive suction cup mechanism 3 consists of an adaptive flexible surface 31, a servo motor 32, an electric actuator 33, and a actuator motor 34. The adaptive flexible surface 31 can change its curvature via the servo motor 32 connected to its lower end, thereby changing the angle of the suction cup on the adaptive flexible surface 31. The actuator motor 34 is fixed to the base plate 4, and its output shaft is connected to the electric actuator 33, extending from the center hole 44 of the base plate 4. The servo motor 32 is connected to the upper side of the electric actuator 33, allowing the actuator motor 34 to control the lifting and lowering of the electric actuator 33, thus realizing the vertical movement of the adaptive flexible surface 31. Figure 10 As shown.

[0031] In practical operation, the reconfigurable three-finger gripper with palm-adaptive suction cup mechanism determines the gripping scheme based on the shape and size of the object to be gripped. The selectable gripping schemes include: gripper body mechanism 1 working alone, gripper body mechanism 1 and palm-adaptive suction cup mechanism 3 working together, and palm-adaptive suction cup mechanism 3 working alone. Each scheme can be tailored to different objects, achieving more versatile and stable gripping. For example, gripper body mechanism 1 can grip regular objects alone, gripper and palm suction cup can work together to handle irregular objects, and palm suction cup can adsorb flat objects alone. Figure 11 As shown. During the grasping process, the visual-tactile sensor 11 collects contact information and transmits it to the remote control terminal for real-time correction to ensure stability.

[0032] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

[0033] The above embodiments are only used to illustrate the design concept and features of the present invention, and their purpose is to enable those skilled in the art to understand the content of the present invention and implement it accordingly. The protection scope of the present invention is not limited to the above embodiments. Therefore, all equivalent changes or modifications made based on the principles and design ideas disclosed in the present invention are within the protection scope of the present invention.

Claims

1. A reconfigurable three-finger gripper with a palm-adaptive suction cup mechanism, characterized in that, The reconfigurable three-finger gripper includes a gripper body mechanism (1), a remote rotation center reconfiguration mechanism (2), a palm adaptive suction cup mechanism (3), and a base plate (4). Each gripper body mechanism (1) can move independently radially on its connected distal rotation center reconfiguration mechanism (2) to realize the gripper gripping and opening function; the gripper body mechanism (1) consists of a visual tactile sensor (11), a gripper arm (12) and a gripper connector (13); The remote rotation center reconfiguration mechanism (2) consists of two sets of sliders (21) and guide rails (22), motor connectors (23), reconfiguration mechanism brackets (24), clamping mechanism motors (25), transmission racks (26) and corresponding transmission gears (27), clamping mechanism motor fixing parts (28), flange bearings (29), reconfiguration mechanism transmission rods (210), reconfiguration mechanism drive rods (211), and reconfiguration mechanism motors (212); The holes at both ends of the gripper arm (12) are fixedly connected to the slider (21). The slider (21) and the guide rail (22) are installed on the upper side of the reconstruction mechanism bracket (24). The slider is at an angle of 15°-45° to the horizontal direction according to the actual working conditions. The height of the side closer to the center is higher than that of the side farther from the center, so that the horizontal and vertical positions of the slider (21) change when it slides on the guide rail (22). Three sets of integrated units, consisting of gripper body mechanism (1) and remote rotation center reconstruction mechanism (2), are equally spaced on the base plate (4). The remote rotation center reconstruction mechanism (2) can rotate around the center of the base plate (4), thereby changing the relative positions between the gripper body mechanism (1) and the base plate (4) and the three gripper body mechanisms (1). The remote rotation center of the remote rotation center reconstruction mechanism (2) is designed to be separated from the center of the drive source, so that the remote rotation center reconstruction mechanism (2) can realize the remote rotation center reconstruction function. The palm-adaptive suction cup mechanism (3) is located in the center of the base plate (4) and can move up and down along the central axis of the base plate (4). At the same time, it can change the curvature of the palm-adaptive suction cup mechanism (3) according to the shape and size of the object to be grasped, that is, it can move along the axis and change the curvature. Specifically, the palm-adaptive suction cup mechanism (3) is composed of an adaptive flexible surface (31), a servo motor (32), an electric push rod (33) and a push rod motor (34). The adaptive flexible surface (31) changes its curvature through the servo motor (32) connected to its lower end, thereby changing the angle of the suction cup on the adaptive flexible surface (31). The push rod motor (34) is fixed on the base plate (4), and its output shaft is connected to the electric push rod (33) which extends out from the center hole (44) of the base plate (4). The upper side of the electric push rod (33) is connected to the servo motor (32), and the electric push rod (33) can be raised and lowered by the push rod motor (34), thereby realizing the up and down movement of the adaptive flexible surface (31).

2. The reconfigurable three-finger gripper with palm-adaptive suction cup mechanism according to claim 1, characterized in that, The visual-tactile sensor (11) is fixed to the upper end of the gripper arm (12) and is responsible for contacting the object to be gripped and acquiring the gripping signal during the gripping process. The gripper connector (13) is fixed at the center of the lower end of the gripper arm (12) and connected to the motor connector (23). At the same time, the motor connector (23) is connected to the clamping mechanism motor fixing part (28), and the clamping mechanism motor (25) is installed inside it. The output shaft of the clamping mechanism motor (25) is connected to the transmission gear (27), which meshes with the transmission rack (26) fixed on the reconstruction mechanism bracket (24). When the clamping mechanism motor (25) is started, the output shaft drives the transmission gear (27) to rotate. Since it meshes with the fixed transmission rack (26), and there is a sliding groove connection between the outer side of the clamping mechanism motor fixing part (28) and the reconstruction mechanism bracket (24), the overall motion is transformed into the clamping mechanism motor (25) driving the transmission gear (27) and the clamping mechanism motor fixing part (28) to rotate. The motor connector (23) transmits the up-and-down movement of the clamping mechanism motor (25) to the gripper connector (13), which together with the gripper arm (12), slider (21) and guide rail (22) form a double slider mechanism, so that when the clamping mechanism motor (25) moves up and down, the gripper body mechanism (1) can slide along the guide rail (22), thus realizing the gripper gripping and opening function; specifically, when the clamping mechanism motor (25) moves down, the clamping mechanism motor fixing part (28) applies a vertical downward force to the motor connector (23). Since the overall structure is considered to be in force balance in the instantaneous state, the motor connector (23) will apply a vertical upward force to the gripper connector (13). The component of the force along the guide rail (22) is upward, and the gripper body mechanism (1) extends towards the center to grip; similarly, when the clamping mechanism motor (25) moves up, the gripper body mechanism (1) retracts outward to open.

3. A reconfigurable three-finger gripper with palm-adaptive suction cup mechanism according to claim 1, characterized in that, The base plate (4) is composed of the motor hole (41) of the reconfiguration mechanism, the arc groove (42) of the active rod of the reconfiguration mechanism, the arc groove (43) of the transmission rod of the reconfiguration mechanism, and the center hole (44); The reconfiguration mechanism motor (212) is connected at the motor hole (41), the reconfiguration mechanism active rod (211) is connected at the arc groove (42), the reconfiguration mechanism transmission rod (210) is connected at the arc groove (43), and the center hole (44) is coaxially fitted with the three reconfiguration mechanism supports (24). Therefore, the coaxial parts of the three reconfiguration mechanism supports (24) are staggered in height to avoid interference. The single set of reconfiguration mechanism active rod (211), reconfiguration mechanism transmission rod (210) and reconfiguration mechanism support (24) together form a four-bar linkage. When the output shaft of the reconfiguration mechanism motor (212) rotates, it can drive the remote rotation center reconfiguration mechanism (2) to rotate together, while the rotation center is separated from the center of the output shaft of the reconfiguration mechanism motor (212).

4. A reconfigurable three-finger gripper with palm-adaptive suction cup mechanism according to claim 1, characterized in that, The reconfigurable three-finger gripper with palm adaptive suction cup mechanism determines the gripping scheme according to the shape and size of the object to be gripped. The gripping schemes that can be selected are: the gripper body mechanism (1) working alone, the gripper body mechanism (1) and the palm adaptive suction cup mechanism (3) working together, and the palm adaptive suction cup mechanism (3) working alone. Each of these can correspond to different objects to be gripped, achieving a more universal and stable gripping.

5. A reconfigurable three-finger gripper with palm-adaptive suction cup mechanism according to claim 2, characterized in that, The visual-tactile sensor (11) can acquire contact state information during grasping and transmit it to the remote control terminal. The remote control terminal comprehensively judges the information of the object to be grasped and the current contact state information, and corrects the grasping scheme in real time.

6. A reconfigurable three-finger gripper with palm-adaptive suction cup mechanism according to claim 1, characterized in that, The remote rotation center reconstruction function, with its reconfigurable three-finger gripper with palm adaptive suction cup mechanism (3), can rotate the object to be grasped within a certain range, thereby achieving precise object positioning, handling and placement functions.

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