CN116038745A

CN116038745A - Multifunctional smart mechanical claw

Info

Publication number: CN116038745A
Application number: CN202211737239.8A
Authority: CN
Inventors: 张旭龙; 郝叙胜; 王慧静; 郑随兵
Original assignee: Realman Intelligent Technology Beijing Co ltd
Current assignee: Realman Intelligent Technology Beijing Co ltd
Priority date: 2022-12-29
Filing date: 2022-12-29
Publication date: 2023-05-02
Anticipated expiration: 2042-12-29
Also published as: CN116038745B

Abstract

The invention discloses a multifunctional smart mechanical claw, which is provided with four fingers, wherein the four fingers are respectively arranged on a cross slideway, and are matched with four arc-shaped sliding grooves on a guide platform below the cross slideway, and the four fingers move along the arc-shaped sliding grooves through the rotation of the guide platform so as to be close to the center along the cross slideway; and the clamping driving assembly designed in the four fingers is used for realizing large-angle rotation movement among all the joints and clamping various modes of the target object. Meanwhile, the driving mechanism realizes the independent driving rotation of the guide platform, and the simultaneous driving rotation of the guide platform and the cross slide way, thereby realizing the movement and the azimuth adjustment control of the target object. The mechanical claw can grasp target objects with various shapes and easy damage in various modes, can accurately position the target objects, has a large working range and high dexterity, and can clamp the target objects in multiple angles and multiple directions.

Description

Multifunctional smart mechanical claw

Technical Field

The invention designs a clamping device, in particular to a multifunctional smart mechanical claw.

Background

In recent years, with rapid development and application of industrial robots, as an important end effector of the industrial robots, the requirements of factories for high-performance electric jaws are also increasing. Existing grippers have special grippers designed for specific purposes and also have grippers that can be adapted. The application scope of the special mechanical claw is smaller, and when the self-adaptive mechanical claw grabs a special-shaped object, the tail end clamping surface is unstable and can freely rotate, so that the mechanical arm needs to spend more time to adjust the angle and the distance to ensure that grabbing is successful in actual grabbing, and the efficiency is lower.

Disclosure of Invention

Aiming at the problems, the invention provides the multifunctional intelligent smart mechanical claw which is arranged at the tail end of the mechanical arm, can clamp various target objects with various shapes and easy damage, can accurately position, has large working range and high flexibility, and can clamp the target objects in multiple angles and multiple directions.

The invention discloses a multifunctional smart mechanical claw, which comprises a rotary sliding platform, a guide platform, a base shell, a driving assembly and 4 fingers.

Wherein, base casing top is provided with the direction platform, internally mounted has drive assembly. The driving assembly 4 comprises a supporting platform, a first motor, a rotating shaft, a gear shaft, a second motor, a rack and a screw nut assembly. The first motor is arranged on the bottom surface of the base shell, and the output shaft is vertically arranged; the bottom end of the rotating shaft is coaxially fixed with the output shaft of the first motor, and the top end of the rotating shaft penetrates through the center through hole of the guide platform and is fixed at the center of the rotary sliding platform arranged above the guide platform; the supporting platform is horizontally provided with a rotating shaft for fixing; the outer side of the rotating shaft is sleeved with a gear shaft which is connected with the rotating shaft through a bearing; teeth are designed on the circumferential direction of the outer wall of the gear shaft, and the top end of the gear shaft is fixed with the center of the guide platform.

In the screw nut assembly, two ends of a screw are arranged on a supporting platform through screw supports. One end of the screw rod is coaxially fixed with the output shaft of the second motor; and a rack is fixedly arranged on the screw nut and meshed with teeth on the circumferential direction of the outer wall of the gear shaft.

Four arc-shaped slideways are uniformly arranged on the guide platform in the circumferential direction and are used for guiding the movement of each finger claw.

Four groups of slide ways are uniformly designed on the circumference of the rotary sliding platform, so that the four groups of slide ways are arranged in a cross shape; each group of slide ways is provided with two slide rails which are parallel and are arranged in a central symmetry way.

The four finger claws have the same structure and comprise a tail end base, a middle end knuckle, a tip knuckle and a clamping driving assembly. The tail end base is of a U-shaped structure formed by a base bottom plate and two base side plates; the bottom surface of the base bottom plate is provided with 2 sliding blocks and 1 guide post.

The middle end knuckle is provided with two middle end side plates, the tail ends of the two middle end side plates are respectively connected with the two base side plates through a middle rotating shaft to form a revolute pair, and the middle end knuckle is formed. Meanwhile, the middle-end knuckle is also provided with an upper middle-end rubber plate and a lower middle-end rubber plate; the two middle end rubber plates are oppositely arranged, and the two sides of the two middle end rubber plates are respectively fixed with the two middle end side plates.

The tip knuckle is provided with two tip side plates, and the front ends of the two tip side plates are fixedly connected through a connecting column. The tail ends of the two tip end side plates are respectively connected with the front ends of the two middle end side plates through tip rotating shafts to form a revolute pair, so that a front section interphalangeal joint is formed. Meanwhile, two tip rubber plates are arranged up and down on the tip knuckle, the two tip rubber plates are oppositely arranged, and two sides of the tip knuckle are respectively fixed with the two tip side plates.

The clamping driving assembly comprises a first speed reducing motor, a second speed reducing motor, a transmission gear, a transmission belt, an intermediate transmission wheel and a tip transmission wheel. The transmission gears are 6 in number and are positioned between two base side plates of the terminal base, so that the 6 transmission gears are respectively 1-6 gears.

The gear 1 to the gear 3 are positioned on a right base side plate of the tail end base, and the gear 1 is coaxially fixed on a first gear motor output shaft arranged on the outer side of the right base side plate. The gear No. 2 is coaxially arranged on the rotating shaft on the side plate of the right base and meshed with the gear No. 1; and the No. 3 gear is fixedly arranged on the right side of the middle rotating shaft and meshed with the No. 2 gear.

The gears No. 4 to No. 6 are positioned on the left base side plate of the terminal base, and the gears No. 4 are coaxially fixed on the output shaft of the second gear motor arranged on the outer side of the left base side plate. And the No. 5 gear is coaxially arranged on the rotating shaft on the left base side plate and meshed with the No. 4 gear. The gear No. 6 is arranged on the left side of the middle rotating shaft through a bearing and meshed with the gear No. 5, and the gear No. 6 is fixedly connected with the middle part of the middle rotating shaft through a middle driving wheel arranged on the bearing; meanwhile, a tip driving wheel is fixedly arranged in the middle of the tip rotating shaft, and the tip driving wheel is sleeved with the middle driving wheel through a driving belt.

The 4 fingers with the structure are respectively arranged on four groups of slideways on the rotary sliding platform; wherein, two sliding blocks on the base bottom plate are respectively connected with the left side sliding rail and the right side sliding rail in a sliding fit manner; the guide posts on the base bottom plate are simultaneously inserted into the middle sliding groove and the arc-shaped sliding way on the guide platform; along with the rotation of the guide platform, the 4 fingers move along the arc-shaped slideway and then move along the middle slideway to be mutually close or separated.

The invention can grasp in different modes according to the specific appearance condition of the target object. For a target object with larger volume, the mechanical arm is controlled to enable the target object to be wholly or partially located between 4 fingers, then the guide platform is driven by the second motor to independently rotate, and the 4 fingers move towards the center of the rotary sliding platform along the middle sliding chute, so that the first motor does not act; when the target object is close to the target object, the middle knuckle and the tip knuckle are controlled to rotate through the two gear motors, so that the target object is clamped. For a target object with smaller volume, controlling the mechanical arm to enable the target object to be wholly or partially positioned between 4 fingers, and simultaneously controlling each knuckle of two or all fingers to be bent inwards by 90 degrees; then the guide platform is driven by the second motor to rotate independently, and the 4 fingers move towards the center of the rotary sliding platform 1 along the middle sliding chute, at the moment, the first motor does not act. Finally, the object can be clamped by matching between the outer side rubber plates of the tip knuckle of each bent finger claw. For a hollow target object, the four fingers are controlled to be folded to the extreme limit position, then the mechanical arm is controlled to enable the four fingers to be located in the hollow interior of the target object, and the four fingers are controlled to be opened reversely at the moment to achieve grabbing of the hollow target object.

The invention has the advantages that:

1. according to the multifunctional intelligent smart mechanical claw, the 4 mechanical claws are driven to synchronously advance and retreat through rotation of the guide platform, so that tightness and relaxation of the mechanical claws are easily realized; the structure is compact, and the overall height is lower than that of the electric clamping jaw with other structures; meanwhile, acceleration and deceleration control of the mechanical claw and positioning and fixed-point control with higher precision can be realized through control of the servo motor.

2. After the target object is clamped by the multifunctional intelligent smart mechanical claw, the direction of the clamped target object can be quickly changed by controlling the guide platform to rotate together with the rotary sliding platform, and the rotation operation of the mechanical arm joint is not needed.

3. The multifunctional intelligent smart mechanical claw comprises 2 rotatable middle knuckles, each middle knuckle joint is controlled by an independent motor, large-angle rotation and positioning of each middle knuckle can be realized, and the flexibility of the claw is greatly improved.

4. The multifunctional intelligent smart mechanical claw has the advantages that the design of the rubber plates above and below the claw can slow down the impact force of the claw for clamping the target object, and the target object is prevented from being clamped and deformed.

5. According to the multifunctional intelligent smart mechanical claw, the 4 finger claws are independently controlled by the respective speed reducing motors, so that the 4 finger claws can form a positioning posture of any angle, and the clamping of various special-shaped targets or common-shaped targets can be realized;

6. according to the multifunctional intelligent smart mechanical claw, the pressure sensor is arranged in the rubber plate, so that the clamping force can be fed back in real time, and the situation that the strength for clamping a target object is too large and the target object is damaged is avoided. Meanwhile, the controller realizes start-stop control and the like of the motor through feedback of signals of the pressure sensor.

Drawings

FIG. 1 is a schematic view of the overall structure of a gripper according to the present invention;

FIG. 2 is a side view of a drive assembly of the gripper of the present invention;

FIG. 3 is a schematic view of the overall structure of the driving assembly of the gripper of the present invention;

FIG. 4 is a schematic view of the structure of the guiding platform and the rotary sliding platform in the mechanical claw of the invention;

FIG. 5 is a schematic diagram of the finger structure of the gripper of the present invention.

FIG. 6 illustrates the inner finger grip drive assembly of the gripper of the present invention;

in the figure:

1-rotating sliding platform 2-guiding platform 3-base shell

4-drive assembly 5-finger 101 a-left side rail

101 b-right side slide rail 101 c-middle slide groove 201-arc slide rail

301-Motor cabinet 401-support platform 402-first Motor

403-rotating shaft 404-gear shaft 405-second motor

406-rack 407-first bearing 408-second bearing

409-trapezoidal guide rail 410-lead screw 411-lead screw nut

501-end base 502-middle end knuckle 503-tip knuckle

504-first gear motor 505-second gear motor 506-drive gear

507-drive belt 508-intermediate drive wheel 509-tip drive wheel

501 a-base bottom plate 501 b-base side plate 501 c-slider

501 d-guide post 502 a-middle end side plate 502 b-middle rotating shaft

502 c-middle rubber plate 503 a-tip side plate 503 b-tip spindle

503 c-tip rubber plate

Detailed Description

The invention is described in further detail below with reference to the accompanying drawings.

The multifunctional smart mechanical claw comprises a rotary sliding platform 1, a guide platform 2, a base shell 3, a driving

assembly

4 and 4 fingers 5, wherein the figures 1 and 2 show.

The base shell 3 is a square section structure box body, four corners are in smooth transition, and four circumferential side surfaces are provided with arc-shaped concave parts, so that the overall weight is reduced, and the attractiveness is improved. The top of the base shell 3 is provided with a guide platform 2, and a driving assembly 4 is installed inside the guide platform.

The driving assembly 4 comprises a supporting platform 401, a first motor 402, a rotating shaft 403, a gear shaft 404, a second motor 405, a rack 406 and a screw nut assembly, as shown in fig. 2 and 3. The first motor 402 is disposed in the inverted U-shaped motor cabinet 301 disposed on the bottom surface of the base housing 3, and the output shaft is disposed vertically. The bottom end of the rotating shaft 403 is coaxially fixed with the output shaft of the first motor 402, and after passing through the central through hole of the guiding platform 2, the top end of the rotating shaft 403 is fixed at the central position of the rotary sliding platform 1 arranged above the guiding platform 2. The support platform 401 is horizontally arranged, and the side part is designed with vertical side plates. The supporting platform 401 is fixedly sleeved at the bottom end of the rotating shaft 403 and is connected with the top surface of the motor cabinet 301 through a slewing bearing. The outer side of the rotating shaft 403 is sleeved with a gear shaft 404, and the top end and the bottom end of the gear shaft 404 are respectively connected with the rotating shaft 403 through a first bearing 407 and a second bearing 408. Teeth are circumferentially arranged on the outer wall of the middle end of the gear shaft 404, and the top end of the gear shaft 404 is fixed with the center of the guide platform 2.

In the screw nut assembly, two ends of a screw 410 are mounted on a supporting platform 401 through screw supports; one end of the screw 410 is coaxially fixed with the output shaft of the second motor 405. A rack 406 is fixedly installed on the screw nut 411, and the rack 406 is engaged with teeth on the outer wall circumference of the gear shaft 404; meanwhile, a trapezoid chute is designed on the back side of the rack 406 along the length direction of the rack 406, the trapezoid chute is connected with a trapezoid guide rail 409 mounted on a side plate of the supporting platform 401 in a sliding fit manner, and the trapezoid guide rail 409 guides the movement of the rack 406.

The first motor 402 can drive the rotation shaft 403 to rotate, and further drive the support platform 401 to rotate together with the rack 406, so that the rack 406 and the gear shaft 404 drive the gear shaft 404 to rotate through transmission between the rack 406 and the gear shaft 404, and finally drive the guide platform 2 to rotate together with the rotary sliding platform 1. The second motor 402 drives the screw 410 to rotate, and the screw nut 411 drives the rack 406 to translate along the trapezoidal guide rail 409. The movement of the rack 406 drives the gear shaft 404 to rotate, and thus drives the guide platform 2 to rotate around its central axis.

The guide platform 2 is a plate-shaped structure, and the size of the guide platform is equal to the size of the cross section of the base shell 3, as shown in fig. 4. In the initial state, the guide platform 2 is circumferentially opposite to the top surface of the base housing 3. Four arc-shaped slideways 201 are uniformly arranged on the guiding platform 2 in the circumferential direction and are used for guiding the movement of 4 fingers 5. The connecting lines at two ends of the four arc-shaped slideways 201 are arranged along the diagonal of the guide platform 2, and the four arc-shaped slideways 201 are arranged in the same way, namely the inner arcs and the outer arcs of the two adjacent arc-shaped slideways 201 are opposite.

The rotary sliding platform 1 is in a cross structure, as shown in fig. 4, the middle part of the cross structure is expanded outwards in a square design to strengthen the whole cross structure. Four groups of slide ways are uniformly designed on the rotary sliding platform 1 in the circumferential direction, so that the four groups of slide ways are in cross arrangement. Each set of slides has 2 slide rails and one slide slot, such that the left side slide rail 101a, the right side slide rail 101b and the middle slide slot 101c are respectively. The sliding rail and the sliding groove are arranged in parallel, and the distances among the sliding rail, the sliding groove and the sliding groove are equal. Meanwhile, in the initial state, the outer ends of the middle sliding grooves 101c in the four groups of sliding ways are overlapped with the upper and lower positions of the outer ends of the four arc sliding ways 201 on the guide platform 2.

The four fingers 5 have the same structure, including a distal base 501, a middle finger joint 502, a tip finger joint 503, and a gripping driving assembly, as shown in fig. 5 and 6. The end base 501 has a U-shaped structure composed of a base bottom plate 501a and two base side plates 501 b. The bottom surface of the base bottom plate 501a is provided with 2 sliding

blocks

501c and 1 guide post 501d for connection with the rotary sliding platform 1.

The middle finger joint 502 has two middle end side plates 502a, and the ends of the two middle end side plates 502a are respectively connected with the two base side plates 501a through middle rotating shafts 502b to form a revolute pair, so as to form the middle finger joint. Meanwhile, the middle knuckle 502 also has upper and lower middle rubber plates 502c. The two middle end rubber plates 502c are oppositely arranged, and two sides of the two middle end rubber plates are respectively fixed with the two middle end side plates 502 a.

The tip knuckle 503 has two tip side plates 503a, and the front ends of the two tip side plates 502a are fixedly connected by a connecting post. The tail ends of the two tip side plates 503a are respectively connected with the front ends of the two middle end side plates 502a through tip rotating shafts 503b to form revolute pairs, so as to form a front-section interphalangeal joint; meanwhile, the tip knuckle 503 is provided with two tip rubber plates 503c up and down, the two tip rubber plates 503c are oppositely arranged, and two sides of the tip knuckle are respectively fixed with the two tip side plates 503 a. The middle-end rubber plate 502c and the tip rubber plate 503c are in direct contact with the target object, so that the impact force generated when the finger claw is in contact with the target object can be buffered, the friction force of contact can be increased, and the target object is prevented from sliding down in the moving process.

The gripping driving assembly comprises a first gear motor 504, a second gear motor 505, a transmission gear 506, a transmission belt 507, an intermediate transmission wheel 508 and a tip transmission wheel 509, and is used for driving the movement of joints between the fingers of the finger claw 5. Wherein, 6 transmission gears 506 are provided, and the transmission gears 506 are located between two base side plates 501b of the end base 501, so that the 6 transmission gears 506 are respectively 1 # gears to 6 # gears.

The gears 1 to 3 are located on the right base side plate 501b of the terminal base 501, and the gear 1 is coaxially fixed on an output shaft of a first gear motor 504 installed on the outer side of the right base side plate 501 b; the gear 2 is coaxially arranged on a rotating shaft on the right base side plate 501b and can rotate around the axis of the rotating shaft, and the gear 2 is meshed with the gear 1; the gear No. 3 is fixedly arranged on the right side of the middle rotating shaft 502b and meshed with the gear No. 2. Therefore, the first gear motor 504 drives the No. 1 gear to rotate, and the inter-gear transmission drives the No. 3 gear to rotate, finally drives the middle rotating shaft 502b to rotate, and further drives the middle knuckle 502 to realize up-down large-angle rotation.

The gears No. 4 to No. 6 are positioned on the left base side plate 501b of the terminal base 501, and the gear No. 4 is coaxially fixed on the output shaft of the second gear motor 505 arranged on the outer side of the left base side plate 501 b; the gear No. 5 is coaxially arranged on the rotating shaft on the left base side plate 501b and can rotate around the axis of the rotating shaft, and the gear No. 5 is meshed with the gear No. 4; the No. 6 gear is arranged on the left side of the middle rotating shaft 502b through a bearing and meshed with the No. 5 gear, and the No. 6 gear is fixedly connected with the middle part of the middle rotating shaft 502b through a middle driving wheel 508 arranged on the bearing, so that the two gears can rotate together; meanwhile, a tip driving wheel 509 is fixedly arranged in the middle of the tip rotating shaft 503b, and the tip driving wheel 509 is sleeved with the middle driving wheel 508 through a driving belt 507. Therefore, the second gear motor 505 drives the No. 4 gear to rotate, and the No. 6 gear and the middle driving wheel 508 are driven to rotate together through transmission among gears, so that the tip driving wheel 509 is driven to rotate through the driving belt 507, and finally the tip rotating shaft 503b is driven to rotate, and the tip knuckle 503 is further driven to rotate in an up-down large angle.

Through the design, objects with various shapes and sizes can be clamped through the matching of the 4 fingers 5, and the folding among the joints is realized through the large-angle rotation control of the middle-end joint 502 and the tip joint 503, so that the storage space is reduced.

In the finger claw 5, the same-side gears have the same modulus, and different transmission ratios are obtained by setting different numbers of teeth of each gear. Meanwhile, the pressure sensors are arranged in the middle-end rubber plate 502c and the tip-end rubber plate 503c, so that the clamping force can be sensed, the rotating speed and start-stop of the two speed reducing motors can be controlled through the pressure fed back by the pressure sensors, and the situation that the clamping target is too strong and damaged is avoided.

The 4 fingers 5 with the structure are respectively arranged on four groups of slide ways on the rotary sliding platform 1; wherein, two sliding blocks 501c on the base bottom plate 501a are respectively connected with the left side sliding rail and the right side sliding rail in a sliding fit manner; the guide post 501d on the base bottom plate 501a is inserted into the middle chute and the arc-shaped chute 201 on the guide platform 2 at the same time. The arc slide 201 may be replaced by an arc slide rail mounted on the guiding platform 2, and the guide pillar 501d may be replaced by a slide block to pass through the middle slide slot 101c and be connected with the arc slide 201 in a sliding fit manner. Thus, with the rotation of the guiding platform 2, the 4 fingers 5 can move along the arc-shaped slideway 201, and further move along the middle chute 101c to be close to or separate from each other, so as to realize the clamping and releasing of the target object.

The first motor 402 and the second motor 405 do not operate simultaneously in the present invention; when the object is clamped, the whole mechanical claw is controlled to reach the target object through the mechanical arm, and different grabbing modes are adopted according to the specific appearance condition of the target object:

mode 1: for a large-size object, the mechanical arm is controlled to enable the object to be wholly or partially located between 4 fingers, then the guide platform 2 is driven by the second motor 405 to rotate independently, and the 4 fingers 5 move towards the center of the rotary sliding platform 1 along the middle sliding chute 101c, so that the first motor 402 does not act. When approaching the target object, the middle knuckle 502 and the tip knuckle 503 are controlled to rotate by the two gear motors, so that the target object is clamped.

Mode 2: for a target object with smaller volume, controlling the mechanical arm to enable the target object to be wholly or partially positioned between 4 fingers, and simultaneously controlling each knuckle of the two fingers 5 or all fingers 5 to be bent inwards by 90 degrees; the guide platform 2 is then driven to rotate alone by the second motor 405, and the 4 fingers 5 move toward the center of the rotary slide platform 1 along the intermediate chute 101c, at which time the first motor 402 is deactivated. Finally, the object can be clamped by matching between the outer side rubber plates 503c of the tip joints 503 of the finger claws 5 after bending.

Mode 3: for a hollow target object, the four fingers are controlled to be folded to the extreme limit position, then the mechanical arm is controlled to enable the four fingers to be located in the hollow interior of the target object, and the four fingers are controlled to be opened reversely at the moment to achieve grabbing of the hollow target object.

After the finger claw 5 clamps the target object, if the target object azimuth is required to be changed, the first motor 402 can be controlled to operate, so that the guiding platform 2 and the rotary sliding platform 1 are driven to rotate together, and the flexibility of the mechanical claw is improved.

Claims

1. A multifunctional smart mechanical claw is characterized in that: the device comprises a rotary sliding platform, a guide platform, a base shell, a driving assembly and 4 fingers;

wherein, the top of the base shell is provided with a guide platform, and a driving component is arranged in the guide platform; the driving assembly 4 comprises a supporting platform, a first motor, a rotating shaft, a gear shaft, a second motor, a rack and a screw nut assembly; the first motor is arranged on the bottom surface of the base shell, and the output shaft is vertically arranged; the bottom end of the rotating shaft is coaxially fixed with the output shaft of the first motor, and the top end of the rotating shaft penetrates through the center through hole of the guide platform and is fixed at the center of the rotary sliding platform arranged above the guide platform; the supporting platform is horizontally provided with a rotating shaft for fixing; the outer side of the rotating shaft is sleeved with a gear shaft which is connected with the rotating shaft through a bearing; teeth are designed on the periphery of the outer wall of the gear shaft, and the top end of the gear shaft is fixed with the center of the guide platform;

in the screw nut component, two ends of a screw are arranged on a supporting platform through screw supports; one end of the screw rod is coaxially fixed with the output shaft of the second motor; a rack is fixedly arranged on the screw nut and meshed with teeth on the circumferential direction of the outer wall of the gear shaft;

four arc-shaped slideways are uniformly arranged on the guide platform in the circumferential direction and are used for guiding the movement of each finger claw;

four groups of slide ways are uniformly designed on the circumference of the rotary sliding platform, so that the four groups of slide ways are arranged in a cross shape; each group of slide ways is provided with two slide rails which are parallel and are arranged in a central symmetry manner;

the four finger claws have the same structure and comprise a tail end base, a middle end knuckle, a tip knuckle and a clamping driving assembly; the tail end base is of a U-shaped structure formed by a base bottom plate and two base side plates; the bottom surface of the base bottom plate is provided with 2 sliding blocks and 1 guide post;

the middle end knuckle is provided with two middle end side plates, the tail ends of the two middle end side plates are respectively connected with the two base side plates through a middle rotating shaft to form a revolute pair, so as to form a middle end interphalangeal joint; meanwhile, the middle-end knuckle is also provided with an upper middle-end rubber plate and a lower middle-end rubber plate; the two middle-end rubber plates are oppositely arranged, and two sides of the two middle-end rubber plates are respectively fixed with the two middle-end side plates;

the tip knuckle is provided with two tip side plates, and the front ends of the two tip side plates are fixedly connected through a connecting column; the tail ends of the two tip end side plates are respectively connected with the front ends of the two middle end side plates through tip rotating shafts to form a revolute pair, so that a front section interphalangeal joint is formed; meanwhile, two tip rubber plates are arranged up and down on the tip knuckle, the two tip rubber plates are oppositely arranged, and two sides of the tip knuckle are respectively fixed with the two tip side plates;

the clamping driving assembly comprises a first speed reducing motor, a second speed reducing motor, a transmission gear, a transmission belt, an intermediate transmission wheel and a tip transmission wheel; the transmission gears are 6 in number and are positioned between two base side plates of the terminal base, so that the 6 transmission gears are respectively 1-6 gears;

the gear 1 to the gear 3 are positioned on a right base side plate of the tail end base, and the gear 1 is coaxially fixed on a first gear motor output shaft arranged on the outer side of the right base side plate; the gear No. 2 is coaxially arranged on the rotating shaft on the side plate of the right base and meshed with the gear No. 1; the gear No. 3 is fixedly arranged on the right side of the middle rotating shaft and meshed with the gear No. 2;

the gears No. 4 to No. 6 are positioned on a left base side plate of the tail end base, and the gears No. 4 are coaxially fixed on an output shaft of a second gear motor arranged on the outer side of the left base side plate; the No. 5 gear is coaxially arranged on a rotating shaft on the left base side plate and meshed with the No. 4 gear; the gear No. 6 is arranged on the left side of the middle rotating shaft through a bearing and meshed with the gear No. 5, and the gear No. 6 is fixedly connected with the middle part of the middle rotating shaft through a middle driving wheel arranged on the bearing; meanwhile, a tip driving wheel is fixedly arranged in the middle of the tip rotating shaft, and the tip driving wheel is sleeved with the middle driving wheel through a driving belt;

2. A multi-functional smart gripper according to claim 1, wherein: the base shell is a square cross-section structure box body, four corners are in smooth transition, and four circumferential side surfaces are provided with arc-shaped concave.

3. A multi-functional smart gripper according to claim 1, wherein: the rack back side is provided with a trapezoid chute along the length direction, the trapezoid chute is connected with a trapezoid guide rail arranged on a side plate of the supporting platform in a sliding fit manner, and the trapezoid guide rail guides the movement of the rack.

4. A multi-functional smart gripper according to claim 1, wherein: in the initial state, the outer ends of the sliding grooves positioned in the middle among the four groups of sliding ways are overlapped with the upper and lower positions of the outer ends of the four arc-shaped sliding ways on the guide platform.

5. A multi-functional smart gripper according to claim 1, wherein: in each finger claw, the same-side gear has the same modulus, and different transmission ratios are obtained by setting different tooth numbers of each gear.

6. A multi-functional smart gripper according to claim 1, wherein: the middle end rubber plate 502c and the tip rubber plate are internally provided with pressure sensors for sensing the clamping force, and the rotating speeds and start and stop of the two speed reducing motors are controlled through the pressure fed back by the pressure sensors.

7. A multi-functional smart gripper according to claim 1, wherein: the arc slide way can be replaced by an arc slide way arranged on the guide platform, and meanwhile, the guide pillar is replaced by a sliding block to pass through the middle slide way and be connected with the arc slide way in a sliding fit manner.

8. A multi-functional smart gripper according to claim 1, wherein: according to the specific appearance condition of the target object, two grabbing modes are provided:

mode 1: for a large-size object, the mechanical arm is controlled to enable the object to be wholly or partially located between 4 fingers, then the guide platform is driven by the second motor to independently rotate, and the 4 fingers move towards the center of the rotary sliding platform along the middle sliding chute, so that the first motor does not act. When the target object is close to the target object, the middle knuckle and the tip knuckle are controlled to rotate through the two gear motors, so that the target object is clamped;

mode 2: for a target object with smaller volume, controlling the mechanical arm to enable the target object to be wholly or partially positioned between 4 fingers, and simultaneously controlling each knuckle of two or all fingers to be bent inwards by 90 degrees; then the guide platform is driven by a second motor to rotate independently, and 4 fingers move towards the center of the rotary sliding platform 1 along the middle sliding chute, at the moment, the first motor does not act; finally, the object can be clamped by matching between the outer side rubber plates of the tip knuckle of each bent finger claw;

9. A multi-functional smart gripper according to claim 1, wherein: when the finger claw is required to change the direction or the grabbing angle of the target object after clamping the target object, the first motor is controlled to operate, and the guiding platform and the rotary sliding platform are driven to rotate together.