The application discloses a kind of
robot gripper device and grabbing method for assisting spraying operation, device includes main gripper module, auxiliary gripper module,
deflection angle adjusting module, rotation angle adjusting module,
pitch angle adjusting module, auxiliary gripper movement module, drive module, motion transmission module, by drive module through motion transmission module,
pitch angle adjusting module, auxiliary gripper movement module action is realized, combined with
deflection angle adjusting module, rotation angle adjusting module itself action, realize the relative
pose adjustment of main gripper module, auxiliary gripper module and the grabbing of part to be sprayed;Method is based on
deep learning network to generate grabbing posture, finally through the cooperation of main gripper module and auxiliary gripper module, the grabbing of specific position such as part non-spraying surface is completed.The application design is novel, and flexibility is high, can realize more complex grabbing action, and auxiliary realization is to complex shape part multidirectional spraying operation.