Robot gripper for gripping dinner plate

Abstract

The invention provides a robot gripper for gripping a dinner plate, comprising a left gripper and a right gripper which are in a symmetric structure. The left gripper comprises a rotating shaft, fingers, a flange, a rolling bearing and a driver, wherein the rotating shaft is a hollow cylinder with an opening end; the fingers are fixed on the rotating shaft, extend along the side wall of the rotating shaft cylinder in an arc-like shape, and are formed into a groove similar to V type with the side wall of the rotating shaft cylinder; the flange is fixed on the bottom end surface of the rotatingshaft; the rolling bearing is fixed in an inner cavity of the rotating shaft, and an outer ring of the rolling bearing is matched with the inner wall of the rotating shaft; and the driver is fixed onthe inner ring of the rolling bearing, and an output shaft of the driver is connected with the flange. The dinner plate can be gripped tightly or be released through controlling the rotating shafts on the left gripper and the right gripper to rotate. The device arranged on the tail end of a service robot arm can hold the dinner plate conveniently, quickly, safely and sanitarily, and can be applied to various trays in families, hospitals and other places.

Description

technical field [0001] The invention relates to a grabbing device in the technical field of robots, in particular to a robot gripper installed at the end of a robot arm for grabbing a dinner plate. Background technique [0002] At present, industrial manipulators have been widely used to replace workers to complete various simple and repetitive tasks. These industrial manipulators are basically limited to complete a single operation in a specific environment. Since the late 1980s, on the basis of the original research on multi-fingered dexterous manipulators, the research on humanoid manipulators has been carried out gradually. At present, humanoid manipulators at home and abroad are mostly multi-fingered and multi-joint hands from the perspective of mechanism form. The most common is that the number of fingers is 3 to 5, and the number of joints of each finger is mostly 3 rotating joints, and the degree of freedom is 3~5. 5. Most of the existing manipulators adopt tendon...

AI Technical Summary

Problems solved by technology

Although the function of the humanoid manipulator is very perfect, the structure is relatively complex and the specific implementation is difficult; too many motors and force / torque sensors are not only redundant for the operation of grabbing the dinner plate, but also greatly increase the cost

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