Self-adaptive under-actuated turning three-finger robot clamping jaw

Abstract

The invention belongs to the field of robot clamping jaws, and specifically relates to a self-adaptive under-actuated turning three-finger robot clamping jaw. The clamping jaw comprises a clamping jawshell, a drive module, a first finger module, a second finger module and a third finger module, wherein the drive module is installed in the clamping jaw shell and comprises a first drive motor, a second drive motor, a first power transmission system, a second power transmission system and three drive rods, the three finger modules are distributed circumferentially and are distributed at three sides of the top of the clamping jaw shell, each finger module comprises a finger base, a first finger section and a second finger section, the first drive motor drives the three finger modules to finish a grasp action through the first power transmission system, the second drive motor drives the second finger module and the third finger module to rotate along respective axis through the second power transmission system so as to acquire corresponding gestures of different finger modules. The clamping jaw can grasp a target object adaptively, has a large stroke, grasps stably, and has a graspingand self-locking function.

Description

technical field [0001] The invention relates to the field of robot grippers, in particular to an adaptive underactuated steering three-finger robot gripper. Background technique [0002] Robotic grippers are widely used in industrial assembly lines such as parts sorting and parts movement, and can achieve moving operations on targets in structured or non-structural environments. At present, most grippers are specially designed to cooperate with robots to grab specific objects. They often have to be designed and manufactured by themselves according to the structural characteristics of the grabbed objects, the manufacturer's production conditions and actual needs, resulting in low production efficiency and high cost. There are two main grasping methods for robot grippers when grasping objects, one is parallel grasping and the other is envelope grasping. Parallel gripping refers to the grasping of small-sized objects or larger objects with opposing surfaces, with the end segme...

AI Technical Summary

Problems solved by technology

At present, most of the grippers are specially designed to cooperate with robots to grab specific objects. They often have to be designed and manufactured by themselves according to the structural characteristics of the grabbed objects, the production conditions of the manufacturer and the actual needs. The production efficiency is low and the cost is high.

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