Self-adaptive rigid gripper

Abstract

The invention discloses a self-adaptive rigid gripper which comprises a base and a clamping part arranged on the base. The clamping part comprises four clamping modules and a driving module, and the driving module is located at the center position defined by the four clamping modules; each clamping module comprises a transmission unit, a clamping jaw arranged on the transmission unit and a torsional spring connected between the transmission unit and the clamping jaw, and the transmission unit is arranged on the base; the clamping jaws and the transmission units are located in the same verticalplane, and one ends of the clamping jaws are rotationally connected with the transmission units; one ends of the torsional springs are fixed to the clamping jaws, and the other ends of the torsionalsprings are fixed to the transmission units, so that the clamping jaws elastically rotate towards one side of the enclosed center; the driving module comprises a first driving unit and a second driving unit, and the first driving unit is in transmission connection with the transmission units so as to drive every two opposite clamping jaws to move back and forth along a straight line; and the second driving unit is in transmission connection with the clamping jaws. The gripper has the advantages of a flexible gripper and a rigid gripper to a certain extent.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to an adaptive rigid gripper. Background technique [0002] With the steady development of society and the rapid advancement of science and technology, the research on robots is gradually deepening. The demand for robots in all aspects has increased tremendously, and the scope of applications has become more and more extensive. [0003] As the executive part of the interaction between the robot and the environment, the gripper must coordinate the robot to complete various complex and delicate tasks. However, in the research and application of multi-fingered manipulators, joints are often connected in series, and each degree of freedom is equipped with a drive motor, which greatly increases the number of components and complicates the control process. If rigid claws are used, it will be difficult for the claws to adapt to objects of different shapes and sizes; it is difficult to find...

AI Technical Summary

Problems solved by technology

However, in the research and application of multi-fingered manipulators, joints are often connected in series, and each degree of freedom is equipped with a drive motor, which greatly increases the number of components and complicates the control process.

If rigid claws are used, it will be difficult for the claws to adapt to objects of different shapes and sizes; it is difficult to find a suitable contact point during the grasping process, and it is also prone to the risk of objects falling during the grasping process; at the same time Rigid grippers are rigid and often damage objects during work before the control system can react

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